calculate
Dependencies: mbed X_NUCLEO_IKS01A3 Mahony_Algorithm
CalculateData.h@2:4cccdc792719, 2020-04-15 (annotated)
- Committer:
- zollecy1
- Date:
- Wed Apr 15 12:13:15 2020 +0000
- Revision:
- 2:4cccdc792719
- Parent:
- 1:48e219526d0f
- Child:
- 3:795998b31c32
.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
zollecy1 | 0:313fbc3a198a | 1 | /** |
zollecy1 | 0:313fbc3a198a | 2 | |**********************************************************************; |
zollecy1 | 0:313fbc3a198a | 3 | * Project : Projektarbeit Systemtechnik PES4 |
zollecy1 | 0:313fbc3a198a | 4 | * |
zollecy1 | 0:313fbc3a198a | 5 | * Program name : Beispiel |
zollecy1 | 0:313fbc3a198a | 6 | * |
zollecy1 | 0:313fbc3a198a | 7 | * Author : PES4 Team1 |
zollecy1 | 0:313fbc3a198a | 8 | * |
zollecy1 | 0:313fbc3a198a | 9 | * Team : **Team 1** |
zollecy1 | 0:313fbc3a198a | 10 | * Fabio Bernard |
zollecy1 | 0:313fbc3a198a | 11 | * Lukas Egli |
zollecy1 | 0:313fbc3a198a | 12 | * Matthias Ott |
zollecy1 | 0:313fbc3a198a | 13 | * Pascal Novacki |
zollecy1 | 0:313fbc3a198a | 14 | * Robin Wanner |
zollecy1 | 0:313fbc3a198a | 15 | * Vincent Vescoli |
zollecy1 | 0:313fbc3a198a | 16 | * Cyrill Zoller |
zollecy1 | 0:313fbc3a198a | 17 | * |
zollecy1 | 0:313fbc3a198a | 18 | * Date created : 20.02.2020 |
zollecy1 | 0:313fbc3a198a | 19 | * |
zollecy1 | 0:313fbc3a198a | 20 | * Purpose : Beispiel |
zollecy1 | 0:313fbc3a198a | 21 | * |
zollecy1 | 0:313fbc3a198a | 22 | |**********************************************************************; |
zollecy1 | 0:313fbc3a198a | 23 | **/ |
zollecy1 | 0:313fbc3a198a | 24 | |
zollecy1 | 0:313fbc3a198a | 25 | |
zollecy1 | 0:313fbc3a198a | 26 | #ifndef CALCULATEDATA_H |
zollecy1 | 0:313fbc3a198a | 27 | #define CALCULATEDATA_H |
zollecy1 | 0:313fbc3a198a | 28 | |
zollecy1 | 0:313fbc3a198a | 29 | #include "mbed.h" |
zollecy1 | 0:313fbc3a198a | 30 | #include "XNucleoIKS01A3.h" |
zollecy1 | 0:313fbc3a198a | 31 | |
zollecy1 | 0:313fbc3a198a | 32 | class CalculateData { |
zollecy1 | 0:313fbc3a198a | 33 | |
zollecy1 | 0:313fbc3a198a | 34 | public: |
zollecy1 | 0:313fbc3a198a | 35 | |
zollecy1 | 0:313fbc3a198a | 36 | CalculateData(PinName Pin0, PinName Pin1, PinName Pin2, |
zollecy1 | 0:313fbc3a198a | 37 | PinName Pin3, PinName Pin4, PinName Pin5, PinName Pin6); //Constructor |
zollecy1 | 0:313fbc3a198a | 38 | |
zollecy1 | 0:313fbc3a198a | 39 | virtual ~CalculateData(); |
zollecy1 | 0:313fbc3a198a | 40 | void enable(); |
zollecy1 | 0:313fbc3a198a | 41 | void disable(); |
zollecy1 | 1:48e219526d0f | 42 | void run(); |
zollecy1 | 1:48e219526d0f | 43 | void getAccelerometer(int *array); |
zollecy1 | 1:48e219526d0f | 44 | void getSpeed(int *array); |
zollecy1 | 1:48e219526d0f | 45 | void getPosition(int *array); |
zollecy1 | 1:48e219526d0f | 46 | void getGyro(int *array); |
zollecy1 | 1:48e219526d0f | 47 | void getAngle(int *array); |
zollecy1 | 1:48e219526d0f | 48 | |
zollecy1 | 1:48e219526d0f | 49 | |
zollecy1 | 1:48e219526d0f | 50 | int32_t acc[3]; |
zollecy1 | 1:48e219526d0f | 51 | int32_t acc_old[3]; |
zollecy1 | 1:48e219526d0f | 52 | int32_t gyro[3]; |
zollecy1 | 1:48e219526d0f | 53 | int32_t gyro_old[3]; |
zollecy1 | 1:48e219526d0f | 54 | int32_t speed[3]; |
zollecy1 | 1:48e219526d0f | 55 | int32_t speed_old[3]; |
zollecy1 | 1:48e219526d0f | 56 | int32_t angle[3]; |
zollecy1 | 1:48e219526d0f | 57 | int32_t pos[3]; |
zollecy1 | 1:48e219526d0f | 58 | int32_t t; |
zollecy1 | 1:48e219526d0f | 59 | int32_t t_old; |
zollecy1 | 0:313fbc3a198a | 60 | |
zollecy1 | 0:313fbc3a198a | 61 | private: |
zollecy1 | 0:313fbc3a198a | 62 | |
zollecy1 | 0:313fbc3a198a | 63 | static const float PERIOD; |
zollecy1 | 0:313fbc3a198a | 64 | |
zollecy1 | 1:48e219526d0f | 65 | void integrate(int *x, int *x_old, int *y, int t, int t_old); |
zollecy1 | 2:4cccdc792719 | 66 | //void transform(int *acc, int *angle); |
zollecy1 | 2:4cccdc792719 | 67 | void filter(int *array, int type); |
zollecy1 | 1:48e219526d0f | 68 | |
zollecy1 | 0:313fbc3a198a | 69 | |
zollecy1 | 1:48e219526d0f | 70 | |
zollecy1 | 1:48e219526d0f | 71 | Ticker ticker; |
zollecy1 | 1:48e219526d0f | 72 | Timer timer; |
zollecy1 | 1:48e219526d0f | 73 | |
zollecy1 | 1:48e219526d0f | 74 | |
zollecy1 | 0:313fbc3a198a | 75 | |
zollecy1 | 0:313fbc3a198a | 76 | }; |
zollecy1 | 0:313fbc3a198a | 77 | |
zollecy1 | 0:313fbc3a198a | 78 | |
zollecy1 | 0:313fbc3a198a | 79 | |
zollecy1 | 0:313fbc3a198a | 80 | #endif |