Diff: CalculateData.h

Revision:

1:48e219526d0f

Parent:

0:313fbc3a198a

Child:

2:4cccdc792719

--- a/CalculateData.h	Wed Apr 01 16:47:06 2020 +0000
+++ b/CalculateData.h	Mon Apr 13 09:37:17 2020 +0000
@@ -39,15 +39,42 @@
     virtual                     ~CalculateData();                
     void                        enable();
     void                        disable();
-    void                        getData();
+    void                        run();
+    void                        getAccelerometer(int *array);
+    void                        getSpeed(int *array);
+    void                        getPosition(int *array);
+    void                        getGyro(int *array);
+    void                        getAngle(int *array);
+    
+    
+    int32_t                     acc[3];
+    int32_t                     acc_old[3];
+    int32_t                     gyro[3];
+    int32_t                     gyro_old[3];
+    int32_t                     speed[3];
+    int32_t                     speed_old[3];
+    int32_t                     angle[3];
+    int32_t                     pos[3];
+    int32_t                     t;
+    int32_t                     t_old;
+    int32_t                     acc_err[3];
+    int32_t                     gyro_err[3];
 
 private:
 
     static const float          PERIOD;
     
-    Ticker                      ticker;   
+    //void                        run();
+    void                        integrate(int *x, int *x_old, int *y, int t, int t_old);
+    void                        transform(int *acc, int *angle);
+    void                        filter(int *acc, int *gyro);
+
     
-    void                        run();
+    
+    Ticker                      ticker;
+    Timer                       timer;  
+    
+  
     
 };