Amador Valley High School Robotics Team
A class to receive data from the SparkFun 9DOF Razor IMU. It can be easily adapted to work with IMUs with different data formats.
Diff: imu.h
- Revision:
- 2:d8b182fbe018
- Child:
- 3:f04d3d10d518
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/imu.h Fri Nov 04 22:24:02 2011 +0000
@@ -0,0 +1,34 @@
+#pragma once
+
+#include "mbed.h"
+
+Serial PC(USBTX, USBRX);
+
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+
+class IMU{
+ public:
+ IMU(int baud, PinName tx, PinName rx, Serial* pc);
+ ~IMU();
+
+ void getData();
+ void attach(void (*fptr)(void));
+ void putc(char c);
+ //void readIMU();
+ short accX, accY, accZ, gyrX, gyrY, gyrZ, magX, magY, magZ;
+ bool readable;
+
+ private:
+ Serial* p_device;
+ Serial* p_pc;
+ inline void makeCorrect(short* i);
+ void parse();
+
+ int i_IMU;
+ char bufIMU[21];
+} imu(57600, p9, p10, &PC);
+
+void readIMU();