Mpu6050Imu.hpp

/*
 * Copyright 2021 Marcus Behel
 *
 * This file is part of ArPiRobot-CoreLib.
 * 
 * ArPiRobot-CoreLib is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * ArPiRobot-CoreLib is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with ArPiRobot-CoreLib.  If not, see <https://www.gnu.org/licenses/>. 
 */
 
#pragma once
 
#include <arpirobot/arduino/device/ArduinoDevice.hpp>
#include <arpirobot/arduino/iface/BaseArduinoInterface.hpp>
 
 
namespace arpirobot{
    
    class Mpu6050Imu : public ArduinoDevice{
    public:
 
        Mpu6050Imu(bool createDevice = true, int deviceId = -1);
 
        void calibrate(uint16_t samples);
 
        double getGyroX();
 
        double getGyroY();
 
        double getGyroZ();
 
        double getAccelX();
 
        double getAccelY();
 
        double getAccelZ();
 
        void setGyroX(double newGyroX);
 
        void setGyroY(double newGyroY);
 
        void setGyroZ(double newGyroZ);
 
    protected:
        void applyDefaultState() override;
        std::vector<uint8_t> getCreateData() override;
        void handleData(const std::vector<uint8_t> &data) override;
    
    private:
        double gyroX = 0, gyroY = 0, gyroZ = 0, accelX = 0, accelY = 0, accelZ = 0;
        double gyroXOffset = 0, gyroYOffset = 0, gyroZOffset = 0;
    };
 
}