#include <arpirobot/arduino/sensor/Mpu6050Imu.hpp>
Inheritance diagram for arpirobot::Mpu6050Imu:
Public Member Functions | |
| 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) |
 Public Member Functions inherited from arpirobot::ArduinoDevice | |
| ArduinoDevice (bool createDevice, int deviceId) | |
| virtual std::string | getDeviceName () |
Protected Member Functions | |
| void | applyDefaultState () override |
| std::vector< uint8_t > | getCreateData () override |
| void | handleData (const std::vector< uint8_t > &data) override |
| Protected Member Functions inherited from arpirobot::ArduinoDevice | |
| void | setArduino (BaseArduinoInterface *arduino) |
| void | setDeviceId (int deviceId) |
| bool | sendData (const std::vector< uint8_t > &data) |
| bool | sendData (const std::string &data) |
Additional Inherited Members | |
| Static Protected Member Functions inherited from arpirobot::ArduinoDevice | |
| static std::vector< uint8_t > | stringToData (const std::string &str) |
| Protected Attributes inherited from arpirobot::ArduinoDevice | |
| bool | createDevice |
| int | deviceId |
| std::string | deviceName |
| BaseArduinoInterface * | arduino = nullptr |
Detailed Description
MPU6050 IMU https://www.adafruit.com/product/1714
Constructor & Destructor Documentation
◆ Mpu6050Imu()
| arpirobot::Mpu6050Imu::Mpu6050Imu | ( | bool | createDevice = true, |
| int | deviceId = -1 |
||
| ) |
- Parameters
-
createDevice Leave this true unless the device is hard-coded in arduino firmware deviceId Set this to the hard-coded deviceId if createDevice is false
Member Function Documentation
◆ calibrate()
| void arpirobot::Mpu6050Imu::calibrate | ( | uint16_t | samples | ) |
Calibrate the IMU. Should reduce gyro drift and accelerometer error IMU MUST BE STATIONARY DURING CALIBRATION. GRAVITATIONAL ACCELERATION MUST BE IN NEGATIVE Z DIRECTION DURING CALIBRATION.
- Parameters
-
samples The number of samples to take during calibration. More samples may be more accurate, but will take longer.
◆ getAccelX()
| double arpirobot::Mpu6050Imu::getAccelX | ( | ) |
Get the X axis acceleration
- Returns
- X acceleration in m/s^2
◆ getAccelY()
| double arpirobot::Mpu6050Imu::getAccelY | ( | ) |
Get the Y axis acceleration
- Returns
- Y acceleration in m/s^2
◆ getAccelZ()
| double arpirobot::Mpu6050Imu::getAccelZ | ( | ) |
Get the Z axis acceleration
- Returns
- Z acceleration in m/s^2
◆ getGyroX()
| double arpirobot::Mpu6050Imu::getGyroX | ( | ) |
Get the X rotation
- Returns
- X rotation in degrees
◆ getGyroY()
| double arpirobot::Mpu6050Imu::getGyroY | ( | ) |
Get the Y rotation
- Returns
- Y rotation in degrees
◆ getGyroZ()
| double arpirobot::Mpu6050Imu::getGyroZ | ( | ) |
Get the Z rotation
- Returns
- Z rotation in degrees
◆ setGyroX()
| void arpirobot::Mpu6050Imu::setGyroX | ( | double | newGyroX | ) |
Set current X rotation to the given value
- Parameters
-
newGyroX The new X rotation to set
◆ setGyroY()
| void arpirobot::Mpu6050Imu::setGyroY | ( | double | newGyroY | ) |
Set current Y rotation to the given value
- Parameters
-
newGyroY The new Y rotation to set
◆ setGyroZ()
| void arpirobot::Mpu6050Imu::setGyroZ | ( | double | newGyroZ | ) |
Set current Z rotation to the given value
- Parameters
-
newGyroZ The new Z rotation to set
The documentation for this class was generated from the following file:
- include/arpirobot/arduino/sensor/Mpu6050Imu.hpp
