Helper class for controlling the Mpu. More...

#include <RBCXMpu.h>

Public Member Functions
void	init ()
	Initialize the Mpu. This function must be called before using the Mpu. It will send a request to the coprocessor to initialize the Mpu. More...

void	sendOne ()
	Send a one shot request to the coprocessor to get the Mpu data. The data will be available in the get functions. To get the data continuously, use the `sendStart()` function. More...

void	sendStart ()
	Start sending the Mpu data continuously to the coprocessor. The data will be available in the get functions. To stop the continuous sending, use the `sendStop()` function. More...

void	sendStop ()
	Stop sending the Mpu data continuously to the coprocessor. To start the continuous sending, use the `sendStart()` function. More...

void	setCalibrationData ()
	Records current Gyro and Accelerometer data as "start" position and subtracts it from future readings. More...

void	clearCalibrationData ()
	Clears the data recorded by setCalibrationData. More...

MpuVector	getAcc ()
	Get the Mpu acceleration data. More...

float	getAccX ()
	Get the Mpu acceleration data on the X axis. More...

float	getAccY ()
	Get the Mpu acceleration data on the Y axis. More...

float	getAccZ ()
	Get the Mpu acceleration data on the Z axis. More...

MpuVector	getGyro ()
	Get the Mpu gyroscope data. More...

float	getGyroX ()
	Get the Mpu gyroscope data on the X axis. More...

float	getGyroY ()
	Get the Mpu gyroscope data on the Y axis. More...

float	getGyroZ ()
	Get the Mpu gyroscope data on the Z axis. More...

MpuVector	getAngle ()
	Get the Mpu angle data. More...

float	getAngleX ()
	Get the Mpu angle data on the X axis. More...

float	getAngleY ()
	Get the Mpu angle data on the Y axis. More...

float	getAngleZ ()
	Get the Mpu angle data on the Z axis. More...

void	resetAngleZ ()

void	setCompressCoef (uint8_t coef)
	Set the Mpu compression coefficient (10 - 20). It is used to reduce sending interval. The Mpu data are summed up and sent every `interval * coef` ms. More...

uint8_t	getCompressCoef ()
	Get the Mpu compression coefficient (1 - 20). More...

Friends
class	Manager

Detailed Description

Helper class for controlling the Mpu.

Member Function Documentation

◆ clearCalibrationData()

void rb::Mpu::clearCalibrationData ( )

Clears the data recorded by setCalibrationData.

◆ getAcc()

MpuVector rb::Mpu::getAcc ( )

Get the Mpu acceleration data.

Returns: The Mpu acceleration data in Gs.

◆ getAccX()

float rb::Mpu::getAccX ( )

Get the Mpu acceleration data on the X axis.

Returns: The Mpu acceleration data on the X axis in Gs.

◆ getAccY()

float rb::Mpu::getAccY ( )

Get the Mpu acceleration data on the Y axis.

Returns: The Mpu acceleration data on the Y axis in Gs.

◆ getAccZ()

float rb::Mpu::getAccZ ( )

Get the Mpu acceleration data on the Z axis.

Returns: The Mpu acceleration data on the Z axis in Gs.

◆ getAngle()

MpuVector rb::Mpu::getAngle ( )

Get the Mpu angle data.

Returns: The Mpu angle data in degrees.

◆ getAngleX()

float rb::Mpu::getAngleX ( )

Get the Mpu angle data on the X axis.

Returns: The Mpu angle data on the X axis in degrees.

◆ getAngleY()

float rb::Mpu::getAngleY ( )

Get the Mpu angle data on the Y axis.

Returns: The Mpu angle data on the Y axis in degrees.

◆ getAngleZ()

float rb::Mpu::getAngleZ ( )

Get the Mpu angle data on the Z axis.

The Z angle is relative to the original heading of the robot at the start of the program, or after latest resetAngleZ() call, NOT to geographic north.

Returns: The Mpu angle data on the Z axis in degrees.

◆ getCompressCoef()

uint8_t rb::Mpu::getCompressCoef ( )

Get the Mpu compression coefficient (1 - 20).

Returns: The Mpu compression coefficient.

◆ getGyro()

MpuVector rb::Mpu::getGyro ( )

Get the Mpu gyroscope data.

Returns: The Mpu gyroscope data in degrees per second.

◆ getGyroX()

float rb::Mpu::getGyroX ( )

Get the Mpu gyroscope data on the X axis.

Returns: The Mpu gyroscope data on the X axis in degrees per second.

◆ getGyroY()

float rb::Mpu::getGyroY ( )

Get the Mpu gyroscope data on the Y axis.

Returns: The Mpu gyroscope data on the Y axis in degrees per second.

◆ getGyroZ()

float rb::Mpu::getGyroZ ( )

Get the Mpu gyroscope data on the Z axis.

Returns: The Mpu gyroscope data on the Z axis in degrees per second.

◆ init()

void rb::Mpu::init ( )

Initialize the Mpu. This function must be called before using the Mpu. It will send a request to the coprocessor to initialize the Mpu.

◆ resetAngleZ()

void rb::Mpu::resetAngleZ ( )

◆ sendOne()

void rb::Mpu::sendOne ( )

Send a one shot request to the coprocessor to get the Mpu data. The data will be available in the get functions. To get the data continuously, use the sendStart() function.

◆ sendStart()

void rb::Mpu::sendStart ( )

Start sending the Mpu data continuously to the coprocessor. The data will be available in the get functions. To stop the continuous sending, use the sendStop() function.

◆ sendStop()

void rb::Mpu::sendStop ( )

Stop sending the Mpu data continuously to the coprocessor. To start the continuous sending, use the sendStart() function.

◆ setCalibrationData()

void rb::Mpu::setCalibrationData ( )

Records current Gyro and Accelerometer data as "start" position and subtracts it from future readings.

◆ setCompressCoef()

void rb::Mpu::setCompressCoef ( uint8_t coef )

Set the Mpu compression coefficient (10 - 20). It is used to reduce sending interval. The Mpu data are summed up and sent every interval * coef ms.

Parameters

coef	The Mpu compression coefficient.

Friends And Related Function Documentation

◆ Manager

friend class Manager

friend

The documentation for this class was generated from the following files:

Public Member Functions

Friends