38 lines
No EOL
576 B
C
38 lines
No EOL
576 B
C
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#ifndef IMU_h
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#define IMU_h
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#include <MPU6050_tockn.h>
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#define UPDATE_IMU_INTERVAL 1000/50
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#define IMU_AC 0.1f //default 0.02f
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#define IMU_GC 0.90f //default 0.98f. //AC + GC must equal 1.0
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void initIMU();
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void initIMU(float x,float y,float z);
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void loopIMU(unsigned long millis);
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bool isBellyUp();
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float getAngleX();
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float getAngleY();
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float getAngleZ();
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float getAccX();
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float getAccY();
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float getAccZ();
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float getMaxAccX();
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float getMaxAccY();
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float getMaxAccZ();
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void resetMaxAcc();
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float getGyroAngleX();
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float getGyroAngleY();
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float getGyroAngleZ();
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#endif |