otInertial Class Reference
[Inertial Motion Library, Inertial Motion Library]

Inertial Motion Library.

#include <otInertial.h>

Public Types
enum	ImuReadouts { IR_ACCELEROMETER, IR_GYROSCOPE, IR_MAGNETOMETER }
Public Member Functions
	otInertial ()
void	init (otMPU9250 *imu, U8 timer, U32 sampling=100)
bool	process (F32 &yaw, F32 &pitch, F32 &roll)
U32	elapsed ()
void	readout (U8 who, F32 &x, F32 &y, F32 &z)
void	close ()

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Member Enumeration Documentation

enum otInertial::ImuReadouts

Enumeration values: IR_ACCELEROMETER  Select accelerometer. IR_GYROSCOPE  Select gyroscope. IR_MAGNETOMETER  Select magnetometer.

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Constructor & Destructor Documentation

otInertial.otInertial (   )

Create the class

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Member Function Documentation

void otInertial.close (   )

Free all allocated memory

U32 otInertial.elapsed (   )

Return process elapsed time as us

void otInertial.init (  otMPU9250 *  imu, U8  timer, U32  sampling = 100 )

Init the class Parameters: imu  Pointer to IMU peripheral class timer  Used timer for process sync sampling  Sample time as ms

bool otInertial.process (  F32 &  yaw, F32 &  pitch, F32 &  roll )

Procedures that must be called continuously but which really take up the processor every 'sampling' milli seconds. Returns the three rotations. Parameters: yaw  Yaw value as degree pitch  Pitch value as degree roll  Roll value as degree Returns: True when new data is available

void otInertial.readout (  U8  who, F32 &  x, F32 &  y, F32 &  z )

Read basic IMU raw data Parameters: who  Select wich data you read, see ImuReadouts x  Return selected measure on X axis y  Return selected measure on Y axis z  Return selected measure on Z axis

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

• otInertial.h

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