Device::Imu Class Reference

#include <imu.h>

Public Member Functions
	Imu (Robot &robot)
	~Imu ()
void	initialize ()
	Sets up the necessary I2C channel.
void	read_fifo_buffer ()
	Reads the current FIFO buffer from the IMUs DMP (digital motion processor).
quaternion	get_quaternion () const
	Retrieves the quaternion from the last measurement.
vector3	get_gyro_values () const
	Retrieves the gyro values from the last measurement.

Constructor & Destructor Documentation

Imu()

Device::Imu::Imu ( Robot & robot )

explicit

~Imu()

Device::Imu::~Imu

(

)

Member Function Documentation

get_gyro_values()

vector3 Device::Imu::get_gyro_values ( ) const

inlinenodiscard

Retrieves the gyro values from the last measurement.

Returns

A 3D vector struct of the x, y and z components of the gyroscope

get_quaternion()

quaternion Device::Imu::get_quaternion ( ) const

inlinenodiscard

Retrieves the quaternion from the last measurement.

Returns

The last read quaternion

initialize()

void Device::Imu::initialize

(

)

Sets up the necessary I2C channel.

read_fifo_buffer()

void Device::Imu::read_fifo_buffer

(

)

Reads the current FIFO buffer from the IMUs DMP (digital motion processor).

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

• devices/imu/imu.h
• devices/imu/imu.cpp
• devices/imu/imu_helpers.cpp