Driver for MeGyro module. More...

#include <src/MeGyro.h>

Inheritance diagram for MeGyro:

Collaboration diagram for MeGyro:

Public Member Functions
	MeGyro (void)

	MeGyro (uint8_t port)

	MeGyro (uint8_t port, uint8_t address)

void	setpin (uint8_t AD0, uint8_t INT)

void	begin ()

void	update (void)

void	fast_update (void)

uint8_t	getDevAddr (void) const

double	getAngleX (void) const

double	getAngleY (void) const

double	getAngleZ (void) const

double	getGyroX (void) const

double	getGyroY (void) const

double	getGyroZ (void) const

double	getAngle (uint8_t index) const

void	resetData (void)

Public Member Functions inherited from MePort
	MePort (void)

	MePort (uint8_t port)

	MePort (uint8_t port, uint8_t slot)

uint8_t	getPort (void)

uint8_t	getSlot (void)

bool	dRead1 (uint8_t mode=INPUT)

bool	dRead2 (uint8_t mode=INPUT)

bool	dpRead1 (void)

bool	dpRead2 (void)

void	dWrite1 (bool value)

void	dWrite2 (bool value)

int16_t	aRead1 (void)

int16_t	aRead2 (void)

void	aWrite1 (int16_t value)

void	aWrite2 (int16_t value)

void	reset (uint8_t port)

void	reset (uint8_t port, uint8_t slot)

uint8_t	pin1 (void)

uint8_t	pin2 (void)

uint8_t	pin (void)

uint8_t	pin (uint8_t port, uint8_t slot)

Additional Inherited Members
Protected Attributes inherited from MePort
uint8_t	s1

uint8_t	s2

uint8_t	_port

uint8_t	_slot

Detailed Description

Driver for MeGyro module.

Class: MeGyro

Description: Declaration of Class MeGyro

Copyright (C), 2012-2016, MakeBlock

Constructor & Destructor Documentation

◆ MeGyro() [1/3]

MeGyro::MeGyro ( void )

Alternate Constructor which can call your own function to map the MeCompass to arduino port, no pins are used or initialized here

Alternate Constructor which can call your own function to map the MeGyro to arduino port, no pins are used or initialized here

◆ MeGyro() [2/3]

MeGyro::MeGyro ( uint8_t port )

Alternate Constructor which can call your own function to map the MeCompass to arduino port, no pins are used or initialized here, but PWM frequency set to 976 Hz

Parameters

[in] port - RJ25 port from PORT_1 to M2

Alternate Constructor which can call your own function to map the MeGyro to arduino port, no pins are used or initialized here, but PWM frequency set to 976 Hz

Parameters

[in] port - RJ25 port from PORT_1 to M2

◆ MeGyro() [3/3]

MeGyro::MeGyro	(	uint8_t	port,
		uint8_t	address
	)

Alternate Constructor which can call your own function to map the MeCompass to arduino port and change the i2c device address no pins are used or initialized here, but PWM frequency set to 976 Hz

Parameters

[in]	port	- RJ25 port from PORT_1 to M2
[in]	address	- the i2c address you want to set

Alternate Constructor which can call your own function to map the MeGyro to arduino port and change the i2c device address no pins are used or initialized here, but PWM frequency set to 976 Hz

Parameters

[in]	port	- RJ25 port from PORT_1 to M2
[in]	address	- the i2c address you want to set

Member Function Documentation

◆ begin()

void MeGyro::begin ( void )

Function: begin

Description: Initialize the MeGyro.

Parameters

[in] None

Output: None

Returns: None

Others: You can check the MPU6050 datasheet for the registor address.

◆ fast_update()

void MeGyro::fast_update ( void )

Function: fast_update

Description: Fast update some calculated angle values to the variable.

Parameters

[in] None

Output: None

Returns: None

Others: The angle values are calculated by complementary filter. The time constant of filter is set to 0.5 second, but period dt is not a constant, so the filter coefficient will be calculated dynamically.

◆ getAngle()

double MeGyro::getAngle ( uint8_t index ) const

Function: getAngle

Description: Get the angle value of setting axis.

Parameters

[in] index - Axis settings(1:X-axis, 2:Y-axis, 3:Z-axis)

Output: None

Returns: The angle value of setting axis

Others: Z-axis angle value is integral of Z-axis angular velocity.

◆ getAngleX()

double MeGyro::getAngleX ( void ) const

Function: getAngleX

Description: Get the angle value of X-axis.

Parameters

[in] None

Output: None

Returns: The angle value of X-axis

Others: X-axis angle value is calculated by complementary filter.

Function: getAngleY

Description: Get the angle value of X-axis.

Parameters

[in] None

Output: None

Returns: The angle value of X-axis

Others: X-axis angle value is calculated by complementary filter.

◆ getAngleY()

double MeGyro::getAngleY ( void ) const

Function: getAngleY

Description: Get the angle value of Y-axis.

Parameters

[in] None

Output: None

Returns: The angle value of Y-axis

Others: Y-axis angle value is calculated by complementary filter.

◆ getAngleZ()

double MeGyro::getAngleZ ( void ) const

Function: getAngleZ

Description: Get the angle value of Z-axis.

Parameters

[in] None

Output: None

Returns: The angle value of Z-axis

Others: Z-axis angle value is integral of Z-axis angular velocity.

◆ getDevAddr()

uint8_t MeGyro::getDevAddr ( void ) const

Function: getDevAddr

Description: Get the device address of Gyro.

Parameters

[in] None

Output: None

Returns: The device address of Gyro

Others: None

◆ getGyroX()

double MeGyro::getGyroX ( void ) const

Function: getGyroX

Description: Get the data of gyroXrate.

Parameters

[in] None

Output: None

Returns: The data of gyroXrate

Others: None

◆ getGyroY()

double MeGyro::getGyroY ( void ) const

Function: getGyroY

Description: Get the data of gyroYrate.

Parameters

[in] None

Output: None

Returns: The data of gyroYrate

Others: None

◆ getGyroZ()

double MeGyro::getGyroZ ( void ) const

Function: getGyroZ

Description: Get the data of gyroZrate.

Parameters

[in] None

Output: None

Returns: The data of gyroZrate

Others: None

◆ resetData()

void MeGyro::resetData ( void )

Function: resetData

Description: Reset the angle value of setting axis.

Parameters

[in] None

Output: None

Returns: None

Others: None

Author: Nicolas Bourré

◆ setpin()

void MeGyro::setpin	(	uint8_t	AD0,
		uint8_t	INT
	)

Function: setpin

Description: Set the PIN of the button module.

Parameters

[in]	AD0	- pin mapping for arduino
[in]	INT	- pin mapping for arduino

Output: None

Returns: None.

Others: Set global variable _AD0, _INT, s1 and s2

◆ update()

void MeGyro::update ( void )

Function: update

Description: Update some calculated angle values to the variable.

Parameters

[in] None

Output: None

Returns: None

Others: The angle values are calculated by complementary filter. The time constant of filter is set to 0.5 second, but period dt is not a constant, so the filter coefficient will be calculated dynamically.

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

src/MeGyro.h
src/MeGyro.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MeGyro() [1/3]

◆ MeGyro() [2/3]

◆ MeGyro() [3/3]

Member Function Documentation

◆ begin()

◆ fast_update()

◆ getAngle()

◆ getAngleX()

◆ getAngleY()

◆ getAngleZ()

◆ getDevAddr()

◆ getGyroX()

◆ getGyroY()

◆ getGyroZ()

◆ resetData()

◆ setpin()

◆ update()