MiniR4Motion.h

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#ifndef MINIR4MOTION_H
#define MINIR4MOTION_H
 
#include "MMLower.h"
 
class MiniR4Motion
{
public:
    MiniR4Motion() {}
 
    enum class AxisType
    {
        X,
        Y,
        Z,
        Roll,
        Pitch,
        Yaw
    };
 
    double getGyro(AxisType axis)
    {
        double x = 0, y = 0, z = 0;
        mmL.GetIMUGyro(x, y, z);
 
        if (axis == AxisType::X)
            return x;
        else if (axis == AxisType::Y)
            return y;
        else if (axis == AxisType::Z)
            return z;
        else
            return 0;
    }
 
    double getAccel(AxisType axis)
    {
        double x = 0, y = 0, z = 0;
        mmL.GetIMUAcc(x, y, z);
 
        if (axis == AxisType::X)
            return x;
        else if (axis == AxisType::Y)
            return y;
        else if (axis == AxisType::Z)
            return z;
        else
            return 0;
    }
 
    int16_t getEuler(AxisType axis)
    {
        int16_t roll = 0, pitch = 0, yaw = 0;
        mmL.GetIMUEuler(roll, pitch, yaw);
 
        if (axis == AxisType::Roll)
            return roll;
        else if (axis == AxisType::Pitch)
            return pitch;
        else if (axis == AxisType::Yaw)
            return yaw;
        else
            return -999;
    }
 
    bool resetIMUValues(void) { return (mmL.SetIMUToZero() == MMLower::RESULT::OK); }
 
private:
};
 
#endif   // MINIR4MOTION_H