MiniR4Motion Class Reference

Class for motion sensing using an IMU (Inertial Measurement Unit). More...

#include <MiniR4Motion.h>

Public Types
enum class	AxisType {   X , Y , Z , Roll ,   Pitch , Yaw }

Public Member Functions
	MiniR4Motion ()
bool	begin (void)
double	getGyro (AxisType axis)
	Gets the gyro value for a specified axis.
double	getAccel (AxisType axis)
	Gets the accelerometer value for a specified axis.
double	getAccelRaw (AxisType axis)
	Gets the raw (uncalibrated) IMU accelerometer data for a specific axis.
double	getEuler (AxisType axis)
	Gets the Euler angle for a specified axis.
uint8_t	getAccel_All (double *dataX)
	Gets the accelerometer value for a specified axis.
uint8_t	getGyro_All (double *dataX)
	Gets the gyro value for a specified axis.
uint8_t	getEuler_All (double *dataX)
	Gets the Euler angle for a specified axis.
bool	saveIMUCalData (float face1, float face2, float face3, float face4, float face5, float face6)
	Save IMU calibration data with 6 individual parameters (R4 EEPROM 0x32 - 0x49)
bool	applyIMUCalData (void)
	Load and send IMU calibration data from EEPROM (R4 EEPROM 0x32 - 0x49)
bool	getAllSpeed (int32_t *Speed_value)
	Gets the current encoder Speed value. (RPS)
bool	getIMU_acc_real (float *accdataCX)
	Gets the raw (uncalibrated) IMU accelerometer data.
bool	resetIMUValues (void)
	Resets the IMU values to zero.

Detailed Description

Class for motion sensing using an IMU (Inertial Measurement Unit).

Note: This Class is for Controller built-in IMU (PU6050) control by Lower MCU (STM32)

This class provides methods to retrieve gyro, accelerometer, and Euler angles data from the IMU. It also allows resetting the IMU values to zero.

Definition at line 20 of file MiniR4Motion.h.

Member Enumeration Documentation

AxisType

enum class MiniR4Motion::AxisType

strong

Enumerator
X
Y
Z
Roll
Pitch
Yaw

Definition at line 25 of file MiniR4Motion.h.

Constructor & Destructor Documentation

MiniR4Motion()

MiniR4Motion::MiniR4Motion ( )

inline

Definition at line 23 of file MiniR4Motion.h.

Member Function Documentation

applyIMUCalData()

bool MiniR4Motion::applyIMUCalData ( void )

inline

Load and send IMU calibration data from EEPROM (R4 EEPROM 0x32 - 0x49)

Reads the Six-Position Calibration data from EEPROM and sends it to the STM32 unit.

Returns

true if calibration data was successfully loaded and sent, false otherwise

Definition at line 222 of file MiniR4Motion.h.

begin()

bool MiniR4Motion::begin ( void )

inline

Definition at line 35 of file MiniR4Motion.h.

getAccel()

double MiniR4Motion::getAccel ( AxisType axis )

inline

Gets the accelerometer value for a specified axis.

Parameters

axis	The axis for which to retrieve the accelerometer value (X, Y, Z).

Returns

The accelerometer value for the specified axis.

Definition at line 68 of file MiniR4Motion.h.

getAccel_All()

uint8_t MiniR4Motion::getAccel_All ( double * dataX )

inline

Gets the accelerometer value for a specified axis.

Parameters

axis	The axis for which to retrieve the accelerometer value (X, Y, Z).

Returns

The accelerometer value for the specified axis.

Definition at line 136 of file MiniR4Motion.h.

getAccelRaw()

double MiniR4Motion::getAccelRaw ( AxisType axis )

inline

Gets the raw (uncalibrated) IMU accelerometer data for a specific axis.

Reads the uncalibrated accelerometer value for the specified axis (X, Y, or Z).

Parameters

axis	The axis to read (AxisType::X, AxisType::Y, or AxisType::Z)

Returns

The raw accelerometer value for the specified axis, or 0 if invalid axis

Definition at line 91 of file MiniR4Motion.h.

getAllSpeed()

bool MiniR4Motion::getAllSpeed ( int32_t * Speed_value )

inline

Gets the current encoder Speed value. (RPS)

Returns

True if the Value is get successfully, false otherwise.

Definition at line 248 of file MiniR4Motion.h.

getEuler()

double MiniR4Motion::getEuler ( AxisType axis )

inline

Gets the Euler angle for a specified axis.

Parameters

axis	The axis for which to retrieve the Euler angle (Roll, Pitch, Yaw).

Returns

The Euler angle for the specified axis.

Definition at line 115 of file MiniR4Motion.h.

getEuler_All()

uint8_t MiniR4Motion::getEuler_All ( double * dataX )

inline

Gets the Euler angle for a specified axis.

Parameters

axis	The axis for which to retrieve the Euler angle (Roll, Pitch, Yaw).

Returns

The Euler angle for the specified axis.

Definition at line 171 of file MiniR4Motion.h.

getGyro()

double MiniR4Motion::getGyro ( AxisType axis )

inline

Gets the gyro value for a specified axis.

Parameters

axis	The axis for which to retrieve the gyro value (X, Y, Z).

Returns

The gyro value for the specified axis.

Definition at line 47 of file MiniR4Motion.h.

getGyro_All()

uint8_t MiniR4Motion::getGyro_All ( double * dataX )

inline

Gets the gyro value for a specified axis.

Parameters

axis	The axis for which to retrieve the gyro value (X, Y, Z).

Returns

The gyro value for the specified axis.

Definition at line 154 of file MiniR4Motion.h.

getIMU_acc_real()

bool MiniR4Motion::getIMU_acc_real ( float * accdataCX )

inline

Gets the raw (uncalibrated) IMU accelerometer data.

Reads the 3-axis accelerometer values without calibration applied. Performs two consecutive reads with a 2ms delay for stability.

Parameters

accdataCX

Pointer to float array to store the accelerometer data (X, Y, Z axes)

Returns

true if data was successfully retrieved, false otherwise

Definition at line 271 of file MiniR4Motion.h.

resetIMUValues()

bool MiniR4Motion::resetIMUValues ( void )

inline

Resets the IMU values to zero.

Returns

True if the reset operation was successful, false otherwise.

Definition at line 290 of file MiniR4Motion.h.

saveIMUCalData()

bool MiniR4Motion::saveIMUCalData ( float face1, float face2, float face3, float face4, float face5, float face6 )

inline

Save IMU calibration data with 6 individual parameters (R4 EEPROM 0x32 - 0x49)

Parameters

face1	Calibration value for face 1
face2	Calibration value for face 2
face3	Calibration value for face 3
face4	Calibration value for face 4
face5	Calibration value for face 5
face6	Calibration value for face 6

Returns

true if calibration data was successfully saved, false otherwise

Definition at line 194 of file MiniR4Motion.h.

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

• D:/MTXBlock_DevHome/MatrixMiniR4_DOX/src/Modules/MiniR4Motion.h