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 ()
double	getGyro (AxisType axis)
	Gets the gyro value for a specified axis.
double	getAccel (AxisType axis)
	Gets the accelerometer value for a specified axis.
int16_t	getEuler (AxisType axis)
	Gets the Euler angle for a specified axis.
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 19 of file MiniR4Motion.h.

Member Enumeration Documentation

AxisType

enum class MiniR4Motion::AxisType

strong

Enumerator
X
Y
Z
Roll
Pitch
Yaw

Definition at line 24 of file MiniR4Motion.h.

Constructor & Destructor Documentation

MiniR4Motion()

MiniR4Motion::MiniR4Motion ( )

inline

Definition at line 22 of file MiniR4Motion.h.

Member Function Documentation

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 61 of file MiniR4Motion.h.

getEuler()

int16_t 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 82 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 40 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 102 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