PLEN2::AccelerationGyroSensor Class Reference

Management class of acceleration and gyro sensor. More...

#include <AccelerationGyroSensor.h>

Public Member Functions
bool	sampling ()
	Do sampling sensor values. More...
const int16_t &	getAccX ()
	Get acceleration on X axis. More...
const int16_t &	getAccY ()
	Get acceleration on Y axis. More...
const int16_t &	getAccZ ()
	Get acceleration on Z axis. More...
const int16_t &	getGyroRoll ()
	Get angular velocity of roll axis (rotation axis on X axis) More...
const int16_t &	getGyroPitch ()
	Get angular velocity of pitch axis (rotation axis on Y axis) More...
const int16_t &	getGyroYaw ()
	Get angular velocity of yaw axis (rotation axis on Z axis) More...
void	dump ()
	Dump all sensors' value after sampling. More...

Detailed Description

Management class of acceleration and gyro sensor.

Member Function Documentation

void PLEN2::AccelerationGyroSensor::dump

(

)

Dump all sensors' value after sampling.

Output result in JSON format as below.

{
    "Acc X": <integer>,
    "Acc Y": <integer>,
    "Acc Z": <integer>,
    "Gyro Roll": <integer>,
    "Gyro Pitch": <integer>,
    "Gyro Yaw": <integer>
}

const int16_t& PLEN2::AccelerationGyroSensor::getAccX

(

)

Get acceleration on X axis.

Returns

Acceleration on X axis

Attention

Return the value cached at the runtime of the sampling method.

const int16_t& PLEN2::AccelerationGyroSensor::getAccY

(

)

Get acceleration on Y axis.

Returns

Acceleration on Y axis

Attention

Return the value cached at the runtime of the sampling method.

const int16_t& PLEN2::AccelerationGyroSensor::getAccZ

(

)

Get acceleration on Z axis.

Returns

Acceleration on Z axis

Attention

Return the value cached at the runtime of the sampling method.

const int16_t& PLEN2::AccelerationGyroSensor::getGyroPitch

(

)

Get angular velocity of pitch axis (rotation axis on Y axis)

Returns

Angular velocity of pitch axis

Attention

Return the value cached at the runtime of the sampling method.

const int16_t& PLEN2::AccelerationGyroSensor::getGyroRoll

(

)

Get angular velocity of roll axis (rotation axis on X axis)

Returns

Angular velocity of roll axis

Attention

Return the value cached at the runtime of the sampling method.

const int16_t& PLEN2::AccelerationGyroSensor::getGyroYaw

(

)

Get angular velocity of yaw axis (rotation axis on Z axis)

Returns

Angular velocity of yaw axis

Attention

Return the value cached at the runtime of the sampling method.

bool PLEN2::AccelerationGyroSensor::sampling

(

)

Do sampling sensor values.

Usage assumption is to call the method at stated periods from loop().

Returns

Result

Attention

The method has a deadlock of interruption and communication wait because it communicate with the sensor through a bus, so using it in constructor and interruption vector is deprecated.

The order of power supplied or firmware startup timing is base-board, head-board. If the method calls from early timing, program freezes because synchronism of communication is missed. (Generally, after setup() inserts a 3000[msec] delays for success.)

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

• AccelerationGyroSensor.h