#ifndef IMU_H #define IMU_H #include #include #include "lv_port_indev.h" #include "rgb_led.h" #define IMU_I2C_SDA 32 #define IMU_I2C_SCL 33 extern int32_t encoder_diff; extern lv_indev_state_t encoder_state; class IMU { private: MPU6050 imu; int16_t ax, ay, az; int16_t gx, gy, gz; long last_update_time; public: void init(); void update(int interval); int16_t getAccelX(); int16_t getAccelY(); int16_t getAccelZ(); int16_t getGyroX(); int16_t getGyroY(); int16_t getGyroZ(); }; #endif