HoloCubic/2.Firmware/HoloCubic_fw/imu.h

41 lines
535 B
C++

#ifndef IMU_H
#define IMU_H
#include <I2Cdev.h>
#include <MPU6050.h>
#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