LSM6DSOX Class Reference

Class to interface and get pitch, yaw, roll data from the LSM6DSOX accelerometer and gyroscope. More...

#include <IMU.h>

Public Member Functions
	LSM6DSOX (void)
	Header function for LSM6DSOX to initialize object More...
void	read_data (float &GYRO_X, float &GYRO_Y, float &GYRO_Z, float &ACCEL_X, float &ACCEL_Y, float &ACCEL_Z)
	Header function to read gyro and accelerometer data. More...
void	get_angle (float time, float &pitch, float &yaw, float &roll)
	Header function to get pitch, yaw, and roll data. More...
void	zero (void)
	Header function to zero yaw. More...

Detailed Description

Class to interface and get pitch, yaw, roll data from the LSM6DSOX accelerometer and gyroscope.

Constructor & Destructor Documentation

LSM6DSOX()

LSM6DSOX::LSM6DSOX

(

void

)

Header function for LSM6DSOX to initialize object

Constructor for LSM6DSOX object, which handles the accelerometer and gyroscope sensors.

Member Function Documentation

get_angle()

void LSM6DSOX::get_angle	(	float	new_time,
		float &	pitch_in,
		float &	yaw_in,
		float &	roll_in
	)

Header function to get pitch, yaw, and roll data.

Calculates the pitch, yaw, and roll from sensor data.

Parameters

new_time	Time at which the function is called using time.h
pitch_in	Reference parameter to pitch
yaw_in	Reference parameter to yaw
roll_in	Reference parameter for roll_in

read_data()

void LSM6DSOX::read_data	(	float &	GYRO_X,
		float &	GYRO_Y,
		float &	GYRO_Z,
		float &	ACCEL_X,
		float &	ACCEL_Y,
		float &	ACCEL_Z
	)

Header function to read gyro and accelerometer data.

Reads the data for gyroscope and accelerometer.

Parameters

GYRO_X	Reference parameter for Gyro X reading in rad/s
GYRO_Y	Reference parameter for Gyro Y reading in rad/s
GYRO_Z	Reference parameter for Gyro Z reading in rad/s
ACCEL_X	Reference parameter for Accelerometer X reading in m/s^2
ACCEL_Y	Reference parameter for Accelerometer Y reading in m/s^2
ACCEL_Z	Reference parameter for Accelerometer Z reading in m/s^2

zero()

void LSM6DSOX::zero

(

void

)

Header function to zero yaw.

Sets current yaw angle to be the offset.

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

• doxygen staging/IMU.h
• doxygen staging/IMU.cpp