IMU deprecated

deprecated IMU features More...

Functions
char	init_MPU6050 (void)
	Initiates the IMU. More...
char	mpu_calibrate_sensors (void)
	Sets the three offsets through simple bias estimation. More...
void	mpu_reset_global_yaw (void)
	Sets the absolute orientation to 0 degrees. More...
int16_t	mpu_get_orientation (void)
	Returns the current orientation. More...
int16_t	mpu_get_temperature (void)
	Returns the current temperature. More...
uint8_t	mpu_get_error (void)
	Returns the last error of IMU. More...
void	mpu_set_offsets (int16_t Z_Gyro, int16_t X_Accel, int16_t Y_Accel)
	Sets the current offsets of the IMU. More...
char	mpu_get_offsets (int16_t *Z_Gyro, int16_t *X_Accel, int16_t *Y_Accel)
	Returns the current offsets of the IMU. More...
void	mpu_compare_to_motors (uint8_t compare_motors)
	Activates/deactivats the motor-filter. More...

Detailed Description

deprecated IMU features

Function Documentation

init_MPU6050()

char init_MPU6050

(

void

)

Initiates the IMU.

Function is deprecated!

Internal conversion:

char init_MPU6050(void) {

    if (tucbot_imu_reset() == eTwiWrapperErrorNone) {
        return 0x00;
    } else {
        return   -1;
    }
}

See also

tucbot_imu_reset()

mpu_calibrate_sensors()

char mpu_calibrate_sensors

(

void

)

Sets the three offsets through simple bias estimation.

Function is deprecated!

Internal conversion:

char mpu_calibrate_sensors(void) {

    if (imu_calibrate()) {
        return 0x00;
    } else {
        return   -1;
    }
}

See also

imu_calibrate()

mpu_compare_to_motors()

void mpu_compare_to_motors

(

uint8_t

compare_motors

)

Activates/deactivats the motor-filter.

Function is deprecated!

See also

imu_set()

mpu_get_error()

uint8_t mpu_get_error

(

void

)

Returns the last error of IMU.

Function is deprecated!

Internal conversion:

uint8_t mpu_get_error(void) {

    if (imu_get(kImuGetStateInit)) {
        return 0x00;
    } else {
        return 0x01;
    }
}

See also

imu_get()

mpu_get_offsets()

char mpu_get_offsets	(	int16_t *	Z_Gyro,
		int16_t *	X_Accel,
		int16_t *	Y_Accel
	)

Returns the current offsets of the IMU.

Function is deprecated!

See also

imu_get()

mpu_get_orientation()

int16_t mpu_get_orientation

(

void

)

Returns the current orientation.

Function is deprecated!

See also

imu_get()

mpu_get_temperature()

int16_t mpu_get_temperature

(

void

)

Returns the current temperature.

Function is deprecated!

See also

imu_get()

mpu_reset_global_yaw()

void mpu_reset_global_yaw

(

void

)

Sets the absolute orientation to 0 degrees.

Function is deprecated!

Internal conversion:

void mpu_reset_global_yaw(void) {

    imu_set(kImuSetOrientation, 0);
}

See also

imu_set()

mpu_set_offsets()

void mpu_set_offsets	(	int16_t	Z_Gyro,
		int16_t	X_Accel,
		int16_t	Y_Accel
	)

Sets the current offsets of the IMU.

Function is deprecated!

See also

imu_set()