myRIO::Gyro Class Reference

Helper class to use with a L3G4200D gyro sensor. More...

#include <Gyro.h>

Public Member Functions
	Gyro ()
	Constructs a helper for sensor L3G4200D. More...
	~Gyro ()
	Close the thread if it was running. More...
void	calibrate (short samples=100)
	Compute the offset from error of the last X samples The gyro must be on a plane surface. More...
void	readGyro (double &vx, double &vy, double &vz)
	Read all X, Y and Z values from the gyro registers. More...
void	startFreeRunningMode (std::function< void(double &, double &)> func)
	Start a thread to run infinitely that will check the gyro values. More...
void	stopFreeRunningMode ()
	Stop the running thread. More...

Private Attributes
uint8_t *	regs
uint8_t	gyroStatusVal
I2C *	gyro
double	xOff
double	yOff
double	zOff
std::thread *	th
bool *	run

Detailed Description

Helper class to use with a L3G4200D gyro sensor.

Examples

project_angle.cpp, and project_pendulum.cpp.

Definition at line 39 of file Gyro.h.

Constructor & Destructor Documentation

Gyro()

Gyro::Gyro

(

)

Constructs a helper for sensor L3G4200D.

Definition at line 9 of file Gyro.cpp.

~Gyro()

Gyro::~Gyro

(

)

Close the thread if it was running.

Definition at line 151 of file Gyro.cpp.

Member Function Documentation

calibrate()

void Gyro::calibrate

(

short

samples = 100

)

Compute the offset from error of the last X samples The gyro must be on a plane surface.

Parameters

samples

the number of samples to average the offset from

Examples

project_angle.cpp, and project_pendulum.cpp.

Definition at line 32 of file Gyro.cpp.

readGyro()

void Gyro::readGyro	(	double &	vx,
		double &	vy,
		double &	vz
	)

Read all X, Y and Z values from the gyro registers.

Parameters

vx	x value
vy	y value
vz	z value

Definition at line 70 of file Gyro.cpp.

startFreeRunningMode()

void Gyro::startFreeRunningMode

(

std::function< void(double &, double &)>

func

)

Start a thread to run infinitely that will check the gyro values.

Parameters

func	callback function, that will receive the elapsed time and the x value

Examples

project_angle.cpp, and project_pendulum.cpp.

Definition at line 95 of file Gyro.cpp.

stopFreeRunningMode()

void Gyro::stopFreeRunningMode

(

)

Stop the running thread.

Definition at line 144 of file Gyro.cpp.

Member Data Documentation

gyro

I2C* myRIO::Gyro::gyro

private

Definition at line 51 of file Gyro.h.

gyroStatusVal

uint8_t myRIO::Gyro::gyroStatusVal

private

Definition at line 50 of file Gyro.h.

regs

uint8_t* myRIO::Gyro::regs

private

Definition at line 49 of file Gyro.h.

run

bool* myRIO::Gyro::run

private

Definition at line 54 of file Gyro.h.

th

std::thread* myRIO::Gyro::th

private

Definition at line 53 of file Gyro.h.

xOff

double myRIO::Gyro::xOff

private

Definition at line 52 of file Gyro.h.

yOff

double myRIO::Gyro::yOff

private

Definition at line 52 of file Gyro.h.

zOff

double myRIO::Gyro::zOff

private

Definition at line 52 of file Gyro.h.

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

• C:/Users/jackb/OneDrive - etu.univ-lyon1.fr/TERi/Eclipse/workspace/APIForRIO/src/Gyro.h
• C:/Users/jackb/OneDrive - etu.univ-lyon1.fr/TERi/Eclipse/workspace/APIForRIO/src/Gyro.cpp