Interfaces with the inertial sensors on the 3pi+ 32U4. More...

#include <Pololu3piPlus32U4IMU_declaration.h>

Classes
struct	vector
	Represents a 3-dimensional vector with x, y, and z components. More...

Public Member Functions
uint8_t	getLastError ()
	Returns 0 if the last I2C communication with the IMU was successful, or a non-zero status code if there was an error. More...

bool	init ()
	Initializes the inertial sensors and detects their type. More...

IMUType	getType ()
	Returns the type of the inertial sensors on the 3pi+ 32U4. More...

void	enableDefault ()
	Enables all of the inertial sensors with a default configuration. More...

void	configureForTurnSensing ()
	Configures the sensors with settings optimized for turn sensing. More...

void	configureForFaceUphill ()
	Configures the sensors with settings optimized for the FaceUphill example program. More...

void	configureForCompassHeading ()
	Configures the sensors with settings optimized for determining a compass heading with the magnetometer. More...

void	writeReg (uint8_t addr, uint8_t reg, uint8_t value)
	Writes an 8-bit sensor register. More...

uint8_t	readReg (uint8_t addr, uint8_t reg)
	Reads an 8-bit sensor register. More...

void	readAcc ()
	Takes a reading from the accelerometer and makes the measurements available in a. More...

void	readGyro ()
	Takes a reading from the gyro and makes the measurements available in g. More...

void	readMag ()
	Takes a reading from the magnetometer and makes the measurements available in m. More...

void	read ()
	Takes a reading from all three sensors (accelerometer, gyro, and magnetometer) and makes their measurements available in the respective vectors. More...

bool	accDataReady ()
	Indicates whether the accelerometer has new measurement data ready. More...

bool	gyroDataReady ()
	Indicates whether the gyro has new measurement data ready. More...

bool	magDataReady ()
	Indicates whether the magnetometer has new measurement data ready. More...

Public Attributes
vector< int16_t >	a = {0, 0, 0}
	Raw accelerometer readings. More...

vector< int16_t >	g = {0, 0, 0}
	Raw gyro readings. More...

vector< int16_t >	m = {0, 0, 0}
	Raw magnetometer readings. More...

Detailed Description

Interfaces with the inertial sensors on the 3pi+ 32U4.

This class allows you to configure and get readings from the I2C sensors that make up the 3pi+ 32U4's inertial measurement unit (IMU): gyro, accelerometer, and magnetometer.

The IMU is not fully enabled by default since it depends on the Wire library, which uses about 1400 bytes of additional code space and defines an interrupt service routine (ISR) that might be incompatible with some applications (such as our TWISlave example). To use the IMU, include the file Pololu3piPlus32U4IMU.h in one of your cpp/ino files for IMU functionality (not Pololu3piPlus32U4IMU_declaration.h, where this class is declared).

You must call Wire.start() before using any of this library's functions that access the sensors.

Definition at line 66 of file Pololu3piPlus32U4IMU_declaration.h.

Member Function Documentation

◆ accDataReady()

bool Pololu3piPlus32U4::IMU::accDataReady ( )

Indicates whether the accelerometer has new measurement data ready.

Returns: True if there is new accelerometer data available; false otherwise.

Definition at line 182 of file Pololu3piPlus32U4IMU.cpp.

◆ configureForCompassHeading()

void Pololu3piPlus32U4::IMU::configureForCompassHeading ( )

Configures the sensors with settings optimized for determining a compass heading with the magnetometer.

Definition at line 112 of file Pololu3piPlus32U4IMU.cpp.

◆ configureForFaceUphill()

void Pololu3piPlus32U4::IMU::configureForFaceUphill ( )

Configures the sensors with settings optimized for the FaceUphill example program.

Definition at line 95 of file Pololu3piPlus32U4IMU.cpp.

◆ configureForTurnSensing()

void Pololu3piPlus32U4::IMU::configureForTurnSensing ( )

Configures the sensors with settings optimized for turn sensing.

Definition at line 78 of file Pololu3piPlus32U4IMU.cpp.

◆ enableDefault()

void Pololu3piPlus32U4::IMU::enableDefault ( )

Enables all of the inertial sensors with a default configuration.

Definition at line 25 of file Pololu3piPlus32U4IMU.cpp.

◆ getLastError()

uint8_t Pololu3piPlus32U4::IMU::getLastError ( )

inline

Returns 0 if the last I2C communication with the IMU was successful, or a non-zero status code if there was an error.

Definition at line 87 of file Pololu3piPlus32U4IMU_declaration.h.

◆ getType()

IMUType Pololu3piPlus32U4::IMU::getType ( )

inline

Returns the type of the inertial sensors on the 3pi+ 32U4.

Returns: The sensor type as a member of the IMUType enum. If the type is not known (e.g. if init() has not been called yet), this will be IMUType::Unknown.

Definition at line 99 of file Pololu3piPlus32U4IMU_declaration.h.

◆ gyroDataReady()

bool Pololu3piPlus32U4::IMU::gyroDataReady ( )

Indicates whether the gyro has new measurement data ready.

Returns: True if there is new gyro data available; false otherwise.

Definition at line 193 of file Pololu3piPlus32U4IMU.cpp.

◆ init()

bool Pololu3piPlus32U4::IMU::init ( )

Initializes the inertial sensors and detects their type.

Returns: True if the sensor type was detected succesfully; false otherwise.

Definition at line 11 of file Pololu3piPlus32U4IMU.cpp.

◆ magDataReady()

bool Pololu3piPlus32U4::IMU::magDataReady ( )

Indicates whether the magnetometer has new measurement data ready.

Returns: True if there is new magnetometer data available; false otherwise.

Definition at line 204 of file Pololu3piPlus32U4IMU.cpp.

◆ read()

void Pololu3piPlus32U4::IMU::read ( )

Takes a reading from all three sensors (accelerometer, gyro, and magnetometer) and makes their measurements available in the respective vectors.

Definition at line 173 of file Pololu3piPlus32U4IMU.cpp.

◆ readAcc()

void Pololu3piPlus32U4::IMU::readAcc ( void )

Takes a reading from the accelerometer and makes the measurements available in a.

Definition at line 130 of file Pololu3piPlus32U4IMU.cpp.

◆ readGyro()

void Pololu3piPlus32U4::IMU::readGyro ( )

Takes a reading from the gyro and makes the measurements available in g.

Definition at line 144 of file Pololu3piPlus32U4IMU.cpp.

◆ readMag()

void Pololu3piPlus32U4::IMU::readMag ( )

Takes a reading from the magnetometer and makes the measurements available in m.

Definition at line 158 of file Pololu3piPlus32U4IMU.cpp.

◆ readReg()

uint8_t Pololu3piPlus32U4::IMU::readReg	(	uint8_t	addr,
		uint8_t	reg
	)

Reads an 8-bit sensor register.

Parameters

addr	Device address.
reg	Register address.

Returns: The 8-bit register value read from the device.

Definition at line 28 of file Pololu3piPlus32U4IMU.h.

◆ writeReg()

void Pololu3piPlus32U4::IMU::writeReg	(	uint8_t	addr,
		uint8_t	reg,
		uint8_t	value
	)

Writes an 8-bit sensor register.

Parameters

addr	Device address.
reg	Register address.
value	The 8-bit register value to be written.

Definition at line 20 of file Pololu3piPlus32U4IMU.h.

Member Data Documentation

◆ a

vector<int16_t> Pololu3piPlus32U4::IMU::a = {0, 0, 0}

Raw accelerometer readings.

Definition at line 77 of file Pololu3piPlus32U4IMU_declaration.h.

◆ g

vector<int16_t> Pololu3piPlus32U4::IMU::g = {0, 0, 0}

Raw gyro readings.

Definition at line 80 of file Pololu3piPlus32U4IMU_declaration.h.

◆ m

vector<int16_t> Pololu3piPlus32U4::IMU::m = {0, 0, 0}

Raw magnetometer readings.

Definition at line 83 of file Pololu3piPlus32U4IMU_declaration.h.

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

Classes

Public Member Functions

Public Attributes