Zumo32U4IMU Class Reference

Interfaces with the inertial sensors on the Zumo 32U4. More...

#include <Zumo32U4IMU.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.
bool	init ()
	Initializes the inertial sensors and detects their type. More...
Zumo32U4IMUType	getType ()
	Returns the type of the inertial sensors on the Zumo 32U4. More...
void	enableDefault ()
	Enables all of the inertial sensors with a default configuration.
void	configureForTurnSensing ()
	Configures the sensors with settings optimized for turn sensing.
void	configureForBalancing ()
	Configures the sensors with settings optimized for balancing.
void	configureForFaceUphill ()
	Configures the sensors with settings optimized for the FaceUphill example program.
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.
void	readGyro ()
	Takes a reading from the gyro and makes the measurements available in g.
void	readMag ()
	Takes a reading from the magnetometer and makes the measurements available in m.
void	read ()
	Takes a reading from all three sensors (accelerometer, gyro, and magnetometer) and makes their measurements available in the respective vectors.
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.
vector< int16_t >	g = {0, 0, 0}
	Raw gyro readings.
vector< int16_t >	m = {0, 0, 0}
	Raw magnetometer readings.

Detailed Description

Interfaces with the inertial sensors on the Zumo 32U4.

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

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

Definition at line 75 of file Zumo32U4IMU.h.

Member Function Documentation

accDataReady()

bool Zumo32U4IMU::accDataReady

(

)

Indicates whether the accelerometer has new measurement data ready.

Returns

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

Definition at line 328 of file Zumo32U4IMU.cpp.

getType()

Zumo32U4IMUType Zumo32U4IMU::getType ( )

inline

Returns the type of the inertial sensors on the Zumo 32U4.

Returns

The sensor type as a member of the Zumo32U4IMUType enum. If the type is not known (e.g. if init() has not been called yet), this will be Zumo32U4IMUType::Unknown.

Definition at line 110 of file Zumo32U4IMU.h.

gyroDataReady()

bool Zumo32U4IMU::gyroDataReady

(

)

Indicates whether the gyro has new measurement data ready.

Returns

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

Definition at line 343 of file Zumo32U4IMU.cpp.

init()

bool Zumo32U4IMU::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 Zumo32U4IMU.cpp.

magDataReady()

bool Zumo32U4IMU::magDataReady

(

)

Indicates whether the magnetometer has new measurement data ready.

Returns

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

Definition at line 358 of file Zumo32U4IMU.cpp.

readReg()

uint8_t Zumo32U4IMU::readReg	(	uint8_t	addr,
		uint8_t	reg
	)

Reads an 8-bit sensor register.

Parameters

addr	Device address.
reg	Register address.

Returns

8-bit register value read from the device.

Definition at line 241 of file Zumo32U4IMU.cpp.

writeReg()

void Zumo32U4IMU::writeReg	(	uint8_t	addr,
		uint8_t	reg,
		uint8_t	value
	)

Writes an 8-bit sensor register.

Parameters

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

Definition at line 233 of file Zumo32U4IMU.cpp.

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

• src/Zumo32U4IMU.h
• src/Zumo32U4IMU.cpp