Interfaces with the inertial sensors on the Zumo Shield. More...

#include <ZumoIMU.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...

ZumoIMUType	getType ()
	Returns the type of the inertial sensors on the Zumo Shield. More...

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

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

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 Shield.

This class allows you to configure and get readings from the I2C sensors that make up the Zumo Shield'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 90 of file ZumoIMU.h.

Member Function Documentation

◆ accDataReady()

bool ZumoIMU::accDataReady ( )

Indicates whether the accelerometer has new measurement data ready.

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

Definition at line 298 of file ZumoIMU.cpp.

◆ getType()

ZumoIMUType ZumoIMU::getType ( )

inline

Returns the type of the inertial sensors on the Zumo Shield.

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

Definition at line 125 of file ZumoIMU.h.

◆ gyroDataReady()

bool ZumoIMU::gyroDataReady ( )

Indicates whether the gyro has new measurement data ready.

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

Definition at line 314 of file ZumoIMU.cpp.

◆ init()

bool ZumoIMU::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 ZumoIMU.cpp.

◆ magDataReady()

bool ZumoIMU::magDataReady ( )

Indicates whether the magnetometer has new measurement data ready.

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

Definition at line 327 of file ZumoIMU.cpp.

◆ readReg()

uint8_t ZumoIMU::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 205 of file ZumoIMU.cpp.

◆ writeReg()

void ZumoIMU::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 197 of file ZumoIMU.cpp.

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

Classes

Public Member Functions

Public Attributes