imu_meas_t 構造体

IMU measurement data of KeiganMotor [詳解]

#include <KM1_I2C.h>

公開変数類
bool	isValid
int16_t	accelX
int16_t	accelY
int16_t	accelZ
int16_t	temp
int16_t	gyroX
int16_t	gyroY
int16_t	gyroZ

詳解

IMU measurement data of KeiganMotor

imu_meas_t

Call KeiganMotor::readIMUMeasurement() to get
You can convert the raw value to the actual value as follows.

• Acceleration
  • value [G] = raw_value * 2 / 32,767
• Temperature
  • value [℃] = raw_value / 333.87 + 21.00
• Gyroscope (Angular velocity)
  • value [degree/second] = raw_value * 250 / 32,767
  • value [radians/second] = raw_value * 0.00013316211
    

    覚え書き

    You need to call KeiganMotor::startIMUMeasurement() in advance to enable IMU.
    

メンバ詳解

accelX

int16_t imu_meas_t::accelX

Acceleration of x-axis

accelY

int16_t imu_meas_t::accelY

Acceleration of y-axis

accelZ

int16_t imu_meas_t::accelZ

Acceleration of z-axis

gyroX

int16_t imu_meas_t::gyroX

Angular velocity around x-axis

gyroY

int16_t imu_meas_t::gyroY

Angular velocity around y-axis

gyroZ

int16_t imu_meas_t::gyroZ

Angular velocity around z-axis

isValid

bool imu_meas_t::isValid

true when the received data is valid (without error)

temp

int16_t imu_meas_t::temp

Temperature

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この構造体詳解は次のファイルから抽出されました:

• src/KM1_I2C.h