本文整理汇总了C++中MPU6050::getRotationX方法的典型用法代码示例。如果您正苦于以下问题：C++ MPU6050::getRotationX方法的具体用法？C++ MPU6050::getRotationX怎么用？C++ MPU6050::getRotationX使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类MPU6050的用法示例。
在下文中一共展示了MPU6050::getRotationX方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1:
/*
* Output functions
*
*/
extern "C" void sf_MPU6050_2xDriver_GxAyz_Outputs_wrapper(int16_T *x_vel,
int16_T *y_acc,
int16_T *z_acc,
int16_T *x_vel_2,
int16_T *y_acc_2,
int16_T *z_acc_2,
const real_T *xD)
{
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
/* This sample sets the output equal to the input
y0[0] = u0[0];
For complex signals use: y0[0].re = u0[0].re;
y0[0].im = u0[0].im;
y1[0].re = u1[0].re;
y1[0].im = u1[0].im;
*/
if(xD[0] == 1)
{
#ifndef MATLAB_MEX_FILE
x_vel[0]=accelgyro.getRotationX();
y_acc[0]=accelgyro.getAccelerationY();
z_acc[0]=accelgyro.getAccelerationZ();
x_vel_2[0]=accelgyro2.getRotationX();
y_acc_2[0]=accelgyro2.getAccelerationY();
z_acc_2[0]=accelgyro2.getAccelerationZ();
#endif
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}示例2: main
//.........这里部分代码省略.........
// //if((encTimer.read_us() - lastEncTime) > 0.0f ) { // every 100 ms
// float sign = 0;
// if(positionOffset > 0) sign= 1;
// else sign = -1;
// if(abs(positionOffset) > zoneA) angleOffset += 1.0f/zoneAscale*positionOffset;
// else if(abs(positionOffset) > zoneB) angleOffset += 1.0f/zoneBscale*positionOffset;
// else if(abs(positionOffset) > zoneC) angleOffset += 1.0f/zoneCscale*positionOffset;
// else angleOffset += positionOffset/zoneDscale;
// printf("angleOffset: %f, positionoffset: %f\n", angleOffset, positionOffset );
// // Estimate velocity
// //
// velocity = (position - lastPosition);
// lastPosition = position;
// angleOffset += velocity/velocityScale;
// angleOffset = constrain(angleOffset,-10, 10);
// lastAngleoffset = angleOffset;
// //}
// angleOffset = constrain(angleOffset,lastAngleoffset - 1, lastAngleoffset + 1);
timer.reset();
///////////////////////////
// Get gyro/accel values //
///////////////////////////
accelgyro.getAcceleration(&ax,&ay,&az);
measuredRate = accelgyro.getRotationX()*1.0/131.0f; // Units depend on config. Right now 250o/s
measuredTheta = -atan(1.0*ay/az);
measuredTheta = measuredTheta*180/PI; // measured in degrees
///////////////////
// Kalman Filter //
///////////////////
dt = (double)(code.read_us() - oldTime)/1000000.0f;
newTheta = kalman.getAngle(measuredTheta,
-measuredRate, dt);
//DEBUG: printf("%g \n", (double)(code.read_us() - oldTime)/1000000.0f);
oldTime = code.read_us();
//////////////////
// Control loop //
//////////////////
// Set control variable to zero
u = 0;
// Extract constants from k vector, which has the serial readings.
float kp = k[0];
float ki = k[1];
float kd = k[2];
tref = k[3] - angleOffset;
waittime = k[4];
if(newTheta >= 50 || newTheta <= -50){
u = 0;
}else{
// Define error term