nimu.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2006
* Toby Collett
*
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <usb.h>
#include <stdint.h>
#include <stdio.h>
#include <arpa/inet.h>
#define NIMU_VENDORID 0x10c4
#define NIMU_PRODUCTID 0xEA61
#define NIMU_DATA_SIZE 38
typedef unsigned char uint8_t;
typedef unsigned short uint16_t;
class nimu_data
{
public:
uint8_t DeviceID;
uint8_t MessageID;
uint16_t SampleTimer;
short GyroX;
short GyroY;
short GyroZ;
short AccelX;
short AccelY;
short AccelZ;
short MagX;
short MagY;
short MagZ;
short GyroTempX;
short GyroTempY;
short GyroTempZ;
void Print() {
printf("%04X %04X %04X,%04X %04X %04X\n",GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ);
}
};
class nimu
{
public:
nimu();
~nimu();
int Open();
int Close();
nimu_data GetData();
private:
usb_dev_handle * nimu_dev;
};
nimu
Definition: nimu.h:62
nimu_data
Definition: nimu.h:38

Last updated 12 September 2005 21:38:45