00001 /*!@file Devices/IMU_IMU_SFE_Atomic.H class 00002 for interfacing with the Spark Fun Electronics Atomic IMU */ 00003 00004 // //////////////////////////////////////////////////////////////////// // 00005 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2003 // 00006 // by the University of Southern California (USC) and the iLab at USC. // 00007 // See http://iLab.usc.edu for information about this project. // 00008 // //////////////////////////////////////////////////////////////////// // 00009 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00010 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00011 // in Visual Environments, and Applications'' by Christof Koch and // 00012 // Laurent Itti, California Institute of Technology, 2001 (patent // 00013 // pending; application number 09/912,225 filed July 23, 2001; see // 00014 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00015 // //////////////////////////////////////////////////////////////////// // 00016 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00017 // // 00018 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00019 // redistribute it and/or modify it under the terms of the GNU General // 00020 // Public License as published by the Free Software Foundation; either // 00021 // version 2 of the License, or (at your option) any later version. // 00022 // // 00023 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00024 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00025 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00026 // PURPOSE. See the GNU General Public License for more details. // 00027 // // 00028 // You should have received a copy of the GNU General Public License // 00029 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00030 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00031 // Boston, MA 02111-1307 USA. // 00032 // //////////////////////////////////////////////////////////////////// // 00033 // 00034 00035 00036 #ifndef IMU_SFE_ATOMIC_H 00037 #define IMU_SFE_ATOMIC_H 00038 00039 #include "Component/OptionManager.H" 00040 #include "Devices/Serial.H" 00041 00042 class IMU_SFE_Atomic : public ModelComponent 00043 { 00044 public: 00045 IMU_SFE_Atomic(OptionManager& mgr, 00046 const std::string& descrName = "IMU_SFE_Atomic", 00047 const std::string& tagName = "IMU_SFE_Atomic"); 00048 00049 struct IMUData 00050 { 00051 float accelX; 00052 float accelY; 00053 float accelZ; 00054 float pitch; 00055 float roll; 00056 float yaw; 00057 float count; 00058 }; 00059 00060 IMUData readIMUData(); 00061 00062 void start2(); 00063 00064 private: 00065 nub::ref<Serial> itsSerial; 00066 }; 00067 00068 #endif
1.6.3