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127 lines
2.0 KiB
Markdown
127 lines
2.0 KiB
Markdown
# IMU
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*IMU automatically call different IMU models according to different configurations*
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## Init()
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**Syntax:**
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`int Init(void);`
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**Description：initialize IMU**
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**Example：**
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```clike
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#include <M5StickC.h>
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void setup() {
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M5.begin();
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int x = M5.IMU.Init(); //return 0 is ok, return -1 is unknow
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Serial.println(x);
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}
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void loop() {}
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```
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## getGyroData()
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**Syntax:**
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`void getGyroData(float *gx, float *gy, float *gz);`
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**Description：Obtain the three-axis gyroscope data of the IMU chip.**
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**Example：**
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```clike
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#include <M5StickC.h>
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float gyroX, gyroY, gyroZ;
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void setup() {
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M5.begin();
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M5.IMU.Init();
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}
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void loop() {
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M5.IMU.getGyroData(&gyroX, &gyroY, &gyroZ);
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M5.Lcd.setCursor(0, 30);
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M5.Lcd.printf("X:%7.2f\nY:%7.2f\nZ:%7.2f ", gyroX, gyroY, gyroZ);
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delay(500);
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}
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```
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## getAccelData()
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**Syntax:**
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`void getAccelData(float *ax, float *ay, float *az);`
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**Description：Obtain the three-axis accelerometer data of the IMU chip.**
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**Example：**
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```clike
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#include <M5StickC.h>
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float accX, accY, accZ;
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void setup() {
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M5.begin();
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M5.IMU.Init();
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}
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void loop() {
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M5.IMU.getAccelData(&accX, &accY, &accZ);
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M5.Lcd.setCursor(0, 45);
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M5.Lcd.printf("X:%5.2f\nY:%5.2f\nZ:%5.2f ", accX, accY, accZ);
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delay(500);
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}
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```
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## getAhrsData()
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**Syntax：**
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`void getAhrsData(float *pitch, float *roll, float *yaw);`
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**Description：Get the attitude of the IMU chip.**
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**Example：**
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```clike
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#include <M5StickC.h>
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float pitch, roll, yaw;
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void setup() {
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M5.begin();
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M5.IMU.Init();
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}
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void loop() {
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M5.IMU.getAhrsData(&pitch, &roll, &yaw);
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M5.Lcd.setCursor(0, 45);
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M5.Lcd.printf("X:%5.2f\nY:%5.2f\nZ:%5.2f ", pitch, roll, yaw);
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delay(500);
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}
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```
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## getTempData()
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**Syntax：**
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`void getTempData(float *t);`
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**Description：Get the temperature of the IMU chip.**
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**Example：**
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```clike
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#include <M5StickC.h>
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float temp;
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void setup() {
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M5.begin();
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M5.IMU.Init();
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}
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void loop() {
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M5.IMU.getTempData(&temp);
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M5.Lcd.setCursor(0, 45);
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M5.Lcd.printf("Temperature : %.2f C", temp);
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delay(500);
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}
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``` |