VN100 Class Reference

VN100 hardware interface library. More...

#include <VN100.h>

Detailed Description

VN100 hardware interface library.

Usage

1. Declare an instance of VN100 with constructor VN100() taking SPIClass as argument. E.g. use VN100 vn100(SPI_2); for MBLC
2. Call VN100::init() with the chip select pin (PB12 on MBLC)
3. Call VN100::get() with output arguments to get the filtered angles and angular rates.

Example (on MBLC 0.5)

#include <SPI.h>
#include <VN100.h>

VN100 vn100(SPI_2);

void setup() {
  Serial1.begin(115200);
  vn100.init(PB12);
  delay(1000);
}

void loop() {
  uint32_t tic = micros();
  tic = micros();
  float ypr[3], rates[3]];
  vn100.get(ypr[0], ypr[1], ypr[2], rates[0], rates[1], rates[2]);
  tic = micros() - tic;

  Serial1 << tic << "\t" << ypr[0] << "\t" << ypr[1] << "\t" << ypr[2] << "\t";
  Serial1 << rates[0] << "\t" << rates[1] << "\t" << rates[2] << "\n";

  delay(10);
}

Public Member Functions
	VN100 (SPIClass &theSPI)
	Construct with reference to which SPI. More...
void	init (uint8_t csPin)
	Send initialization commands to the VN100. More...
void	get (float &yaw, float &pitch, float &roll, float &yawd, float &pitchd, float &rolld)
	Retrieves angles and angular rates. More...

Constructor & Destructor Documentation

VN100::VN100 ( SPIClass &  theSPI )

inline

Construct with reference to which SPI.

Parameters

theSPI

SPI, SPI_2, etc.

Member Function Documentation

void VN100::get ( float &  yaw, float &  pitch, float &  roll, float &  yawd, float &  pitchd, float &  rolld  )

inline

Retrieves angles and angular rates.

This function blocks for a few hundred microseconds.

Parameters

yaw	in radians
pitch	in radians
roll	in radians
yawd	in rad/s
pitchd	in rad/s
rolld	in rad/s

void VN100::init ( uint8_t  csPin )

inline

Send initialization commands to the VN100.

Parameters

csPin

chip select pin

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The documentation for this class was generated from the following file:

• VN100.h