implemented IMU on Target

BlueAndi · Oct 4, 2023 · 3238c16 · 3238c16
1 parent 5208343
commit 3238c16
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Showing 10 changed files with 115 additions and 478 deletions.
diff --git a/lib/HALSim/Gyroscope.cpp b/lib/HALSim/Gyroscope.cpp
diff --git a/lib/HALSim/Gyroscope.h b/lib/HALSim/Gyroscope.h
diff --git a/lib/HALSim/IMU.cpp b/lib/HALSim/IMU.cpp
@@ -93,9 +93,9 @@ const double* IMU::getAccelerometerValues()
             m_accelerationValues[axisIndex] = accelerationValues[axisIndex];   
         }
     }
-    if (abs(m_accelerationValues[0])>0.1 || abs(m_accelerationValues[1])>0.1){
-        std::cout<<"Accelerometer.cpp: ACCEL: x = " << m_accelerationValues[0]<< "; y = "<<m_accelerationValues[1]<< std::endl;
-    }
+    //if (abs(m_accelerationValues[0])>0.1 || abs(m_accelerationValues[1])>0.1){
+        std::cout<<"Accelerometer.cpp: ACCEL: x = " << m_accelerationValues[0]<< "; y = "<<m_accelerationValues[1]<< "; z = "<<m_accelerationValues[2]<< std::endl;
+    //}
     return m_accelerationValues;
 }
 

diff --git a/lib/HALSim/IMU.h b/lib/HALSim/IMU.h
@@ -139,7 +139,7 @@ class IMU : public IIMU
     /**
      * Number of used axis of the accelerometer.
      */
-    static const uint8_t NUMBER_OF_AXIS = 2;
+    static const uint8_t NUMBER_OF_AXIS = 3;
 
 
     static const uint8_t INDEX_OF_Z_AXIS = 2;

diff --git a/lib/HALTarget/Accelerometer.cpp b/lib/HALTarget/Accelerometer.cpp