RobotHardware-UESTC/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY85.h

#ifndef IMU_GY85_H_
#define IMU_GY85_H_

#include "imu.h"
#include "ADXL345.h"
#include "HMC5883L.h"
#include "ITG3200.h"

class GY85 : public IMU
{
public:
    virtual bool Init();
    virtual void GetData(float imu_data[9]);
private:
    ADXL345 accel;
    ITG3200 gyro;
    HMC5883L mag;

    short ax, ay, az;
    short gx, gy, gz;
    short mx, my, mz;
};

#endif