Accelerometer.cpp

#include "Accelerometer.hpp"

Accelerometer::Accelerometer(unsigned short ain_x, unsigned short ain_y, unsigned short ain_z)
    :adc_x(ain_x), adc_y(ain_y), adc_z(ain_z)
{
}

Accelerometer::~Accelerometer()
{
}


float Accelerometer::roll()
{
    float x, y, z, roll;

    //Get 3-axis gravity
    x = adc_x.GetValue() * scaling + offset;
    y = adc_y.GetValue() * scaling + offset + 0.15;
    z = (adc_z.GetValue() + biasCorrection) * scaling + offset;

    //Get roll
    roll = atan(y / sqrt(x*x + z*z)) * (180.0 / PI);

//	printf("%f\t%f\t%f\t==>\t%f\n", x, y, z, roll);

    return roll;

}

float Accelerometer::pitch()
{
    float x, y, z, pitch;

    //Get 3-axis gravity
    x = adc_x.GetValue() * scaling + offset;
    y = adc_y.GetValue() * scaling + offset;
    z = (adc_z.GetValue() + biasCorrection) * scaling + offset;

    //Get pitch
    pitch = atan(x / sqrt(y*y + z*z)) * (180.0 / PI);

    return pitch;

}