1 files changed, 0 insertions, 159 deletions
diff --git a/CODE/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino b/CODE/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino
deleted file mode 100644
index 5ca58e2..0000000
--- a/CODE/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino
+++ /dev/null
@@ -1,159 +0,0 @@
-/*
-
-MinIMU-9-Arduino-AHRS
-Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
-
-Copyright (c) 2011-2016 Pololu Corporation.
-http://www.pololu.com/
-
-MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
-http://code.google.com/p/sf9domahrs/
-
-sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
-Julio and Doug Weibel:
-http://code.google.com/p/ardu-imu/
-
-MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
-under the terms of the GNU Lesser General Public License as published by the
-Free Software Foundation, either version 3 of the License, or (at your option)
-any later version.
-
-MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
-WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
-more details.
-
-You should have received a copy of the GNU Lesser General Public License along
-with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
-
-*/
-
-#ifdef IMU_V5
-
-#include <LSM6.h>
-#include <LIS3MDL.h>
-
-LSM6 gyro_acc;
-LIS3MDL mag;
-
-#else // older IMUs through v4
-
-#include <L3G.h>
-#include <LSM303.h>
-
-L3G gyro;
-LSM303 compass;
-
-#endif
-
-
-void I2C_Init()
-{
-  Wire.begin();
-}
-
-void Gyro_Init()
-{
-#ifdef IMU_V5
-  // Accel_Init() should have already called gyro_acc.init() and enableDefault()
-  gyro_acc.writeReg(LSM6::CTRL2_G, 0x4C); // 104 Hz, 2000 dps full scale
-#else
-  gyro.init();
-  gyro.enableDefault();
-  gyro.writeReg(L3G::CTRL_REG4, 0x20); // 2000 dps full scale
-  gyro.writeReg(L3G::CTRL_REG1, 0x0F); // normal power mode, all axes enabled, 100 Hz
-#endif
-}
-
-void Read_Gyro()
-{
-#ifdef IMU_V5
-  gyro_acc.readGyro();
-
-  AN[0] = gyro_acc.g.x;
-  AN[1] = gyro_acc.g.y;
-  AN[2] = gyro_acc.g.z;
-#else
-  gyro.read();
-
-  AN[0] = gyro.g.x;
-  AN[1] = gyro.g.y;
-  AN[2] = gyro.g.z;
-#endif
-
-  gyro_x = SENSOR_SIGN[0] * (AN[0] - AN_OFFSET[0]);
-  gyro_y = SENSOR_SIGN[1] * (AN[1] - AN_OFFSET[1]);
-  gyro_z = SENSOR_SIGN[2] * (AN[2] - AN_OFFSET[2]);
-}
-
-void Accel_Init()
-{
-#ifdef IMU_V5
-  gyro_acc.init();
-  gyro_acc.enableDefault();
-  gyro_acc.writeReg(LSM6::CTRL1_XL, 0x3C); // 52 Hz, 8 g full scale
-#else
-  compass.init();
-  compass.enableDefault();
-  switch (compass.getDeviceType())
-  {
-    case LSM303::device_D:
-      compass.writeReg(LSM303::CTRL2, 0x18); // 8 g full scale: AFS = 011
-      break;
-    case LSM303::device_DLHC:
-      compass.writeReg(LSM303::CTRL_REG4_A, 0x28); // 8 g full scale: FS = 10; high resolution output mode
-      break;
-    default: // DLM, DLH
-      compass.writeReg(LSM303::CTRL_REG4_A, 0x30); // 8 g full scale: FS = 11
-  }
-#endif
-}
-
-// Reads x,y and z accelerometer registers
-void Read_Accel()
-{
-#ifdef IMU_V5
-  gyro_acc.readAcc();
-
-  AN[3] = gyro_acc.a.x >> 4; // shift right 4 bits to use 12-bit representation (1 g = 256)
-  AN[4] = gyro_acc.a.y >> 4;
-  AN[5] = gyro_acc.a.z >> 4;
-#else
-  compass.readAcc();
-
-  AN[3] = compass.a.x >> 4; // shift right 4 bits to use 12-bit representation (1 g = 256)
-  AN[4] = compass.a.y >> 4;
-  AN[5] = compass.a.z >> 4;
-#endif
-  accel_x = SENSOR_SIGN[3] * (AN[3] - AN_OFFSET[3]);
-  accel_y = SENSOR_SIGN[4] * (AN[4] - AN_OFFSET[4]);
-  accel_z = SENSOR_SIGN[5] * (AN[5] - AN_OFFSET[5]);
-}
-
-void Compass_Init()
-{
-#ifdef IMU_V5
-  mag.init();
-  mag.enableDefault();
-#else
-  // LSM303: doesn't need to do anything because Accel_Init() should have already called compass.enableDefault()
-#endif
-}
-
-void Read_Compass()
-{
-#ifdef IMU_V5
-  mag.read();
-
-  magnetom_x = SENSOR_SIGN[6] * mag.m.x;
-  magnetom_y = SENSOR_SIGN[7] * mag.m.y;
-  magnetom_z = SENSOR_SIGN[8] * mag.m.z;
-#else
-  compass.readMag();
-
-  magnetom_x = SENSOR_SIGN[6] * compass.m.x;
-  magnetom_y = SENSOR_SIGN[7] * compass.m.y;
-  magnetom_z = SENSOR_SIGN[8] * compass.m.z;
-#endif
-}
-