From 5340707b87937d62c6d72197cf494d67851d05e3 Mon Sep 17 00:00:00 2001 From: abel Date: Tue, 8 Oct 2024 17:41:29 +0200 Subject: UPDATE FOLDER STUCTURE MOET APARTE_PCB NOG VERWIJDERTEN WINDOWS HEEFT BEST VERGRENDELD --- .../MinIMU9AHRS/Vector.ino | 70 ++++++++++++++++++++++ 1 file changed, 70 insertions(+) create mode 100644 CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino (limited to 'CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino') diff --git a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino b/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino new file mode 100644 index 0000000..d69b49c --- /dev/null +++ b/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino @@ -0,0 +1,70 @@ +/* + +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 . + +*/ + +//Computes the dot product of two vectors +float Vector_Dot_Product(float vector1[3],float vector2[3]) +{ + float op=0; + + for(int c=0; c<3; c++) + { + op+=vector1[c]*vector2[c]; + } + + return op; +} + +//Computes the cross product of two vectors +void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3]) +{ + vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]); + vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]); + vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]); +} + +//Multiply the vector by a scalar. +void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2) +{ + for(int c=0; c<3; c++) + { + vectorOut[c]=vectorIn[c]*scale2; + } +} + +void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3]) +{ + for(int c=0; c<3; c++) + { + vectorOut[c]=vectorIn1[c]+vectorIn2[c]; + } +} + + + -- cgit v1.2.3