private void setGyroFullScaleRange(GyroFullScale gfs)
{
// * 0 = +/- 250 degrees/sec
// * 1 = +/- 500 degrees/sec
// * 2 = +/- 1000 degrees/sec
// * 3 = +/- 2000 degrees/sec
// bit 4 len 2
this.WriteBits(Register.GYRO_CONFIG, 4, 2, Convert.ToByte(gfs));
Hardware.Library.Delay(10);
}
private static float get_gRes(GyroFullScale gscale)
{
switch (gscale)
{
// Possible gyro scales (and their register bit settings) are:
// 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
case GyroFullScale.GFS_250DPS:
return(250.0f / 32768.0f);
case GyroFullScale.GFS_500DPS:
return(500.0f / 32768.0f);
case GyroFullScale.GFS_1000DPS:
return(1000.0f / 32768.0f);
case GyroFullScale.GFS_2000DPS:
return(2000.0f / 32768.0f);
default:
throw new Exception("get_aRes error");
}
}