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"); } }