2020#ifndef ARDUINO_MOTION_SENSE_H
2121#define ARDUINO_MOTION_SENSE_H
2222
23- // Sensors that doesn't implement a FIFO can use the default
24- // implementation of availableXxx() and sampleRateXxx() and
25- // always return the last valid sample.
23+ // Base class for gyroscope
24+ class Gyroscope {
25+ // Read a gyro sample from the FIFO or wait until one is available.
26+ // Results are in degrees/second.
27+ virtual bool readGyroscope (float &x, float &y, float &z) = 0;
28+ 29+ // Number of samples in the FIFO.
30+ // Sensors without a FIFO should return 1 only if the sensor has
31+ // produced a new measurement since the most recent read.
32+ virtual unsigned int availableGyroscope () = 0;
33+ 34+ // Sampling rate of the sensor.
35+ virtual unsigned long sampleRateGyroscope () = 0;
36+ };
2637
2738// Base class for accelerometers
39+ // Sensors without a FIFO can use the default implementation of
40+ // availableXxx() and sampleRateXxx() and always return the last
41+ // valid measurement.
2842class Accelerometer {
2943 // Read an acceleration sample from the FIFO or wait until one is available.
3044 // Results are in G (earth gravity).
@@ -37,20 +51,10 @@ class Accelerometer {
3751 virtual unsigned long sampleRateAcceleration () { return 0 ; }
3852};
3953
40- // Base class for gyroscope
41- class Gyroscope {
42- // Read a gyro sample from the FIFO or wait until one is available.
43- // Results are in degrees/second.
44- virtual bool readGyroscope (float &x, float &y, float &z) = 0;
45- 46- // Number of samples in the FIFO.
47- virtual unsigned int availableGyroscope () { return 1 ; }
48- 49- // Sampling rate of the sensor.
50- virtual unsigned long sampleRateGyroscope () { return 0 ; }
51- };
52- 5354// Base class for magnetometers
55+ // Sensors without a FIFO can use the default implementation of
56+ // availableXxx() and sampleRateXxx() and always return the last
57+ // valid measurement.
5458class Magnetometer {
5559 // Read a magnetometer sample from the FIFO or wait until one is available.
5660 // Results are in uT (micro Tesla).
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