ECRobot C++ API for LEGO MINDSTORMS NXT: device/AccelSensor.h Source File

00001 //
00002 // AccelSensor.h
00003 //
00004 // Copyright 2009 by Takashi Chikamasa, Jon C. Martin and Robert W. Kramer
00005 //
00006 
00007 #ifndef ACCELSENSOR_H_
00008 #define ACCELSENSOR_H_
00009 
00010 #include "I2c.h"
00011 
00012 
00013 namespace ecrobot
00014 {
00053 class AccelSensor
00054 {
00055 public:
00065         explicit AccelSensor(ePortS port);
00066 
00074         void getAccel(S16 axes[3]) const;
00075 
00088         inline void get(U8 data[6]) const { mI2c.receive(0x42, data, 6); }
00089 
00090 private:
00091         I2c mI2c; // composite
00092 };
00093 }
00094 #endif