void getMotionData(Datum *datum) {
acc.getAcceleration(&datum->acc.x, &datum->acc.y, &datum->acc.z);
mag.getHeading(&datum->mag.x, &datum->mag.y, &datum->mag.z);
gyr.getRotation(&datum->gyr.x, &datum->gyr.y, &datum->gyr.z);
}
void ExtendoHand::getAcceleration(Vector3D &a) {
if (nineAxis) {
int16_t ax, ay, az;
accel.getAcceleration(&ax, &ay, &az);
// approximate g values, per calibration with a specific sensor
a.set(
ax / 230.0 - 0.05,
ay / 230.0,
az / 230.0);
} else {
#ifdef THREE_AXIS
a.set(
motionSensor.accelX(),
motionSensor.accelY(),
motionSensor.accelZ());
#endif // THREE_AXIS
}
}
