IMU fixed

IMU library LSM6DS3 has wrong calculation of temperature - it has been updated.

Author: kubascikmichal

RoboHeart.cpp

@@ -224,4 +224,13 @@ float RoboHeart::getRotationY(){
 
 float RoboHeart::getRotationZ(){
      return this->_rotationZ;
+}
+
+
+float RoboHeart::getTemperatureC(){
+    return (imu.readRawTemp() / 256.) + 25;
+}
+
+float RoboHeart::getTemperatureF(){
+    return (getTemperatureC()* 1.8) + 32 ;
 }

RoboHeart.h

@@ -18,7 +18,7 @@
 #include "RoboHeartStepperMotor.h"
 #include "pins_RoboHeart.h"
 #include <math.h>
-#define TRESHOLD 0.1  //treshold in degrees/s
+#define TRESHOLD 0.2  //treshold in degrees/s
 
 #define MOTOR_A_CHANNEL1 0
 #define MOTOR_A_CHANNEL2 1
@@ -65,6 +65,8 @@ class RoboHeart {
     static float _driftZ;
     static bool tick;
     static void rotationCallBack(void *pvParameter);
+    float getTemperatureC();
+    float getTemperatureF();
 
    private:
     Stream* _debug = NULL;

examples/RoboHeartIMU/RoboHeartIMU.ino

@@ -20,7 +20,7 @@ void setup() {
     // Set up the RoboHeart
     heart.begin();
 
-    Serial.println("RoboHeart MPU Demo");
+    Serial.println("RoboHeart IMU Demo");
 }
 
 void loop() {
@@ -45,9 +45,9 @@ void loop() {
 
     Serial.print("\nThermometer:\n");
     Serial.print(" Degrees C = ");
-    Serial.println(heart.imu.readTempC(), 4);
+    Serial.println(heart.getTemperatureC(), 4);
     Serial.print(" Degrees F = ");
-    Serial.println(heart.imu.readTempF(), 4);
+    Serial.println(heart.getTemperatureF(), 4);
     F("=====================================================\n");
     prevPrintTime = millis();
     }