gyro.h

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#pragma once
#include <array>
#include <Bela.h>
 
class ICM20948; // Forward declaration, no definition required here.
class Gyro {
  unsigned int _gTaskSleepTime = 1000; // microseconds
  ICM20948* _gyro;
  AuxiliaryTask _task;
 
  void loop();
 
  public:
 
  Gyro(BelaContext* ctx);
  bool error() const;
 
  void resetError();
 
  std::array<float, 6> get_raw() const;
 
  std::array<float, 2> get_abs() const;
 
 
  friend void raw_gyro_auxtask_callback(void* gyro_ptr);
 
};