MPU6050.h

#ifndef MAIN_MPU6050_H_
#define MAIN_MPU6050_H_

#include <math.h>
#include "I2C.h"
#include <driver/gpio.h>

class MPU6050 {
public:
    MPU6050();
    virtual ~MPU6050();

    short getAccelX() const {
        return accel_x;
    }

    short getAccelY() const {
        return accel_y;
    }

    short getAccelZ() const {
        return accel_z;
    }

    short getGyroX() const {
        return gyro_x;
    }

    short getGyroY() const {
        return gyro_y;
    }

    short getGyroZ() const {
        return gyro_z;
    }

    uint32_t getMagnitude() {
        return sqrt(accel_x * accel_x + accel_y * accel_y + accel_z * accel_z);
    }

    void init(gpio_num_t sdaPin = I2C::DEFAULT_SDA_PIN, gpio_num_t clkPin = I2C::DEFAULT_CLK_PIN);
    void readAccel();
    void readGyro();

private:
    I2C* i2c;
    short accel_x, accel_y, accel_z;
    short gyro_x, gyro_y, gyro_z;
    bool inited;

};

#endif /* MAIN_MPU6050_H_ */