changed mpu6050 code to class for better abstraction

src/MPU6050.h

@@ -1,15 +1,57 @@
 #ifndef MPU6050H
 #define MPU6050H
 
-//#include "servos.h"
+template <typename T>
+struct xyzvector
+{
+	T x;
+	T y;
+	T z;
+};
 
-void writeDebug();
-void readMpu6050Data();
-void setupMpu6050();
+class _mpu
+{
+	xyzvector<int> gyro;
+	xyzvector<long> acc_raw;
+	xyzvector<long> acc;
+	long acc_total_vector;
+	
+	int temperature;
+	xyzvector<long> gyro_cal;
 
-float Mpu6050_getangle_pitch( void );
-float Mpu6050_getyaw_rate( void );
+	long loop_timer;
+	float angle_pitch;
+	float angle_roll;
+	bool set_gyro_angles;
+	float angle_roll_acc;
+	float angle_pitch_acc;
+	float yaw_rate;
+	
+	const int calibrationPasses = 500;
 
+	void readRaw( void );
 
+public:
+	_mpu(){}
+
+	void processData( void );
+
+	void run( void );
+
+	void begin( void );
+
+	float getangle_pitch( void )
+	{
+		return angle_pitch;
+	}
+
+	float getyaw_rate( void )
+	{
+		return yaw_rate;
+	}
+
+	void print( void );
+
+};
 
 #endif //MPU6050H