Added BNO080Wheelchair.h
Dependents: BNO080_program wheelchaircontrol8 Version1-9 BNO080_program
BNO080Wheelchair.h@10:9275e6f7bf1b, 2019-07-30 (annotated)
- Committer:
- t1jain
- Date:
- Tue Jul 30 18:33:45 2019 +0000
- Revision:
- 10:9275e6f7bf1b
- Parent:
- 9:a12af7cb3c6d
- Child:
- 11:dbe6d8d0ceb1
Updated
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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t1jain | 9:a12af7cb3c6d | 1 | #ifndef BNO080Wheelchair_H |
t1jain | 9:a12af7cb3c6d | 2 | #define BNO080Wheelchair_H |
t1jain | 9:a12af7cb3c6d | 3 | |
t1jain | 10:9275e6f7bf1b | 4 | //#include "filter.h" |
t1jain | 10:9275e6f7bf1b | 5 | #include "math.h" |
t1jain | 10:9275e6f7bf1b | 6 | #include "BNO080.h" |
t1jain | 9:a12af7cb3c6d | 7 | |
t1jain | 9:a12af7cb3c6d | 8 | #define PI 3.141593 |
t1jain | 9:a12af7cb3c6d | 9 | |
t1jain | 10:9275e6f7bf1b | 10 | #define SDA D4 |
t1jain | 10:9275e6f7bf1b | 11 | #define SCL D5 |
t1jain | 10:9275e6f7bf1b | 12 | #define INT_PIN D12 // Change once actually connected |
t1jain | 10:9275e6f7bf1b | 13 | #define RST_PIN D10 // Change once actually connected |
t1jain | 10:9275e6f7bf1b | 14 | |
t1jain | 9:a12af7cb3c6d | 15 | #define SAMPLEFREQ 50 |
t1jain | 9:a12af7cb3c6d | 16 | #define CAL_TIME 3 |
t1jain | 9:a12af7cb3c6d | 17 | |
t1jain | 9:a12af7cb3c6d | 18 | class BNO080Wheelchair { |
t1jain | 9:a12af7cb3c6d | 19 | public: |
t1jain | 9:a12af7cb3c6d | 20 | //The constructor for this class |
t1jain | 10:9275e6f7bf1b | 21 | //BNO080Wheelchair(Serial* out, Timer* time); |
t1jain | 10:9275e6f7bf1b | 22 | //BNO080Wheelchair(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time); |
t1jain | 10:9275e6f7bf1b | 23 | BNO080Wheelchair(Serial *debugPort, PinName sdaPin, |
t1jain | 10:9275e6f7bf1b | 24 | PinName sclPin, PinName intPin, PinName rstPin, |
t1jain | 10:9275e6f7bf1b | 25 | uint8_t i2cAddress, int i2cPortpeed); |
t1jain | 10:9275e6f7bf1b | 26 | |
t1jain | 9:a12af7cb3c6d | 27 | //Set up the IMU, check if it connects |
t1jain | 9:a12af7cb3c6d | 28 | void setup(); |
t1jain | 9:a12af7cb3c6d | 29 | |
t1jain | 10:9275e6f7bf1b | 30 | //Get the x-component of the linear acceleration |
t1jain | 9:a12af7cb3c6d | 31 | double accel_x(); |
t1jain | 9:a12af7cb3c6d | 32 | |
t1jain | 10:9275e6f7bf1b | 33 | //Get the y-component of the linear acceleration |
t1jain | 9:a12af7cb3c6d | 34 | double accel_y(); |
t1jain | 9:a12af7cb3c6d | 35 | |
t1jain | 10:9275e6f7bf1b | 36 | //Get the z-component of the linear acceleration |
t1jain | 9:a12af7cb3c6d | 37 | double accel_z(); |
t1jain | 9:a12af7cb3c6d | 38 | |
t1jain | 9:a12af7cb3c6d | 39 | //Get the x-component of gyro, angular velocity |
t1jain | 9:a12af7cb3c6d | 40 | double gyro_x(); |
t1jain | 9:a12af7cb3c6d | 41 | |
t1jain | 9:a12af7cb3c6d | 42 | //Get the y-component of gyro, angular velocity |
t1jain | 9:a12af7cb3c6d | 43 | double gyro_y(); |
t1jain | 9:a12af7cb3c6d | 44 | |
t1jain | 9:a12af7cb3c6d | 45 | //Get the z-component of gyro, angular velocity |
t1jain | 9:a12af7cb3c6d | 46 | double gyro_z(); |
t1jain | 9:a12af7cb3c6d | 47 | |
t1jain | 9:a12af7cb3c6d | 48 | //Magnometer to find angle relative to North to compare to gyroscope |
t1jain | 9:a12af7cb3c6d | 49 | //double angle_north(); |
t1jain | 9:a12af7cb3c6d | 50 | |
t1jain | 9:a12af7cb3c6d | 51 | //Get the YAW, or angle (theta), direction facing |
t1jain | 9:a12af7cb3c6d | 52 | double yaw(); |
t1jain | 9:a12af7cb3c6d | 53 | |
t1jain | 9:a12af7cb3c6d | 54 | //Get the pitch, (Up and down component) |
t1jain | 9:a12af7cb3c6d | 55 | double pitch(); |
t1jain | 9:a12af7cb3c6d | 56 | |
t1jain | 9:a12af7cb3c6d | 57 | //Get the roll, the tilt |
t1jain | 9:a12af7cb3c6d | 58 | double roll(); |
t1jain | 10:9275e6f7bf1b | 59 | |
t1jain | 10:9275e6f7bf1b | 60 | //Get angle from North |
t1jain | 10:9275e6f7bf1b | 61 | double compass(); |
t1jain | 9:a12af7cb3c6d | 62 | |
t1jain | 9:a12af7cb3c6d | 63 | BNO080* imu; //The IMU we're testing from, MPU6050 |
t1jain | 9:a12af7cb3c6d | 64 | |
t1jain | 9:a12af7cb3c6d | 65 | private: |
t1jain | 9:a12af7cb3c6d | 66 | Serial* usb; //the connection port |
t1jain | 9:a12af7cb3c6d | 67 | Timer* t;//to calculate the time |
t1jain | 9:a12af7cb3c6d | 68 | float accelData[3]; // stores the angular acceleration component |
t1jain | 9:a12af7cb3c6d | 69 | float gyroData[3]; // stores the gyro data x,y,z |
t1jain | 9:a12af7cb3c6d | 70 | float* accelD; // pointer that points to either accelData |
t1jain | 9:a12af7cb3c6d | 71 | float* gyroD; // ptr to the gyroData array |
t1jain | 10:9275e6f7bf1b | 72 | TVector3 gyroRotation; |
t1jain | 10:9275e6f7bf1b | 73 | TVector3 linearAcceleration; |
t1jain | 10:9275e6f7bf1b | 74 | TVector3 magField; |
t1jain | 9:a12af7cb3c6d | 75 | |
t1jain | 9:a12af7cb3c6d | 76 | float angleData[3]; // contains the pitch, roll, yaw angle |
t1jain | 9:a12af7cb3c6d | 77 | float* angleD; // ptr to angleData array |
t1jain | 9:a12af7cb3c6d | 78 | |
t1jain | 9:a12af7cb3c6d | 79 | void calibrate_yaw(); |
t1jain | 9:a12af7cb3c6d | 80 | |
t1jain | 9:a12af7cb3c6d | 81 | bool start; |
t1jain | 9:a12af7cb3c6d | 82 | |
t1jain | 9:a12af7cb3c6d | 83 | }; |
t1jain | 9:a12af7cb3c6d | 84 | |
t1jain | 9:a12af7cb3c6d | 85 | #endif |