Diff: BNO080Wheelchair.h

Revision:

11:dbe6d8d0ceb1

Parent:

10:9275e6f7bf1b

Child:

12:f013530d8358

--- a/BNO080Wheelchair.h	Tue Jul 30 18:33:45 2019 +0000
+++ b/BNO080Wheelchair.h	Fri Aug 02 23:34:30 2019 +0000
@@ -4,6 +4,7 @@
 //#include "filter.h"
 #include "math.h"
 #include "BNO080.h"
+#include "BNO080Constants.h"
 
 #define PI 3.141593
 
@@ -17,9 +18,8 @@
 
 class BNO080Wheelchair {
     public:
-        //The constructor for this class
-        //BNO080Wheelchair(Serial* out, Timer* time);
-        //BNO080Wheelchair(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time);
+        BNO080* imu; //The IMU we're testing from, BNO080
+        
         BNO080Wheelchair(Serial *debugPort, PinName sdaPin, 
                                  PinName sclPin, PinName intPin, PinName rstPin,
                                  uint8_t i2cAddress, int i2cPortpeed);
@@ -27,13 +27,13 @@
         //Set up the IMU, check if it connects
         void setup();
         
-        //Get the x-component of the linear acceleration
+        //Get the x-component of the linear acceleration (total)
         double accel_x();
         
-        //Get the y-component of the linear acceleration
+        //Get the y-component of the linear acceleration (total)
         double accel_y();
         
-        //Get the z-component of the linear acceleration
+        //Get the z-component of the linear acceleration (total)
         double accel_z();
         
         //Get the x-component of gyro, angular velocity
@@ -44,10 +44,7 @@
         
         //Get the z-component of gyro, angular velocity
         double gyro_z();
-        
-        //Magnometer to find angle relative to North to compare to gyroscope
-        //double angle_north();
-        
+
         //Get the YAW, or angle (theta), direction facing
         double yaw();
         
@@ -57,29 +54,32 @@
         //Get the roll, the tilt
         double roll();
         
-        //Get angle from North
-        double compass();
-  
-        BNO080* imu; //The IMU we're testing from, MPU6050  
+        //Get x component of mag field vector
+        double mag_x();
+        
+        //Get y component of mag field vector
+        double mag_y();
+        
+        //Get z component of mag field vector
+        double mag_z();
+        
+        //Check if IMU is pointing in one of the 4 cardinal directions (NSWE)
+        char compass();
+        
+        //Get the rotation of the IMU (from magnetic north) in radians
+        Quaternion rotation();
+        
+        double rot_w();
+        double rot_x();
+        double rot_y();
+        double rot_z();
+
+        
         
     private:
-        Serial* usb; //the connection port
+
         Timer* t;//to calculate the time
-        float accelData[3];     // stores the angular acceleration component
-        float gyroData[3];      // stores the gyro data x,y,z
-        float* accelD;          // pointer that points to either accelData 
-        float* gyroD;           // ptr to the gyroData array
-        TVector3 gyroRotation;
-        TVector3 linearAcceleration;
-        TVector3 magField;
-        
-        float angleData[3];     // contains the pitch, roll, yaw angle
-        float* angleD;          // ptr to angleData array
-        
-        void calibrate_yaw();
-        
-        bool start;
-    
+
 };
 
 #endif
\ No newline at end of file