Diff: BNO080Wheelchair.cpp

Revision:

12:f013530d8358

Parent:

11:dbe6d8d0ceb1

--- a/BNO080Wheelchair.cpp	Fri Aug 02 23:34:30 2019 +0000
+++ b/BNO080Wheelchair.cpp	Wed Aug 07 18:49:44 2019 +0000
@@ -10,8 +10,8 @@
     
 }
 //Check if all the
-void BNO080Wheelchair::setup() {
-    imu -> begin();
+bool BNO080Wheelchair::setup() {
+    bool setup = imu -> begin();
     //Tell the IMU to report every 100ms
     imu -> enableReport(BNO080::TOTAL_ACCELERATION, 200);
     imu -> enableReport(BNO080::LINEAR_ACCELERATION, 200);
@@ -28,7 +28,11 @@
 //    imu -> enableReport(BNO080::STEP_COUNTER, 100);
 //    imu -> enableReport(BNO080::SIGNIFICANT_MOTION, 100);    
 //    imu -> enableReport(BNO080::SHAKE_DETECTOR, 100);    
+    return setup;
+}
 
+bool BNO080Wheelchair::hasNewData(BNO080::Report report) {
+    return imu -> hasNewData(report);
 }
 
 //Get the x component of the angular velocity from IMU. Stores the component
@@ -155,12 +159,12 @@
 }
 
 //Get the rotation of the IMU (from magnetic north) in radians
-Quaternion BNO080Wheelchair::rotation() {
+TVector4 BNO080Wheelchair::rotation() {
     wait(0.05);
     //printf("Update Data GYRO X: %d \n", imu -> updateData());            // hasNewData()?
     imu -> updateData();
     //wait(0.05);
-    return imu -> rotationVector;
+    return imu -> rotationVector.vector();
 }
 
 /*