Affordable Smart Wheelchair / BNOWrapper

Added BNO080Wheelchair.h

Dependents:   BNO080_program wheelchaircontrol8 Version1-9 BNO080_program

Diff: BNO080Wheelchair.h

Revision:
12:f013530d8358
Parent:
11:dbe6d8d0ceb1
--- a/BNO080Wheelchair.h	Fri Aug 02 23:34:30 2019 +0000
+++ b/BNO080Wheelchair.h	Wed Aug 07 18:49:44 2019 +0000
@@ -25,7 +25,10 @@
                                  uint8_t i2cAddress, int i2cPortpeed);
       
         //Set up the IMU, check if it connects
-        void setup();
+        bool setup();
+        
+        //Checks if IMU has new data
+        bool hasNewData(BNO080::Report report);
         
         //Get the x-component of the linear acceleration (total)
         double accel_x();
@@ -67,7 +70,7 @@
         char compass();
         
         //Get the rotation of the IMU (from magnetic north) in radians
-        Quaternion rotation();
+        TVector4 rotation();
         
         double rot_w();
         double rot_x();