File content as of revision 10:9275e6f7bf1b:

#include "BNO080Wheelchair.h"
float total_yaw;

//The constructor for the BNO080 imu. Needs 7 parameters
BNO080Wheelchair::BNO080Wheelchair(Serial *debugPort, PinName sdaPin, 
                                 PinName sclPin, PinName intPin, PinName rstPin,
                                 uint8_t i2cAddress, int i2cPortpeed) {
    imu = new BNO080(usb, 
            SDA, 
            SCL, 
            INT_PIN,         
            RST_PIN,
            0x4a, 
            100000);
    //setUp
    
}
//Check if all the
void BNO080Wheelchair::setup() {
    imu -> begin();
}

//Returns a double, the value of the x-acceleration (m/s^2)
double BNO080Wheelchair::gyro_x() {  
    imu -> updateData();            // hasNewData()?
    return (double)gyroRotation[0];
}

//Get the y component of the angular velocity from IMU. Stores the component
//in a float array
//Returns a double, the value of the y-acceleration (m/s^2)
double BNO080Wheelchair::gyro_y() {
    imu -> updateData();            // hasNewData()?
    return (double)gyroRotation[1];
}

//Get the z component of the angular velocity from IMU. Stores the component
//in a float array
//Returns a double, the value of the z-acceleration (m/s^2)
double BNO080Wheelchair::gyro_z() {
    imu -> updateData();            // hasNewData()?
    return (double)gyroRotation[2];
}

//Get the x component of the linear acceleration from IMU. Stores the component
//in a float array
//Returns a double, the value of the z-acceleration (m/s^2)
double BNO080Wheelchair::accel_x() {
    imu -> updateData();            // hasNewData()?
    return (double)linearAcceleration[0];
}

//Get the y component of the linear acceleration from IMU. Stores the component
//in a float array
//Returns a double, the value of the z-acceleration (m/s^2)
double BNO080Wheelchair::accel_y() {
    imu -> updateData();            // hasNewData()?
    return (double)linearAcceleration[1];
}

//Get the z component of the linear acceleration from IMU. Stores the component
//in a float array
//Returns a double, the value of the z-acceleration (m/s^2)
double BNO080Wheelchair::accel_z() {
    imu -> updateData();            // hasNewData()?
    return (double)linearAcceleration[2];
}

double BNO080Wheelchair::yaw() {

    float gyroZ = .4+(BNO080Wheelchair::gyro_x())*180/3.141593;
    if(abs(gyroZ) >= .5) {
     //printf("t->read(): %lf, gyroscope %lf, change %lf\r\n", t->read(), gyroZ, t->read()*gyroZ*2.25);
        total_yaw = total_yaw - t->read()*gyroZ;
     //printf("total_yaw: %lf, gyroZ: %f \r\n", total_yaw, gyroZ);
    }
    t->reset();
    if(total_yaw > 360)
        total_yaw -= 360;
    if(total_yaw < 0)
        total_yaw += 360;
    return (double)total_yaw;
}

double BNO080Wheelchair::compass() {
    imu -> updateData();
    
    float Pi = 3.14159;
  
    // Calculate the angle of the vector y,x
    double heading = (atan2(magField[1],magField[0]) * 180) / Pi;
  
    // Normalize to 0-360
    if (heading < 0)
    {
        heading = 360 + heading;
    } 
       
    return heading;
}