Added BNO080Wheelchair.h
Dependents: BNO080_program wheelchaircontrol8 Version1-9 BNO080_program
BNO080Wheelchair.h
- Committer:
- t1jain
- Date:
- 2019-07-30
- Revision:
- 10:9275e6f7bf1b
- Parent:
- 9:a12af7cb3c6d
- Child:
- 11:dbe6d8d0ceb1
File content as of revision 10:9275e6f7bf1b:
#ifndef BNO080Wheelchair_H #define BNO080Wheelchair_H //#include "filter.h" #include "math.h" #include "BNO080.h" #define PI 3.141593 #define SDA D4 #define SCL D5 #define INT_PIN D12 // Change once actually connected #define RST_PIN D10 // Change once actually connected #define SAMPLEFREQ 50 #define CAL_TIME 3 class BNO080Wheelchair { public: //The constructor for this class //BNO080Wheelchair(Serial* out, Timer* time); //BNO080Wheelchair(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time); BNO080Wheelchair(Serial *debugPort, PinName sdaPin, PinName sclPin, PinName intPin, PinName rstPin, uint8_t i2cAddress, int i2cPortpeed); //Set up the IMU, check if it connects void setup(); //Get the x-component of the linear acceleration double accel_x(); //Get the y-component of the linear acceleration double accel_y(); //Get the z-component of the linear acceleration double accel_z(); //Get the x-component of gyro, angular velocity double gyro_x(); //Get the y-component of gyro, angular velocity double gyro_y(); //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(); //Get the pitch, (Up and down component) double pitch(); //Get the roll, the tilt double roll(); //Get angle from North double compass(); BNO080* imu; //The IMU we're testing from, MPU6050 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