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