Added BNO080Wheelchair.h
Dependents: BNO080_program wheelchaircontrol8 Version1-9 BNO080_program
BNO080Wheelchair.h@12:f013530d8358, 2019-08-07 (annotated)
- Committer:
- t1jain
- Date:
- Wed Aug 07 18:49:44 2019 +0000
- Revision:
- 12:f013530d8358
- Parent:
- 11:dbe6d8d0ceb1
Updated Quaternion to TVector4
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
t1jain | 9:a12af7cb3c6d | 1 | #ifndef BNO080Wheelchair_H |
t1jain | 9:a12af7cb3c6d | 2 | #define BNO080Wheelchair_H |
t1jain | 9:a12af7cb3c6d | 3 | |
t1jain | 10:9275e6f7bf1b | 4 | //#include "filter.h" |
t1jain | 10:9275e6f7bf1b | 5 | #include "math.h" |
t1jain | 10:9275e6f7bf1b | 6 | #include "BNO080.h" |
t1jain | 11:dbe6d8d0ceb1 | 7 | #include "BNO080Constants.h" |
t1jain | 9:a12af7cb3c6d | 8 | |
t1jain | 9:a12af7cb3c6d | 9 | #define PI 3.141593 |
t1jain | 9:a12af7cb3c6d | 10 | |
t1jain | 10:9275e6f7bf1b | 11 | #define SDA D4 |
t1jain | 10:9275e6f7bf1b | 12 | #define SCL D5 |
t1jain | 10:9275e6f7bf1b | 13 | #define INT_PIN D12 // Change once actually connected |
t1jain | 10:9275e6f7bf1b | 14 | #define RST_PIN D10 // Change once actually connected |
t1jain | 10:9275e6f7bf1b | 15 | |
t1jain | 9:a12af7cb3c6d | 16 | #define SAMPLEFREQ 50 |
t1jain | 9:a12af7cb3c6d | 17 | #define CAL_TIME 3 |
t1jain | 9:a12af7cb3c6d | 18 | |
t1jain | 9:a12af7cb3c6d | 19 | class BNO080Wheelchair { |
t1jain | 9:a12af7cb3c6d | 20 | public: |
t1jain | 11:dbe6d8d0ceb1 | 21 | BNO080* imu; //The IMU we're testing from, BNO080 |
t1jain | 11:dbe6d8d0ceb1 | 22 | |
t1jain | 10:9275e6f7bf1b | 23 | BNO080Wheelchair(Serial *debugPort, PinName sdaPin, |
t1jain | 10:9275e6f7bf1b | 24 | PinName sclPin, PinName intPin, PinName rstPin, |
t1jain | 10:9275e6f7bf1b | 25 | uint8_t i2cAddress, int i2cPortpeed); |
t1jain | 10:9275e6f7bf1b | 26 | |
t1jain | 9:a12af7cb3c6d | 27 | //Set up the IMU, check if it connects |
t1jain | 12:f013530d8358 | 28 | bool setup(); |
t1jain | 12:f013530d8358 | 29 | |
t1jain | 12:f013530d8358 | 30 | //Checks if IMU has new data |
t1jain | 12:f013530d8358 | 31 | bool hasNewData(BNO080::Report report); |
t1jain | 9:a12af7cb3c6d | 32 | |
t1jain | 11:dbe6d8d0ceb1 | 33 | //Get the x-component of the linear acceleration (total) |
t1jain | 9:a12af7cb3c6d | 34 | double accel_x(); |
t1jain | 9:a12af7cb3c6d | 35 | |
t1jain | 11:dbe6d8d0ceb1 | 36 | //Get the y-component of the linear acceleration (total) |
t1jain | 9:a12af7cb3c6d | 37 | double accel_y(); |
t1jain | 9:a12af7cb3c6d | 38 | |
t1jain | 11:dbe6d8d0ceb1 | 39 | //Get the z-component of the linear acceleration (total) |
t1jain | 9:a12af7cb3c6d | 40 | double accel_z(); |
t1jain | 9:a12af7cb3c6d | 41 | |
t1jain | 9:a12af7cb3c6d | 42 | //Get the x-component of gyro, angular velocity |
t1jain | 9:a12af7cb3c6d | 43 | double gyro_x(); |
t1jain | 9:a12af7cb3c6d | 44 | |
t1jain | 9:a12af7cb3c6d | 45 | //Get the y-component of gyro, angular velocity |
t1jain | 9:a12af7cb3c6d | 46 | double gyro_y(); |
t1jain | 9:a12af7cb3c6d | 47 | |
t1jain | 9:a12af7cb3c6d | 48 | //Get the z-component of gyro, angular velocity |
t1jain | 9:a12af7cb3c6d | 49 | double gyro_z(); |
t1jain | 11:dbe6d8d0ceb1 | 50 | |
t1jain | 9:a12af7cb3c6d | 51 | //Get the YAW, or angle (theta), direction facing |
t1jain | 9:a12af7cb3c6d | 52 | double yaw(); |
t1jain | 9:a12af7cb3c6d | 53 | |
t1jain | 9:a12af7cb3c6d | 54 | //Get the pitch, (Up and down component) |
t1jain | 9:a12af7cb3c6d | 55 | double pitch(); |
t1jain | 9:a12af7cb3c6d | 56 | |
t1jain | 9:a12af7cb3c6d | 57 | //Get the roll, the tilt |
t1jain | 9:a12af7cb3c6d | 58 | double roll(); |
t1jain | 10:9275e6f7bf1b | 59 | |
t1jain | 11:dbe6d8d0ceb1 | 60 | //Get x component of mag field vector |
t1jain | 11:dbe6d8d0ceb1 | 61 | double mag_x(); |
t1jain | 11:dbe6d8d0ceb1 | 62 | |
t1jain | 11:dbe6d8d0ceb1 | 63 | //Get y component of mag field vector |
t1jain | 11:dbe6d8d0ceb1 | 64 | double mag_y(); |
t1jain | 11:dbe6d8d0ceb1 | 65 | |
t1jain | 11:dbe6d8d0ceb1 | 66 | //Get z component of mag field vector |
t1jain | 11:dbe6d8d0ceb1 | 67 | double mag_z(); |
t1jain | 11:dbe6d8d0ceb1 | 68 | |
t1jain | 11:dbe6d8d0ceb1 | 69 | //Check if IMU is pointing in one of the 4 cardinal directions (NSWE) |
t1jain | 11:dbe6d8d0ceb1 | 70 | char compass(); |
t1jain | 11:dbe6d8d0ceb1 | 71 | |
t1jain | 11:dbe6d8d0ceb1 | 72 | //Get the rotation of the IMU (from magnetic north) in radians |
t1jain | 12:f013530d8358 | 73 | TVector4 rotation(); |
t1jain | 11:dbe6d8d0ceb1 | 74 | |
t1jain | 11:dbe6d8d0ceb1 | 75 | double rot_w(); |
t1jain | 11:dbe6d8d0ceb1 | 76 | double rot_x(); |
t1jain | 11:dbe6d8d0ceb1 | 77 | double rot_y(); |
t1jain | 11:dbe6d8d0ceb1 | 78 | double rot_z(); |
t1jain | 11:dbe6d8d0ceb1 | 79 | |
t1jain | 11:dbe6d8d0ceb1 | 80 | |
t1jain | 9:a12af7cb3c6d | 81 | |
t1jain | 9:a12af7cb3c6d | 82 | private: |
t1jain | 11:dbe6d8d0ceb1 | 83 | |
t1jain | 9:a12af7cb3c6d | 84 | Timer* t;//to calculate the time |
t1jain | 11:dbe6d8d0ceb1 | 85 | |
t1jain | 9:a12af7cb3c6d | 86 | }; |
t1jain | 9:a12af7cb3c6d | 87 | |
t1jain | 9:a12af7cb3c6d | 88 | #endif |