Diff: BNO080Wheelchair.h

Revision:

10:9275e6f7bf1b

Parent:

9:a12af7cb3c6d

Child:

11:dbe6d8d0ceb1

diff -r a12af7cb3c6d -r 9275e6f7bf1b BNO080Wheelchair.h
--- a/BNO080Wheelchair.h	Mon Jul 29 18:24:40 2019 +0000
+++ b/BNO080Wheelchair.h	Tue Jul 30 18:33:45 2019 +0000
@@ -1,33 +1,39 @@
 #ifndef BNO080Wheelchair_H
 #define BNO080Wheelchair_H
 
-#include "filter.h"
-#include  "math.h"
-#include  <BNO080.h>
+//#include "filter.h"
+#include "math.h"
+#include "BNO080.h"
 
 #define PI 3.141593
 
-#define SDA PB_9
-#define SCL PB_8
+#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
-        BNO080(Serial* out, Timer* time);
-        BNO080(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time);
-        
+        //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 angular acceleration
+        //Get the x-component of the linear acceleration
         double accel_x();
         
-        //Get the y-component of the angular acceleration
+        //Get the y-component of the linear acceleration
         double accel_y();
         
-        //Get the z-component of the angular acceleration
+        //Get the z-component of the linear acceleration
         double accel_z();
         
         //Get the x-component of gyro, angular velocity
@@ -50,6 +56,9 @@
         
         //Get the roll, the tilt
         double roll();
+        
+        //Get angle from North
+        double compass();
   
         BNO080* imu; //The IMU we're testing from, MPU6050  
         
@@ -60,6 +69,9 @@
         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