Revision 12:f013530d8358, committed 2019-08-07

Comitter:

t1jain

Date:

Wed Aug 07 18:49:44 2019 +0000

Parent:

11:dbe6d8d0ceb1

Commit message:

Updated Quaternion to TVector4

Changed in this revision

diff -r dbe6d8d0ceb1 -r f013530d8358 BNO080Wheelchair.cpp
--- a/BNO080Wheelchair.cpp	Fri Aug 02 23:34:30 2019 +0000
+++ b/BNO080Wheelchair.cpp	Wed Aug 07 18:49:44 2019 +0000
@@ -10,8 +10,8 @@
     
 }
 //Check if all the
-void BNO080Wheelchair::setup() {
-    imu -> begin();
+bool BNO080Wheelchair::setup() {
+    bool setup = imu -> begin();
     //Tell the IMU to report every 100ms
     imu -> enableReport(BNO080::TOTAL_ACCELERATION, 200);
     imu -> enableReport(BNO080::LINEAR_ACCELERATION, 200);
@@ -28,7 +28,11 @@
 //    imu -> enableReport(BNO080::STEP_COUNTER, 100);
 //    imu -> enableReport(BNO080::SIGNIFICANT_MOTION, 100);    
 //    imu -> enableReport(BNO080::SHAKE_DETECTOR, 100);    
+    return setup;
+}
 
+bool BNO080Wheelchair::hasNewData(BNO080::Report report) {
+    return imu -> hasNewData(report);
 }
 
 //Get the x component of the angular velocity from IMU. Stores the component
@@ -155,12 +159,12 @@
 }
 
 //Get the rotation of the IMU (from magnetic north) in radians
-Quaternion BNO080Wheelchair::rotation() {
+TVector4 BNO080Wheelchair::rotation() {
     wait(0.05);
     //printf("Update Data GYRO X: %d \n", imu -> updateData());            // hasNewData()?
     imu -> updateData();
     //wait(0.05);
-    return imu -> rotationVector;
+    return imu -> rotationVector.vector();
 }
 
 /*

diff -r dbe6d8d0ceb1 -r f013530d8358 BNO080Wheelchair.h
--- a/BNO080Wheelchair.h	Fri Aug 02 23:34:30 2019 +0000
+++ b/BNO080Wheelchair.h	Wed Aug 07 18:49:44 2019 +0000
@@ -25,7 +25,10 @@
                                  uint8_t i2cAddress, int i2cPortpeed);
       
         //Set up the IMU, check if it connects
-        void setup();
+        bool setup();
+        
+        //Checks if IMU has new data
+        bool hasNewData(BNO080::Report report);
         
         //Get the x-component of the linear acceleration (total)
         double accel_x();
@@ -67,7 +70,7 @@
         char compass();
         
         //Get the rotation of the IMU (from magnetic north) in radians
-        Quaternion rotation();
+        TVector4 rotation();
         
         double rot_w();
         double rot_x();