Revision 4:29a27953fe70, committed 2018-07-17

Comitter:

ryanlin97

Date:

Tue Jul 17 02:29:26 2018 +0000

Parent:

3:a5e71bfdb492

Child:

5:e0ccaab3959a

Commit message:

beginning imu class

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.lib	Tue Jul 17 02:29:26 2018 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/StressedDave/code/BNO055/#1f722ffec323

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/imu.cpp	Tue Jul 17 02:29:26 2018 +0000
@@ -0,0 +1,23 @@
+#include "imu.h"
+
+Imu::Imu(){
+  imu = new BNO055(SDA, SCL);
+}
+
+Imu::Imu(PinName sda_pin, PinName scl_pin){
+  imu = new BNO055(sda_pin, scl_pin);
+}
+void Imu::setup(){
+  imu.reset();
+  pc.printf("Bosch Sensortec BNO055 test program on \r\n");
+  while (imu.check() == 0) {
+    pc.printf("Bosch BNO055 is NOT available!!\r\n");
+    wait(.5);
+  }
+  pc.printf("Bosch Sensortec BNO055 available \r\n");
+  imu.set_accel_units(MPERSPERS);
+  imu.setmode(OPERATION_MODE_AMG);
+  imu.get_calib();
+  imu.write_calibration_data();
+  imu.set_angle_units(DEGREES);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/imu.h	Tue Jul 17 02:29:26 2018 +0000
@@ -0,0 +1,24 @@
+#ifndef Imu
+#define imu
+
+#include  "mbed.h"
+#include  "math.h"
+#include    "BNO055.h"
+
+#define PI 3.141593
+#define SDA D14
+#define SCL D15
+
+class Imu
+{
+public:
+  Imu();
+  Imu(BNO055*)
+  void setup();
+
+
+private:
+
+};
+
+#endif

--- a/wheelchair.cpp	Mon Jul 16 20:46:42 2018 +0000
+++ b/wheelchair.cpp	Tue Jul 17 02:29:26 2018 +0000
@@ -10,9 +10,12 @@
 */
 void Wheelchair::move(float x_coor, float y_coor)
 {
-    printf("x is %f y is %f \n", 1.6*x_coor + 2.5, 1.6*y_coor + 2.5 + offset); 
-    x->write(1.6*x_coor + 2.5);
-    y->write(1.6*y_coor + 2.5 + offset);
+    printf("raw is %f %f \n", x_coor, y_coor);
+    printf("x is %f y is %f \n", ((x_coor*1.6f) + 1.7f), ((y_coor*1.6f) + 1.7f)); 
+    float scaled_x = ((x_coor * 1.6f) + 1.7f)/3.3f;
+    float scaled_y = (3.3f - (y_coor * 1.6f))/3.3f;
+    x->write(scaled_x);
+    y->write(scaled_y);
     
 }