Edwin Cho
/
DEMO3
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Dependencies: BNO055_fusion mbed
Diff: LOCALIZE.h
- Revision:
- 1:8966a48ce8d5
- Parent:
- 0:96d6eb224379
- Child:
- 2:634c1adf89b2
--- a/LOCALIZE.h Tue Mar 01 18:20:45 2016 +0000
+++ b/LOCALIZE.h Tue Mar 01 19:26:32 2016 +0000
@@ -4,7 +4,19 @@
#include "mbed.h"
#include "BNO055.h"
-#define ERROR_IMU -1
+#define R_P_ADDR 0x04
+
+#define FRAME_H 180
+#define FRAME_W 150
+#define RX_OFF 7
+#define RY_OFF 6
+#define R_ERROR 14
+
+#define ERROR_IMU -1
+#define ERROR_RX_P -2
+#define ERROR_RX_N -3
+#define ERROR_RY_P -4
+#define ERROR_RY_N -5
typedef struct {
int x;
@@ -18,17 +30,16 @@
LOCALIZE(I2C& y_i2c, I2C& x_imu_i2c, PinName imu_reset);
int init(void);
void get_angle(LOCALIZE_xya *xya);
+ void get_xy(LOCALIZE_xya *xya);
protected:
I2C _y_i2c;
I2C _x_imu_i2c;
- PinName _imu_reset;
BNO055 _imu;
- BNO055_ID_INF_TypeDef bno055_id_inf;
- BNO055_EULER_TypeDef euler;
- BNO055_GRAVITY_TypeDef gravity;
- BNO055_LIN_ACC_TypeDef accel;
-
+ BNO055_EULER_TypeDef _euler;
+ BNO055_GRAVITY_TypeDef _gravity;
+ BNO055_LIN_ACC_TypeDef _accel;
+ LOCALIZE_xya _xya;
};
#endif //LOCALIZE_H
\ No newline at end of file