Edwin Cho / Mbed 2 deprecated FLOW_DERP

DERPS

Dependencies:   BMP280 BNO055_fusion PowerControl mbed

Fork of STRAIGHT_DRIVE_NO_SEP by Antoine Laurens

LOCALIZE.h@1:8966a48ce8d5, 2016-03-01 (annotated)

Committer:
12104404
Date:
Tue Mar 01 19:26:32 2016 +0000
Revision:
1:8966a48ce8d5
Parent:
0:96d6eb224379
Child:
2:634c1adf89b2
XY ANGLE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
12104404 0:96d6eb224379 1 #ifndef LOCALIZE_H
12104404 0:96d6eb224379 2 #define LOCALIZE_H
12104404 0:96d6eb224379 3
12104404 0:96d6eb224379 4 #include "mbed.h"
12104404 0:96d6eb224379 5 #include "BNO055.h"
12104404 0:96d6eb224379 6
12104404 1:8966a48ce8d5 7 #define R_P_ADDR 0x04
12104404 1:8966a48ce8d5 8
12104404 1:8966a48ce8d5 9 #define FRAME_H 180
12104404 1:8966a48ce8d5 10 #define FRAME_W 150
12104404 1:8966a48ce8d5 11 #define RX_OFF 7
12104404 1:8966a48ce8d5 12 #define RY_OFF 6
12104404 1:8966a48ce8d5 13 #define R_ERROR 14
12104404 1:8966a48ce8d5 14
12104404 1:8966a48ce8d5 15 #define ERROR_IMU -1
12104404 1:8966a48ce8d5 16 #define ERROR_RX_P -2
12104404 1:8966a48ce8d5 17 #define ERROR_RX_N -3
12104404 1:8966a48ce8d5 18 #define ERROR_RY_P -4
12104404 1:8966a48ce8d5 19 #define ERROR_RY_N -5
12104404 0:96d6eb224379 20
12104404 0:96d6eb224379 21 typedef struct {
12104404 0:96d6eb224379 22 int x;
12104404 0:96d6eb224379 23 int y;
12104404 0:96d6eb224379 24 int a;
12104404 0:96d6eb224379 25 }LOCALIZE_xya;
12104404 0:96d6eb224379 26
12104404 0:96d6eb224379 27 class LOCALIZE
12104404 0:96d6eb224379 28 {
12104404 0:96d6eb224379 29 public:
12104404 0:96d6eb224379 30 LOCALIZE(I2C& y_i2c, I2C& x_imu_i2c, PinName imu_reset);
12104404 0:96d6eb224379 31 int init(void);
12104404 0:96d6eb224379 32 void get_angle(LOCALIZE_xya *xya);
12104404 1:8966a48ce8d5 33 void get_xy(LOCALIZE_xya *xya);
12104404 0:96d6eb224379 34
12104404 0:96d6eb224379 35 protected:
12104404 0:96d6eb224379 36 I2C _y_i2c;
12104404 0:96d6eb224379 37 I2C _x_imu_i2c;
12104404 0:96d6eb224379 38 BNO055 _imu;
12104404 1:8966a48ce8d5 39 BNO055_EULER_TypeDef _euler;
12104404 1:8966a48ce8d5 40 BNO055_GRAVITY_TypeDef _gravity;
12104404 1:8966a48ce8d5 41 BNO055_LIN_ACC_TypeDef _accel;
12104404 1:8966a48ce8d5 42 LOCALIZE_xya _xya;
12104404 0:96d6eb224379 43 };
12104404 0:96d6eb224379 44
12104404 0:96d6eb224379 45 #endif //LOCALIZE_H