DERPS
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of STRAIGHT_DRIVE_NO_SEP by
Diff: LOCALIZE.h
- Revision:
- 0:96d6eb224379
- Child:
- 1:8966a48ce8d5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LOCALIZE.h Tue Mar 01 18:20:45 2016 +0000 @@ -0,0 +1,34 @@ +#ifndef LOCALIZE_H +#define LOCALIZE_H + +#include "mbed.h" +#include "BNO055.h" + +#define ERROR_IMU -1 + +typedef struct { + int x; + int y; + int a; +}LOCALIZE_xya; + +class LOCALIZE +{ +public: + LOCALIZE(I2C& y_i2c, I2C& x_imu_i2c, PinName imu_reset); + int init(void); + void get_angle(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; + +}; + +#endif //LOCALIZE_H \ No newline at end of file