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Dependencies: BMP280 BNO055_fusion PowerControl mbed
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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