Antoine Laurens / Mbed 2 deprecated STRAIGHT_DRIVE_NO_SEP

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Dependencies:   BMP280 BNO055_fusion PowerControl mbed

Fork of TEAM_G_FLOW_RIDA by Edwin Cho

LOCALIZE.h

Committer:
12104404
Date:
2016-03-01
Revision:
0:96d6eb224379
Child:
1:8966a48ce8d5

File content as of revision 0:96d6eb224379:

#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