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Dependencies: BMP280 BNO055_fusion PowerControl mbed
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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