Christian Benitez
/
wheelchaircontrol
Wheelchair control
Fork of wheelchaircontrol by
chair_imu.h@6:8cd00c26bb47, 2018-07-17 (annotated)
- Committer:
- cpbenite
- Date:
- Tue Jul 17 19:19:26 2018 +0000
- Revision:
- 6:8cd00c26bb47
- Parent:
- 5:e0ccaab3959a
Wheelchair control
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryanlin97 | 5:e0ccaab3959a | 1 | #ifndef Chair_imu |
ryanlin97 | 5:e0ccaab3959a | 2 | #define Chair_imu |
ryanlin97 | 5:e0ccaab3959a | 3 | |
ryanlin97 | 5:e0ccaab3959a | 4 | #include "mbed.h" |
ryanlin97 | 5:e0ccaab3959a | 5 | #include "math.h" |
ryanlin97 | 5:e0ccaab3959a | 6 | #include "BNO055.h" |
ryanlin97 | 5:e0ccaab3959a | 7 | |
ryanlin97 | 5:e0ccaab3959a | 8 | #define PI 3.141593 |
ryanlin97 | 5:e0ccaab3959a | 9 | #define SDA D14 |
ryanlin97 | 5:e0ccaab3959a | 10 | #define SCL D15 |
ryanlin97 | 5:e0ccaab3959a | 11 | |
ryanlin97 | 5:e0ccaab3959a | 12 | class chair_imu |
ryanlin97 | 5:e0ccaab3959a | 13 | { |
ryanlin97 | 5:e0ccaab3959a | 14 | public: |
ryanlin97 | 5:e0ccaab3959a | 15 | chair_imu(); |
ryanlin97 | 5:e0ccaab3959a | 16 | chair_imu(PinName sda_pin, PinName scl_pin); |
ryanlin97 | 5:e0ccaab3959a | 17 | void setup(); |
ryanlin97 | 5:e0ccaab3959a | 18 | double accel_x(); |
ryanlin97 | 5:e0ccaab3959a | 19 | double accel_y(); |
ryanlin97 | 5:e0ccaab3959a | 20 | double accel_z(); |
ryanlin97 | 5:e0ccaab3959a | 21 | double gyro_x(); |
ryanlin97 | 5:e0ccaab3959a | 22 | double gyro_y(); |
ryanlin97 | 5:e0ccaab3959a | 23 | double gyro_z(); |
ryanlin97 | 5:e0ccaab3959a | 24 | double angle_north(); |
ryanlin97 | 5:e0ccaab3959a | 25 | double roll(); |
ryanlin97 | 5:e0ccaab3959a | 26 | double pitch(); |
ryanlin97 | 5:e0ccaab3959a | 27 | double yaw(); |
ryanlin97 | 5:e0ccaab3959a | 28 | |
ryanlin97 | 5:e0ccaab3959a | 29 | private: |
ryanlin97 | 5:e0ccaab3959a | 30 | BNO055* imu; |
ryanlin97 | 5:e0ccaab3959a | 31 | |
ryanlin97 | 5:e0ccaab3959a | 32 | }; |
ryanlin97 | 5:e0ccaab3959a | 33 | |
ryanlin97 | 5:e0ccaab3959a | 34 | #endif |