Christian Benitez
/
wheelchaircontrol
Wheelchair control
Fork of wheelchaircontrol by
Diff: chair_imu.cpp
- Revision:
- 5:e0ccaab3959a
- Child:
- 6:8cd00c26bb47
diff -r 29a27953fe70 -r e0ccaab3959a chair_imu.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/chair_imu.cpp Tue Jul 17 07:19:04 2018 +0000 @@ -0,0 +1,121 @@ +#include "chair_imu.h" + +Serial pc(USBTX, USBRX); +Timer t; + +chair_imu::chair_imu(){ + imu = new BNO055(SDA, SCL); +} + +chair_imu::chair_imu(PinName sda_pin, PinName scl_pin){ + imu = new BNO055(sda_pin, scl_pin); +} + +void chair_imu::setup(){ + imu->reset(); + pc.printf("Bosch Sensortec BNO055 test program on \r\n"); + while (imu->check() == 0) { + pc.printf("Bosch BNO055 is NOT available!!\r\n"); + wait(.5); + } + pc.printf("Bosch Sensortec BNO055 available \r\n"); + imu->set_accel_units(MPERSPERS); + imu->setmode(OPERATION_MODE_AMG); + imu->get_calib(); + imu->write_calibration_data(); + imu->set_angle_units(DEGREES); + imu->setmode(OPERATION_MODE_AMG); //put into while loop + t.start(); +} + +double chair_imu::accel_x(){ + imu->get_accel(); + return (double)imu->accel.x; +} + +double chair_imu::accel_y(){ + imu->get_accel(); + return (double)imu->accel.y; +} + +double chair_imu::accel_z(){ + imu->get_accel(); + return (double)imu->accel.z; +} + +double chair_imu::gyro_x(){ + imu->get_gyro(); + return (double)imu->gyro.x; +} + +double chair_imu::gyro_y(){ + imu->get_gyro(); + return (double)imu->gyro.y; +} + +double chair_imu::gyro_z(){ + imu->get_gyro(); + return (double)imu->gyro.z; +} + +double chair_imu::angle_north(){ + imu->get_mag(); + float x = imu->mag.x; + float y = imu->mag.y; + + float result = x/y; + + float angleToNorth; + if(imu->mag.y>0) + angleToNorth = 90.0 - atan(result)*180/PI; + else if(imu->mag.y<0) + angleToNorth = 270.0 - atan(result)*180/PI; + else if(y == 0 && x <= 0) + angleToNorth = 180; + else if(y == 0 && x > 0) + angleToNorth = 0; + + return (double)angleToNorth; +} + +double chair_imu::roll(){ + imu->get_accel(); + imu->get_gyro(); + + float roll = atan2(-imu->accel.x ,( sqrt((imu->accel.y * imu->accel.y) + + (imu->accel.z * imu->accel.z)))); + roll = roll*57.3; + + t.reset(); + + return (double)roll; +} + +double chair_imu::pitch(){ + imu->get_accel(); + imu->get_gyro(); + + float pitch = atan2 (imu->accel.y ,( sqrt ((imu->accel.x * imu->accel.x) + + (imu->accel.z * imu->accel.z)))); + pitch = pitch*57.3; + + t.reset(); + + return (double)pitch; +} + +double chair_imu::yaw(){ + imu->get_gyro(); + float yaw = (yaw - t.read()*imu->gyro.z); + + if(yaw > 360) + yaw -= 360; + if(yaw < 0) + yaw += 360; + + t.reset(); + + return (double)yaw; +} + +