Jesus Fausto / chair_BNO055

With pid left, right, and foward

Dependencies:   BNO055

Dependents:   wheelchaircontrol wheelchaircontrolRosCom wheelchaircontrol wheelchaircontrol2 ... more

Fork of chair_BNO055 by ryan lin

chair_BNO055.h@1:3258d62af038, 2018-08-01 (annotated)

Committer:
ryanlin97
Date:
Wed Aug 01 22:39:10 2018 +0000
Revision:
1:3258d62af038
Parent:
0:ad7a811c859f
Child:
3:531a74cecb89
imu changes;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:ad7a811c859f 1 #ifndef CHAIR_BNO055_H
ryanlin97 0:ad7a811c859f 2 #define CHAIR_BNO055_H
ryanlin97 0:ad7a811c859f 3
ryanlin97 1:3258d62af038 4 #include "filter.h"
ryanlin97 0:ad7a811c859f 5 #include "mbed.h"
ryanlin97 0:ad7a811c859f 6 #include "math.h"
ryanlin97 0:ad7a811c859f 7 #include "BNO055.h"
ryanlin97 0:ad7a811c859f 8
ryanlin97 0:ad7a811c859f 9 #define PI 3.141593
ryanlin97 0:ad7a811c859f 10 #define SDA D14
ryanlin97 0:ad7a811c859f 11 #define SCL D15
ryanlin97 1:3258d62af038 12 #define SAMPLEFREQ 50
ryanlin97 1:3258d62af038 13 #define CAL_TIME 3
ryanlin97 0:ad7a811c859f 14
ryanlin97 0:ad7a811c859f 15 class chair_BNO055
ryanlin97 0:ad7a811c859f 16 {
ryanlin97 0:ad7a811c859f 17 public:
ryanlin97 1:3258d62af038 18 chair_BNO055(Serial* out, Timer* time);
ryanlin97 1:3258d62af038 19 chair_BNO055(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time);
ryanlin97 0:ad7a811c859f 20 void setup();
ryanlin97 0:ad7a811c859f 21 double accel_x();
ryanlin97 0:ad7a811c859f 22 double accel_y();
ryanlin97 0:ad7a811c859f 23 double accel_z();
ryanlin97 0:ad7a811c859f 24 double gyro_x();
ryanlin97 0:ad7a811c859f 25 double gyro_y();
ryanlin97 0:ad7a811c859f 26 double gyro_z();
ryanlin97 0:ad7a811c859f 27 double angle_north();
ryanlin97 0:ad7a811c859f 28 double yaw();
ryanlin97 0:ad7a811c859f 29 double pitch();
ryanlin97 0:ad7a811c859f 30 double roll();
ryanlin97 1:3258d62af038 31 BNO055* imu;
ryanlin97 0:ad7a811c859f 32 private:
ryanlin97 1:3258d62af038 33 //BNO055* imu;
ryanlin97 1:3258d62af038 34 Serial* usb;
ryanlin97 1:3258d62af038 35 Timer* t;
ryanlin97 1:3258d62af038 36 bool start;
ryanlin97 1:3258d62af038 37 void setStart();
ryanlin97 1:3258d62af038 38 void calibrate_yaw();
ryanlin97 0:ad7a811c859f 39 };
ryanlin97 0:ad7a811c859f 40
ryanlin97 0:ad7a811c859f 41 #endif