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

Diff: chair_BNO055.cpp

Revision:
4:a6452220ec66
Parent:
2:7d6467fa1977
Child:
6:ce8aa8208590
--- a/chair_BNO055.cpp	Sun Aug 12 00:33:19 2018 +0000
+++ b/chair_BNO055.cpp	Tue Aug 28 23:23:46 2018 +0000
@@ -2,6 +2,8 @@
 
 static float total_yaw = 0;
 static float minGyroZ;
+static float x_speed = 0;
+static float x_displacement = 0;
 chair_BNO055::chair_BNO055(Serial* out, Timer* time)
 {
     imu = new BNO055(SDA, SCL);
@@ -40,7 +42,6 @@
     imu->set_angle_units(DEGREES);
 
     t->start();
-
 }
 
 void chair_BNO055::calibrate_yaw() {
@@ -155,4 +156,4 @@
 
      //usb->printf("yaw %f\n", total_yaw);
     return (double)total_yaw;
-}
+}
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