With pid left, right, and foward
Dependents: wheelchaircontrol wheelchaircontrolRosCom wheelchaircontrol wheelchaircontrol2 ... more
Fork of chair_BNO055 by
chair_BNO055.h
- Committer:
- jvfausto
- Date:
- 2019-06-27
- Revision:
- 6:ce8aa8208590
- Parent:
- 5:a05d4bfb3060
File content as of revision 6:ce8aa8208590:
#ifndef CHAIR_BNO055_H #define CHAIR_BNO055_H #include "filter.h" #include "mbed.h" #include "math.h" #include "BNO055.h" #define PI 3.141593 /*#define SDA D14 #define SCL D15*/ #define SDA PB_9 #define SCL PB_8 #define SAMPLEFREQ 50 #define CAL_TIME 3 class chair_BNO055 { public: chair_BNO055(Serial* out, Timer* time); chair_BNO055(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time); void setup(); double accel_x(); double accel_y(); double accel_z(); double gyro_x(); double gyro_y(); double gyro_z(); double angle_north(); double yaw(); double pitch(); double roll(); BNO055* imu; private: //BNO055* imu; Serial* usb; Timer* t; bool start; void setStart(); void calibrate_yaw(); }; #endif