With pid left, right, and foward
Dependents: wheelchaircontrol wheelchaircontrolRosCom wheelchaircontrol wheelchaircontrol2 ... more
Fork of chair_BNO055 by
Diff: chair_BNO055.cpp
- Revision:
- 4:a6452220ec66
- Parent:
- 2:7d6467fa1977
- Child:
- 6:ce8aa8208590
diff -r 531a74cecb89 -r a6452220ec66 chair_BNO055.cpp --- 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; -} +} \ No newline at end of file