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Dependents: wheelchaircontrol wheelchaircontrolRosCom wheelchaircontrol wheelchaircontrol2 ... more
Fork of
chair_BNO055
by 
ryan lin
Revision 4:a6452220ec66, committed 2018-08-28
- Comitter:
- jvfausto
- Date:
- Tue Aug 28 23:23:46 2018 +0000
- Parent:
- 3:531a74cecb89
- Child:
- 5:a05d4bfb3060
- Commit message:
- with pid left, right and foward
Changed in this revision
| chair_BNO055.cpp | Show annotated file Show diff for this revision Revisions of this file |
| chair_BNO055.h | Show annotated file Show diff for this revision Revisions of this file |
--- 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
--- a/chair_BNO055.h Sun Aug 12 00:33:19 2018 +0000 +++ b/chair_BNO055.h Tue Aug 28 23:23:46 2018 +0000 @@ -30,6 +30,7 @@ double yaw(); double pitch(); double roll(); + BNO055* imu; private: //BNO055* imu;