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@6:ce8aa8208590, 2019-06-27 (annotated)

Committer:
jvfausto
Date:
Thu Jun 27 16:32:06 2019 +0000
Revision:
6:ce8aa8208590
Parent:
5:a05d4bfb3060 
a

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 3:531a74cecb89 10 /*#define SDA D14
ryanlin97 3:531a74cecb89 11 #define SCL D15*/
jvfausto 6:ce8aa8208590 12 #define SDA PB_9
jvfausto 6:ce8aa8208590 13 #define SCL PB_8
ryanlin97 1:3258d62af038 14 #define SAMPLEFREQ 50
ryanlin97 1:3258d62af038 15 #define CAL_TIME 3
ryanlin97 0:ad7a811c859f 16
ryanlin97 0:ad7a811c859f 17 class chair_BNO055
ryanlin97 0:ad7a811c859f 18 {
ryanlin97 0:ad7a811c859f 19 public:
ryanlin97 1:3258d62af038 20 chair_BNO055(Serial* out, Timer* time);
ryanlin97 1:3258d62af038 21 chair_BNO055(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time);
ryanlin97 0:ad7a811c859f 22 void setup();
ryanlin97 0:ad7a811c859f 23 double accel_x();
ryanlin97 0:ad7a811c859f 24 double accel_y();
ryanlin97 0:ad7a811c859f 25 double accel_z();
ryanlin97 0:ad7a811c859f 26 double gyro_x();
ryanlin97 0:ad7a811c859f 27 double gyro_y();
ryanlin97 0:ad7a811c859f 28 double gyro_z();
ryanlin97 0:ad7a811c859f 29 double angle_north();
ryanlin97 0:ad7a811c859f 30 double yaw();
ryanlin97 0:ad7a811c859f 31 double pitch();
ryanlin97 0:ad7a811c859f 32 double roll();
jvfausto 4:a6452220ec66 33
ryanlin97 1:3258d62af038 34 BNO055* imu;
ryanlin97 0:ad7a811c859f 35 private:
ryanlin97 1:3258d62af038 36 //BNO055* imu;
ryanlin97 1:3258d62af038 37 Serial* usb;
ryanlin97 1:3258d62af038 38 Timer* t;
ryanlin97 1:3258d62af038 39 bool start;
ryanlin97 1:3258d62af038 40 void setStart();
ryanlin97 1:3258d62af038 41 void calibrate_yaw();
ryanlin97 0:ad7a811c859f 42 };
ryanlin97 0:ad7a811c859f 43
ryanlin97 0:ad7a811c859f 44 #endif