Jesus Fausto / wheelchaircontrol1

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Dependencies:   QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic

Dependents:   wheelchairControlSumer2019

imu.cpp

Committer:
ryanlin97
Date:
2018-07-17
Revision:
4:29a27953fe70

File content as of revision 4:29a27953fe70:

#include "imu.h"

Imu::Imu(){
  imu = new BNO055(SDA, SCL);
}

Imu::Imu(PinName sda_pin, PinName scl_pin){
  imu = new BNO055(sda_pin, scl_pin);
}
void Imu::setup(){
  imu.reset();
  pc.printf("Bosch Sensortec BNO055 test program on \r\n");
  while (imu.check() == 0) {
    pc.printf("Bosch BNO055 is NOT available!!\r\n");
    wait(.5);
  }
  pc.printf("Bosch Sensortec BNO055 available \r\n");
  imu.set_accel_units(MPERSPERS);
  imu.setmode(OPERATION_MODE_AMG);
  imu.get_calib();
  imu.write_calibration_data();
  imu.set_angle_units(DEGREES);
}