Diff: BNO055.h

Revision:

0:0d79a3b05b2c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.h	Thu Mar 21 17:51:23 2019 +0000
@@ -0,0 +1,30 @@
+/* Embedded Systems Final Project: 9-Axis Absolute Orientation imu (BNO055) ndof.h
+*/ 
+
+#ifndef BNO055_H
+#define BNO055_H
+
+#include "mbed.h"
+
+#define BNO055_MODE_NDOF   0 //used to call the 9 axis orientation of imu
+
+#define BNO055_ANGLE_UNITS_DEGREE  0  
+#define BNO055_ANGLE_UNITS_RADIAN  1
+
+
+class BNO055 {//class for imu
+    public: 
+        BNO055(I2C i2c, int addr);//constructor
+        float readHeading(void);//class methods
+        float readRoll(void);
+        float readPitch(void);
+        char checkID(void); //Check for proper communication with sensor
+        void setMode(int modeCode); //Set program to NDOF forge mode
+        int setAngleUnits(int unitsCode); //Select Euler Angles as units
+    private:
+        I2C _i2c;
+        int _addr; 
+        int _units;
+};
+
+#endif