Diff: chair_BNO055.h

Revision:

1:3258d62af038

Parent:

0:ad7a811c859f

Child:

3:531a74cecb89

--- a/chair_BNO055.h	Fri Jul 20 17:54:09 2018 +0000
+++ b/chair_BNO055.h	Wed Aug 01 22:39:10 2018 +0000
@@ -1,6 +1,7 @@
 #ifndef CHAIR_BNO055_H
 #define CHAIR_BNO055_H
 
+#include "filter.h"
 #include  "mbed.h"
 #include  "math.h"
 #include  "BNO055.h"
@@ -8,13 +9,14 @@
 #define PI 3.141593
 #define SDA D14
 #define SCL D15
-
+#define SAMPLEFREQ 50
+#define CAL_TIME 3
 
 class chair_BNO055
 {
 public:
-  chair_BNO055();
-  chair_BNO055(PinName sda_pin, PinName scl_pin);
+  chair_BNO055(Serial* out, Timer* time);
+  chair_BNO055(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time);
   void setup();
   double accel_x();
   double accel_y();
@@ -26,9 +28,14 @@
   double yaw();
   double pitch();
   double roll();
-  
+  BNO055* imu;
 private:
-  BNO055* imu;
+  //BNO055* imu;
+  Serial* usb;
+  Timer* t;
+  bool start;
+  void setStart();
+  void calibrate_yaw();
 };
 
 #endif