wrapper class for BNO055
Dependents: wheelchaircontrol wheelchaircontrolRos
chair_BNO055.h
- Committer:
- ryanlin97
- Date:
- 2018-08-01
- Revision:
- 1:3258d62af038
- Parent:
- 0:ad7a811c859f
- Child:
- 3:531a74cecb89
File content as of revision 1:3258d62af038:
#ifndef CHAIR_BNO055_H #define CHAIR_BNO055_H #include "filter.h" #include "mbed.h" #include "math.h" #include "BNO055.h" #define PI 3.141593 #define SDA D14 #define SCL D15 #define SAMPLEFREQ 50 #define CAL_TIME 3 class chair_BNO055 { public: 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(); double accel_z(); double gyro_x(); double gyro_y(); double gyro_z(); double angle_north(); double yaw(); double pitch(); double roll(); BNO055* imu; private: //BNO055* imu; Serial* usb; Timer* t; bool start; void setStart(); void calibrate_yaw(); }; #endif