wrapper class for BNO055
Dependents: wheelchaircontrol wheelchaircontrolRos
chair_BNO055.h@0:ad7a811c859f, 2018-07-20 (annotated)
- Committer:
- ryanlin97
- Date:
- Fri Jul 20 17:54:09 2018 +0000
- Revision:
- 0:ad7a811c859f
- Child:
- 1:3258d62af038
save point
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryanlin97 | 0:ad7a811c859f | 1 | #ifndef CHAIR_BNO055_H |
ryanlin97 | 0:ad7a811c859f | 2 | #define CHAIR_BNO055_H |
ryanlin97 | 0:ad7a811c859f | 3 | |
ryanlin97 | 0:ad7a811c859f | 4 | #include "mbed.h" |
ryanlin97 | 0:ad7a811c859f | 5 | #include "math.h" |
ryanlin97 | 0:ad7a811c859f | 6 | #include "BNO055.h" |
ryanlin97 | 0:ad7a811c859f | 7 | |
ryanlin97 | 0:ad7a811c859f | 8 | #define PI 3.141593 |
ryanlin97 | 0:ad7a811c859f | 9 | #define SDA D14 |
ryanlin97 | 0:ad7a811c859f | 10 | #define SCL D15 |
ryanlin97 | 0:ad7a811c859f | 11 | |
ryanlin97 | 0:ad7a811c859f | 12 | |
ryanlin97 | 0:ad7a811c859f | 13 | class chair_BNO055 |
ryanlin97 | 0:ad7a811c859f | 14 | { |
ryanlin97 | 0:ad7a811c859f | 15 | public: |
ryanlin97 | 0:ad7a811c859f | 16 | chair_BNO055(); |
ryanlin97 | 0:ad7a811c859f | 17 | chair_BNO055(PinName sda_pin, PinName scl_pin); |
ryanlin97 | 0:ad7a811c859f | 18 | void setup(); |
ryanlin97 | 0:ad7a811c859f | 19 | double accel_x(); |
ryanlin97 | 0:ad7a811c859f | 20 | double accel_y(); |
ryanlin97 | 0:ad7a811c859f | 21 | double accel_z(); |
ryanlin97 | 0:ad7a811c859f | 22 | double gyro_x(); |
ryanlin97 | 0:ad7a811c859f | 23 | double gyro_y(); |
ryanlin97 | 0:ad7a811c859f | 24 | double gyro_z(); |
ryanlin97 | 0:ad7a811c859f | 25 | double angle_north(); |
ryanlin97 | 0:ad7a811c859f | 26 | double yaw(); |
ryanlin97 | 0:ad7a811c859f | 27 | double pitch(); |
ryanlin97 | 0:ad7a811c859f | 28 | double roll(); |
ryanlin97 | 0:ad7a811c859f | 29 | |
ryanlin97 | 0:ad7a811c859f | 30 | private: |
ryanlin97 | 0:ad7a811c859f | 31 | BNO055* imu; |
ryanlin97 | 0:ad7a811c859f | 32 | }; |
ryanlin97 | 0:ad7a811c859f | 33 | |
ryanlin97 | 0:ad7a811c859f | 34 | #endif |