ryan lin / chair_BNO055

wrapper class for BNO055

Dependencies:   BNO055

Dependents:   wheelchaircontrol wheelchaircontrolRos

chair_BNO055.h@3:531a74cecb89, 2018-08-12 (annotated)

Committer:
ryanlin97
Date:
Sun Aug 12 00:33:19 2018 +0000
Revision:
3:531a74cecb89
Parent:
1:3258d62af038 
changed sda and scl definitions to d4 and d5 for small mbed board

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 0:ad7a811c859f 1 #ifndef CHAIR_BNO055_H
ryanlin97 0:ad7a811c859f 2 #define CHAIR_BNO055_H
ryanlin97 0:ad7a811c859f 3
ryanlin97 1:3258d62af038 4 #include "filter.h"
ryanlin97 0:ad7a811c859f 5 #include "mbed.h"
ryanlin97 0:ad7a811c859f 6 #include "math.h"
ryanlin97 0:ad7a811c859f 7 #include "BNO055.h"
ryanlin97 0:ad7a811c859f 8
ryanlin97 0:ad7a811c859f 9 #define PI 3.141593
ryanlin97 3:531a74cecb89 10 /*#define SDA D14
ryanlin97 3:531a74cecb89 11 #define SCL D15*/
ryanlin97 3:531a74cecb89 12 #define SDA D4
ryanlin97 3:531a74cecb89 13 #define SCL D5
ryanlin97 1:3258d62af038 14 #define SAMPLEFREQ 50
ryanlin97 1:3258d62af038 15 #define CAL_TIME 3
ryanlin97 0:ad7a811c859f 16
ryanlin97 0:ad7a811c859f 17 class chair_BNO055
ryanlin97 0:ad7a811c859f 18 {
ryanlin97 0:ad7a811c859f 19 public:
ryanlin97 1:3258d62af038 20 chair_BNO055(Serial* out, Timer* time);
ryanlin97 1:3258d62af038 21 chair_BNO055(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time);
ryanlin97 0:ad7a811c859f 22 void setup();
ryanlin97 0:ad7a811c859f 23 double accel_x();
ryanlin97 0:ad7a811c859f 24 double accel_y();
ryanlin97 0:ad7a811c859f 25 double accel_z();
ryanlin97 0:ad7a811c859f 26 double gyro_x();
ryanlin97 0:ad7a811c859f 27 double gyro_y();
ryanlin97 0:ad7a811c859f 28 double gyro_z();
ryanlin97 0:ad7a811c859f 29 double angle_north();
ryanlin97 0:ad7a811c859f 30 double yaw();
ryanlin97 0:ad7a811c859f 31 double pitch();
ryanlin97 0:ad7a811c859f 32 double roll();
ryanlin97 1:3258d62af038 33 BNO055* imu;
ryanlin97 0:ad7a811c859f 34 private:
ryanlin97 1:3258d62af038 35 //BNO055* imu;
ryanlin97 1:3258d62af038 36 Serial* usb;
ryanlin97 1:3258d62af038 37 Timer* t;
ryanlin97 1:3258d62af038 38 bool start;
ryanlin97 1:3258d62af038 39 void setStart();
ryanlin97 1:3258d62af038 40 void calibrate_yaw();
ryanlin97 0:ad7a811c859f 41 };
ryanlin97 0:ad7a811c859f 42
ryanlin97 0:ad7a811c859f 43 #endif