Sheila Pham / wheelchaircontrol

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Dependencies:   QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic

imu.cpp@4:29a27953fe70, 2018-07-17 (annotated)

Committer:
ryanlin97
Date:
Tue Jul 17 02:29:26 2018 +0000
Revision:
4:29a27953fe70
beginning imu class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanlin97 4:29a27953fe70 1 #include "imu.h"
ryanlin97 4:29a27953fe70 2
ryanlin97 4:29a27953fe70 3 Imu::Imu(){
ryanlin97 4:29a27953fe70 4 imu = new BNO055(SDA, SCL);
ryanlin97 4:29a27953fe70 5 }
ryanlin97 4:29a27953fe70 6
ryanlin97 4:29a27953fe70 7 Imu::Imu(PinName sda_pin, PinName scl_pin){
ryanlin97 4:29a27953fe70 8 imu = new BNO055(sda_pin, scl_pin);
ryanlin97 4:29a27953fe70 9 }
ryanlin97 4:29a27953fe70 10 void Imu::setup(){
ryanlin97 4:29a27953fe70 11 imu.reset();
ryanlin97 4:29a27953fe70 12 pc.printf("Bosch Sensortec BNO055 test program on \r\n");
ryanlin97 4:29a27953fe70 13 while (imu.check() == 0) {
ryanlin97 4:29a27953fe70 14 pc.printf("Bosch BNO055 is NOT available!!\r\n");
ryanlin97 4:29a27953fe70 15 wait(.5);
ryanlin97 4:29a27953fe70 16 }
ryanlin97 4:29a27953fe70 17 pc.printf("Bosch Sensortec BNO055 available \r\n");
ryanlin97 4:29a27953fe70 18 imu.set_accel_units(MPERSPERS);
ryanlin97 4:29a27953fe70 19 imu.setmode(OPERATION_MODE_AMG);
ryanlin97 4:29a27953fe70 20 imu.get_calib();
ryanlin97 4:29a27953fe70 21 imu.write_calibration_data();
ryanlin97 4:29a27953fe70 22 imu.set_angle_units(DEGREES);
ryanlin97 4:29a27953fe70 23 }