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Dependencies: QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic
Diff: imu.cpp
- Revision:
- 4:29a27953fe70
diff -r a5e71bfdb492 -r 29a27953fe70 imu.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/imu.cpp Tue Jul 17 02:29:26 2018 +0000
@@ -0,0 +1,23 @@
+#include "imu.h"
+
+Imu::Imu(){
+ imu = new BNO055(SDA, SCL);
+}
+
+Imu::Imu(PinName sda_pin, PinName scl_pin){
+ imu = new BNO055(sda_pin, scl_pin);
+}
+void Imu::setup(){
+ imu.reset();
+ pc.printf("Bosch Sensortec BNO055 test program on \r\n");
+ while (imu.check() == 0) {
+ pc.printf("Bosch BNO055 is NOT available!!\r\n");
+ wait(.5);
+ }
+ pc.printf("Bosch Sensortec BNO055 available \r\n");
+ imu.set_accel_units(MPERSPERS);
+ imu.setmode(OPERATION_MODE_AMG);
+ imu.get_calib();
+ imu.write_calibration_data();
+ imu.set_angle_units(DEGREES);
+}
\ No newline at end of file