I2C library for Bosch BNO055 sensor
Diff: BNO055.cpp
- Revision:
- 3:1db1628eb8b2
- Parent:
- 2:695c6e5d239a
- Child:
- 4:481ecdf3baf8
diff -r 695c6e5d239a -r 1db1628eb8b2 BNO055.cpp --- a/BNO055.cpp Sat May 30 19:08:59 2015 +0000 +++ b/BNO055.cpp Sun May 31 07:22:40 2015 +0000 @@ -198,12 +198,12 @@ tx[0] = BNO055_EULER_H_LSB_ADDR; _i2c.write(address,tx,1,true); _i2c.read(address+1,rawdata,6,0); - angles.rawyaw = (rawdata[1] << 8 | rawdata[0]); - angles.rawroll = (rawdata[3] << 8 | rawdata[2]); - angles.rawpitch = (rawdata[5] << 8 | rawdata[4]); - angles.yaw = float(angles.rawyaw)*angle_scale; - angles.roll = float(angles.rawroll)*angle_scale; - angles.pitch = float(angles.rawpitch)*angle_scale; + euler.rawyaw = (rawdata[1] << 8 | rawdata[0]); + euler.rawroll = (rawdata[3] << 8 | rawdata[2]); + euler.rawpitch = (rawdata[5] << 8 | rawdata[4]); + euler.yaw = float(euler.rawyaw)*angle_scale; + euler.roll = float(euler.rawroll)*angle_scale; + euler.pitch = float(euler.rawpitch)*angle_scale; }