Esempi in C++ (Cpp) per Adafruit_BNO055

Esempio n. 1

File: diagnostics.cpp Progetto: lucwastiaux/gc

#include "application.h"
#include "SparkFunMAX17043.h" // Include the SparkFun MAX17043 library
#include "Adafruit_Sensor.h"
#include "Adafruit_BNO055.h"
#include "imumaths.h"

PRODUCT_ID(1523);
PRODUCT_VERSION(2);

/* Set the delay between fresh samples */
#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 bno1 = Adafruit_BNO055(-1, BNO055_ADDRESS_A);
Adafruit_BNO055 bno2 = Adafruit_BNO055(-1, BNO055_ADDRESS_B);

#define BUZZER_PIN A4
#define BUTTON1_PIN D2
#define BUTTON2_PIN D3

bool s_report_button1_state = false;
bool s_report_button2_state = false;

bool s_start_battery = false;
bool s_report_battery_state = false;

bool s_setup_bno055_1 = false;
bool s_report_imu_state_1 = false;
bool s_setup_bno055_2 = false;
bool s_report_imu_state_2 = false;

Esempio n. 2

File: rover.cpp Progetto: stheophil/MappingRobot2

void OnMotor1Interrupt() { g_amotors[1].onInterrupt(); }
void OnMotor2Interrupt() { g_amotors[2].onInterrupt(); }
void OnMotor3Interrupt() { g_amotors[3].onInterrupt(); }

void (*c_afnInterrupts[4])() = {
  OnMotor0Interrupt, OnMotor1Interrupt, OnMotor2Interrupt, OnMotor3Interrupt
};

#define RELAY_PIN 9

//////////////////////////////////////////////////////////////////////////////
//
// IMU
//

Adafruit_BNO055 g_bno = Adafruit_BNO055(55);
bool g_bBNO = false;

//////////////////////////////////////////////////////////////////////////////
//
// LIDAR
//
struct SFeedbackServo {
    XL320 m_servo;
    static int const c_nServoID = 1;
    // static int const c_nMinAngle = -104;
    // static int const c_nMaxAngle = 104; 
    static int const c_nMinPosition = 144;
    static int const c_nMaxPosition = 880;
    static int const c_nAngleTolerance = 15; // Depends on the pull the cables exert

Esempio n. 3

File: imu.cpp Progetto: buuav/magician-slam

#include "inc/imu.h"

Adafruit_BNO055 bno = Adafruit_BNO055();
Timer timer_imu(IMU_SAMPLING_PERIOD, cb_imu);

ros::Time msg_timestamp;
uint32_t msg_seq = 0;
const char msg_frame_id[] = "base_link";
geometry_msgs::QuaternionStamped orientation_msg;
geometry_msgs::Vector3Stamped angular_vel_msg, linear_accel_msg;
ros::Publisher pub_orientation("crawler0/orientation", &orientation_msg);
ros::Publisher pub_angular_vel("crawler0/angular_velocity", &angular_vel_msg);
ros::Publisher pub_linear_accel("crawler0/linear_acceleration", &linear_accel_msg);

imu::Quaternion orientation;
imu::Vector<3> linear_accel, angular_vel;


void init_imu(){
	if(!Wire.isEnabled())	Wire.begin();
	if(!bno.begin()){
		Serial.println("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
		while(1);
	}
	delay(1000);
	bno.setExtCrystalUse(true);

	orientation_msg.header.frame_id = msg_frame_id;
	angular_vel_msg.header.frame_id = msg_frame_id;
	linear_accel_msg.header.frame_id = msg_frame_id;