Orientation Class Reference

#include <Orientation.h>

Detailed Description

Encapsulates an Adafruit BNO055 IMU.

Encapsulates a Adafruit BNO055 IMU and provides convenience functions to read the heading. It will also automatically publish SMQ events for any change in heading.

Inheritance diagram for Orientation:

Collaboration diagram for Orientation:

Public Member Functions
	Orientation (uint8_t id=0)
	Default Constructor. More...
virtual void	setup ()
	Perform any initialzation not possible in the constructor. More...
float	getYaw ()
	Returns the last recorded yaw. More...
bool	getYawChanged (float &yaw)
	Returns true if yaw has changed since last calling this function. More...
float	getRoll ()
	Returns the last recorded roll. More...
bool	getRollChanged (float &roll)
	Returns true if roll has changed since last calling this function. More...
float	getPitch ()
	Returns the last recorded pitch. More...
bool	getPitchChanged (float &pitch)
	Returns true if pitch has changed since last calling this function. More...
virtual void	animate ()
	Reads the IMU and publishes any change in heading. More...
Public Member Functions inherited from SetupEvent
	SetupEvent ()
	Default Constructor. More...

Additional Inherited Members
Static Public Member Functions inherited from SetupEvent
static void	ready ()
	Calls setup() for each created AnimatedEvent subclass. More...

Constructor & Destructor Documentation

Orientation()

Orientation::Orientation ( uint8_t  id = 0 )

inline

Default Constructor.

Member Function Documentation

animate()

virtual void Orientation::animate ( )

inlinevirtual

Reads the IMU and publishes any change in heading.

Implements AnimatedEvent.

getPitch()

float Orientation::getPitch ( )

inline

Returns the last recorded pitch.

getPitchChanged()

bool Orientation::getPitchChanged ( float &  pitch )

inline

Returns true if pitch has changed since last calling this function.

getRoll()

float Orientation::getRoll ( )

inline

Returns the last recorded roll.

getRollChanged()

bool Orientation::getRollChanged ( float &  roll )

inline

Returns true if roll has changed since last calling this function.

getYaw()

float Orientation::getYaw ( )

inline

Returns the last recorded yaw.

getYawChanged()

bool Orientation::getYawChanged ( float &  yaw )

inline

Returns true if yaw has changed since last calling this function.

setup()

virtual void Orientation::setup ( )

inlinevirtual

Perform any initialzation not possible in the constructor.

Implements SetupEvent.

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The documentation for this class was generated from the following file:

• Orientation.h