Nathan ma

.gitignore

@@ -0,0 +1,3 @@
+/.pio
+/.vscode
+/MarcoB.code-workspace

README.md

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+## Version v0.0.2
+
+---
+
+> ## Changes
+> - README.md File Added.
+> - Accelerometer Library properly structured and commented.
+> - Platformio.ini updated with lib_dependencies for the accelerometer.

include/Accelerometer.h

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+#ifndef ACCELEROMETER_H
+#define ACCELEROMETER_H
+
+#include <Arduino.h>
+#include <Adafruit_BNO055.h>
+
+class Accelerometer {
+  Adafruit_BNO055 *bno;
+  imu::Vector<3> euler;
+  imu::Vector<3> linaccel;
+
+  double offset_y, offset_z;
+
+  //  x       y       z
+  //  yaw     pitch   roll
+
+  void setOffsets(double _offset_y, double _offset_z) {
+    offset_y = _offset_y;
+    offset_z = _offset_z;
+  }
+
+ public:
+  /** @details Initialize the Accelerometer. Needs an ID and I2C address. */
+  Accelerometer(int id, int address);
+
+  /** @details Calibrates the accelerometer by getting a euler Vector
+   * and settings this vector as an offset.
+   */
+  void calibrate();
+
+  /** @details Check if the Accelerometer is available
+   *  $$ This should be implemented in a different way!
+   */
+  void begin();
+
+  /** @details Public access to lineaccel vector */
+  imu::Vector<3> getLinAccel();
+
+  /** @details Public access to the X axis of euler vector */
+  double getYaw();
+
+  /** @details Public access to the Y axis of euler vector */
+  double getPitch();
+
+  /** @details Public access to the Z axis of euler vector */
+  double getRoll();
+
+  /** @details Updates the Vectors */
+  void update();
+};
+#endif

platformio.ini

@@ -15,3 +15,6 @@ framework = arduino
 monitor_speed = 2000000
 monitor_port = COM66
 upload_port = COM66
+lib_deps = 
+  #Accelerometer Library
+  adafruit/Adafruit BNO055 @ ^1.4.1

src/Accelerometer.cpp

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+#include "Accelerometer.h"
+
+/** @brief Initializer
+ *  @param id  set the device ID I2C
+ *  @param address set the device address I2C
+ */
+Accelerometer::Accelerometer(int id, int address) {
+  bno = new Adafruit_BNO055(id, address);
+};
+
+/** @brief Calibrates the sernsor */
+void Accelerometer::calibrate() {
+  euler = bno->getVector(Adafruit_BNO055::VECTOR_EULER);
+  setOffsets(euler.y(), euler.z());
+}
+
+/** @brief Check Acc Communication */
+void Accelerometer::begin() {
+  if (!bno->begin()) {
+    Serial.print("Ooops, no BNO055 1 detected ... Check your wiring or I2C ADDR!");
+    return;
+    while (1)
+      ;
+  }
+  //bno->setExtCrystalUse(false);
+  delay(500);
+
+  calibrate();
+}
+
+/** @brief Gets Linear Acceleration
+ *  @returns a Vector3 formated Linear Acceleration
+ */
+imu::Vector<3> Accelerometer::getLinAccel() {
+  return linaccel;
+}
+
+/** @brief Get the X axis from the euler Vector
+ *  @returns [double]
+ */
+double Accelerometer::getYaw() {
+  return euler.x();
+}
+
+/** @brief Get the Y axis from the euler Vector
+ *  @returns [double]
+ */
+double Accelerometer::getPitch() {
+  return euler.y() - offset_y;
+}
+
+/** @brief Get the Z axis from the euler Vector
+ *  @returns [double]
+ */
+double Accelerometer::getRoll() {
+  return euler.z() - offset_z;
+}
+
+/** @brief Upadte Vectors */
+void Accelerometer::update() {
+  euler = bno->getVector(Adafruit_BNO055::VECTOR_EULER);
+  //delayMicroseconds(1000);
+  linaccel = bno->getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);
+  //delayMicroseconds(1000);
+}