WALL-E Version 1.0
The "WALL-E" Project is a ME 507 quarter term project inspired to recreate the robot WALL-E. The WALL-E robot is a fully 3D printed robot with modified components in order to fit the needs of the chosen peripherals and electronics. WALL-E contains a custom made PCB which is housed in the main body of WALL-E. WALL-E's peripherals and components include 2 pololu Romi Motors with encoders, 4 MG90s servos, BNO055 IMU, and a OV2640 ArduCam camera. The objective of WALL-E is to scan the surrounding area for the closest object to it. Once that object is detected, WALL-E drives up to the object, attempts to pick up or hold the object and detect the color of the object.
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bno055.h
Go to the documentation of this file.
1/* USER CODE BEGIN Header */
19#ifndef INC_BNO055_H_
20#define INC_BNO055_H_
21
22#include "stm32f4xx_hal.h"
23#include <cstdint>
24#include <iostream>
25#include <stdbool.h>
26
27
32class BNO055{
33 public:
37 enum class REG: uint8_t{
38 CONFIG_MODE = 0x00,
39 IMU = 0x08,
40 NDOF = 0x0C
41 };
42
43 BNO055(I2C_HandleTypeDef *hi2c, uint8_t addr = 0x28);
44
45 bool init_imu(REG mode = REG::NDOF);
46 bool updateEuler();
47 bool readCalibStatus(uint8_t& sys, uint8_t& gyro, uint8_t& accel, uint8_t&mag);
48 bool updateGyro();
49 int16_t getYawRateZ();
50 int16_t getYaw();
51 int16_t getRoll();
52 int16_t getPitch();
53
54
55 private:
59 I2C_HandleTypeDef* hi2c;
60
64 uint8_t addr;
65
69 int16_t pitch;
70
74 int16_t yaw;
75
79 int16_t roll;
80
84 int16_t gyroX;
85
89 int16_t gyroY;
90
94 int16_t gyroZ;
95
96 bool writeByte(uint8_t reg, uint8_t value);
97 bool readLen(uint8_t reg, uint8_t* buffer, uint8_t len);
98};
99
100
101#endif /* INC_BNO055_H_ */
BNO055::getRoll
int16_t getRoll()
Function allows for the user to get the current roll value.
Definition bno055.cpp:117
BNO055::pitch
int16_t pitch
Definition bno055.h:69
BNO055::writeByte
bool writeByte(uint8_t reg, uint8_t value)
Function writes values to the specified register given by the user.
Definition bno055.cpp:155
BNO055::updateEuler
bool updateEuler()
Function Updates the Euler values based on the IMU's current readings. Roll Pitch,...
Definition bno055.cpp:66
BNO055::REG
REG
Enumerated class REG of the IMU modes that will be used.
Definition bno055.h:37
BNO055::REG::CONFIG_MODE
@ CONFIG_MODE
Definition bno055.h:38
BNO055::REG::NDOF
@ NDOF
Definition bno055.h:40
BNO055::REG::IMU
@ IMU
Definition bno055.h:39
BNO055::getPitch
int16_t getPitch()
Function allows for the user to get the current pitch value.
Definition bno055.cpp:125
BNO055::init_imu
bool init_imu(REG mode=REG::NDOF)
Function handles the configuration and initialization of the BNO055 IMU.
Definition bno055.cpp:44
BNO055::getYaw
int16_t getYaw()
Function allows for the user to get the current yaw value.
Definition bno055.cpp:109
BNO055::BNO055
BNO055(I2C_HandleTypeDef *hi2c, uint8_t addr=0x28)
Constructor Function to initialize the BNO055 Class.
Definition bno055.cpp:35
BNO055::readCalibStatus
bool readCalibStatus(uint8_t &sys, uint8_t &gyro, uint8_t &accel, uint8_t &mag)
Function Checks the Calibration status of the IMU and individual sensors.
Definition bno055.cpp:137
BNO055::gyroY
int16_t gyroY
Definition bno055.h:89
BNO055::gyroZ
int16_t gyroZ
Definition bno055.h:94
BNO055::readLen
bool readLen(uint8_t reg, uint8_t *buffer, uint8_t len)
Function reads the current value of the specified register given by the user.
Definition bno055.cpp:166
BNO055::gyroX
int16_t gyroX
Definition bno055.h:84
BNO055::yaw
int16_t yaw
Definition bno055.h:74
BNO055::roll
int16_t roll
Definition bno055.h:79
BNO055::getYawRateZ
int16_t getYawRateZ()
Function allows users to retrieve the yaw rate around the Z axis.
Definition bno055.cpp:101
BNO055::updateGyro
bool updateGyro()
Function pull they data from the gyroscope retrieving angular velocities.
Definition bno055.cpp:85
BNO055::hi2c
I2C_HandleTypeDef * hi2c
Definition bno055.h:59
BNO055::addr
uint8_t addr
Definition bno055.h:64