IMU.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "api.h"
#include "okapi/api/control/controllerInput.hpp"
#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
 
namespace okapi {
enum class IMUAxes {
  z, 
  y, 
  x  
};
 
class IMU : public ContinuousRotarySensor {
  public:
  IMU(std::uint8_t iport, IMUAxes iaxis = IMUAxes::z);
 
  double get() const override;
 
  double getRemapped(double iupperBound = 1800, double ilowerBound = -1800) const;
 
  double getAcceleration() const;
 
  std::int32_t reset() override;
 
  std::int32_t reset(double inewAngle);
 
  std::int32_t calibrate();
 
  double controllerGet() override;
 
  bool isCalibrating() const;
 
  protected:
  std::uint8_t port;
  IMUAxes axis;
  double offset = 0;
 
  double readAngle() const;
};
} // namespace okapi