orientation.h File Reference

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Functions
int32_t	set_orientation (int16_t heading)
	Set the euler heading angle offset. More...
int32_t	set_pitch (int16_t pitch)
	Set the euler pitch angle offset. More...
int32_t	set_roll (int16_t roll)
	Set the euler roll angle offset. More...
int16_t	get_relative_heading (void)
	Get the relative heading (relative to the last setting) in trigo sense. More...
int16_t	get_relative_pitch (void)
	Get the relative pitch angle (relative to the last setting). More...
int16_t	get_relative_roll (void)
	Get the relative roll angle (relative to the last setting). More...
void	update_orientation (void)
	Update the current orientation. More...

Variables
int16_t	orientation
int16_t	heading_offset

Function Documentation

get_relative_heading()

int16_t get_relative_heading

(

void

)

Get the relative heading (relative to the last setting) in trigo sense.

Returns

The relative heading. The range is [0, 5760] and the value decreases when turning clockwise. The sense of the angle is changed compared to the value returned by the BNO055.

Definition at line 65 of file orientation.c.

get_relative_pitch()

int16_t get_relative_pitch

(

void

)

Get the relative pitch angle (relative to the last setting).

Returns

The relative pitch. The range is [-2880, 2880] and the value increases when the inclination increases.

Definition at line 115 of file orientation.c.

get_relative_roll()

int16_t get_relative_roll

(

void

)

Get the relative roll angle (relative to the last setting).

Returns

The relative roll. The range is [-1440, 1440] and the value increases when the inclination increases.

Definition at line 155 of file orientation.c.

set_orientation()

int32_t set_orientation

(

int16_t

heading

)

Set the euler heading angle offset.

WARNING : setting angles DOES NOT MOVE the robot, it offsets the angle.

Parameters

[in]

heading

The current heading angle.

Returns

An int32_t indicating success, else an error code.

Return values

NO_ERROR	No error, offset set.
INVALID_PARAMETER	heading out of range.

Definition at line 38 of file orientation.c.

set_pitch()

int32_t set_pitch

(

int16_t

pitch

)

Set the euler pitch angle offset.

WARNING : setting angles DOES NOT MOVE the robot, it offsets the angle.

Returns

An int32_t indicating success, else an error code.

Return values

NO_ERROR	No error, offset set.
INVALID_PARAMETER	pitch out of range.

Parameters

[in]

pitch

The current pitch angle.

Definition at line 90 of file orientation.c.

set_roll()

int32_t set_roll

(

int16_t

roll

)

Set the euler roll angle offset.

WARNING : setting angles DOES NOT MOVE the robot, it offsets the angle.

Returns

An int32_t indicating success, else an error code.

Return values

NO_ERROR	No error, offset set.
INVALID_PARAMETER	roll out of range.

Parameters

[in]

roll

The current roll angle.

Definition at line 130 of file orientation.c.

update_orientation()

void update_orientation

(

void

)

Update the current orientation.

This function uses either the IMU or the coding wheels to compute the new orientation value. A threshold on the angular speed is used to select one of the two sources.

Definition at line 169 of file orientation.c.

Variable Documentation

heading_offset

int16_t heading_offset

Offset to apply to the raw value given by the IMU.

Definition at line 31 of file orientation.c.

orientation

int16_t orientation

The last computed orientation of the robot.

Definition at line 32 of file orientation.c.