API

This documentation outlines the library for IMU.

DEV

Devices, representation of hardware that can be interfaced with. In general, devices are communicated with via some sort of IO interface, but that is not strictly a rule. An LED is a simplistic example of a device.

IMU

class IMU::IMU : public CANDevice

Main class for the IMU that manages its built-in BNO055 and manages CAN communication.

Public Functions

explicit IMU(BNO055 bno055)

Basic constructor for an IMU instance.

It calls the initialization routine of the BNO055.

Parameters

bno055 – [in] BNO instance to read data from

CO_OBJ_T *getObjectDictionary() override

Gets the object dictionary.

Returns

an object dictionary

uint8_t getNumElements() override

Gets the size of the Object Dictionary.

Returns

size of the Object Dictionary

uint8_t getNodeID() override

Get the device’s node ID.

Returns

The node ID of the can device.

void process()

Handle running the core logic of the IMU.

This involves calling upon BNO055 to retrieve and log data.

Public Static Attributes

static constexpr uint8_t NODE_ID = 9

The node ID is used to identify the device on the CAN network.