heading.h File Reference

FSM class for heading-based robot control using IMU input. More...

#include "command_parser.h"
#include "BNO055_STM32.h"
#include "time_utils.h"
#include <stdint.h>
#include <algorithm>

Go to the source code of this file.

Classes
class	HEADING
	Finite State Machine for heading control based on IMU data. More...

Variables
COMMAND_PARSER	parser
	External reference to the command parser.
BNO055_Sensors_t	BNO055
	External reference to BNO055 IMU data structure.
volatile bool	USER
	External flag triggered by user button press.

Detailed Description

FSM class for heading-based robot control using IMU input.

Defines a finite state machine for maintaining or adjusting the robot's heading based on IMU data and a heading setpoint received via parser.

Variable Documentation

BNO055

BNO055_Sensors_t BNO055

extern

External reference to BNO055 IMU data structure.

External reference to BNO055 IMU data structure.

parser

COMMAND_PARSER parser

extern

External reference to the command parser.

BNO055 data structure definition which hold euler, quaternion, linearaccel, gyro etc. parameters

USER

volatile bool USER

extern

External flag triggered by user button press.

External flag triggered by user button press.