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bfs/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp
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/* | |
* | |
* This is the IO Processor for the Xsens MTi-630 AHRS: | |
* https://www.xsens.com/products/mti-600-series | |
* The AHRS is able to calculate a lot of different orientational data, | |
* we are specfically using it to find the Yaw Euler Angle. | |
* Currently you must manually specify which COM port the device is connected | |
* to, this is right at the begining of the CreateFile() method call. | |
* By defualt it is set to COM8, you may have to change it to the correct port | |
* on your system. You can find the corrct port manually by opening Device Manager, | |
* under "Ports(COM & LPT)" you can see the ports detected by your system. | |
*/ | |
#ifndef AHRS_INPUT_IO_PROCESSOR_HPP | |
#define AHRS_INPUT_IO_PROCESSOR_HPP | |
#include "IOProcessor.hpp" | |
#include "DataSyncThread.hpp" | |
#include "Attribute.hpp" | |
#include <windows.h> | |
#include <iostream> | |
class AHRSInputIOProcessor : public IOProcessor | |
{ | |
public: | |
using IOProcessor::IOProcessor; | |
void loop(); | |
bool loopCondition(); | |
int configAHRS(); // Initialize the AHRS for the first time | |
private: | |
int iterations = 10; | |
bool configured = false; | |
HANDLE hSerial; | |
}; | |
#endif |