.. _program_listing_file_src_LouLib_Odometry_OdomIMUSensor.cpp:

Program Listing for File OdomIMUSensor.cpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_LouLib_Odometry_OdomIMUSensor.cpp>` (``src/LouLib/Odometry/OdomIMUSensor.cpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #include "OdomIMUSensor.hpp"
   
   #include "../Math/Math.hpp"
   
   namespace LouLib {
       namespace Odometry {
   
           OdomIMUSensor::OdomIMUSensor(int port, double scale) : imuSensor(port), scale(scale){
               imuSensor.reset();
           }
   
           Units::Angle OdomIMUSensor::getHeading() {
               double raw = imuSensor.get_heading()*scale;
               double bounded = Math::constrainAngle(raw);
               return bounded * Units::DEGREE;
           }
   
       } // LouLib
   } // Odometry