Program Listing for File OdomIMUSensor.cpp

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#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