class and script creation

code/arduino/Movement-sensor-code/Movement-sensor-code.ino

@@ -0,0 +1,24 @@
+#include "SensorManager.h"
+
+SensorManager sensorManager;
+
+void setup() {
+  Wire.setClockStretchLimit(150000L); // Default stretch limit 150mS
+  Serial.begin(9600);
+  Serial.println("startup");
+  delay(10000);
+  sensorManager.sensorSetup();
+
+}
+
+void loop() {
+  SensorManager::Rotation rotation = sensorManager.readLoop();
+
+  Serial.print(rotation.x);
+  Serial.print(" ");
+  Serial.print(rotation.y);
+  Serial.print(" ");
+  Serial.print(rotation.z);
+
+  Serial.println();
+}

code/arduino/Movement-sensor-code/SensorManager.cpp

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+#include "SensorManager.h"
+#include <Wire.h>
+
+SensorManager::SensorManager() {}
+
+void SensorManager::sensorSetup() {
+  Serial.println();
+  Serial.println("BNO080 Read Example");
+
+  delay(1000);  // Wait for BNO to boot
+
+  Wire.begin();
+
+  if (myIMU.begin() == false) {
+    delay(1000);
+    Serial.println(".");
+  }
+
+  Wire.setClock(400000);  //Increase I2C data rate to 400kHz
+  myIMU.calibrateAll();   //Turn on cal for Accel, Gyro, and Mag
+  myIMU.enableGameRotationVector(100);
+  myIMU.enableMagnetometer(100);     //Send data update every 100ms
+  myIMU.saveCalibration();           //Saves the current dynamic calibration data (DCD) to memory
+  myIMU.requestCalibrationStatus();  //Sends command to get the latest calibration status
+
+  if (myIMU.calibrationComplete() == true) {
+    Serial.println("Calibration data successfully stored");
+  }
+
+  Serial.println(F("magnetometer rotation enabled"));
+}
+
+SensorManager::Rotation SensorManager::readLoop() {
+  if (myIMU.dataAvailable() == true) {
+    float x = myIMU.getMagX();
+    float y = myIMU.getMagY();
+    float z = myIMU.getMagZ();
+
+    Rotation rotation = { x, y, z };
+    return rotation;
+  }
+  else {
+    float x = myIMU.getMagX();
+    float y = myIMU.getMagY();
+    float z = myIMU.getMagZ();
+
+    Rotation rotation = { x, y, z };
+    return rotation;
+  }
+}

code/arduino/Movement-sensor-code/SensorManager.h

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+#ifndef SensorManager_h
+#define SensorManager_h
+
+#include "Arduino.h"
+#include "SparkFun_BNO080_Arduino_Library.h"
+
+class SensorManager {
+  public:
+    SensorManager();
+    void sensorSetup();
+    struct Rotation {
+      float x;
+      float y;
+      float z;
+    };
+    Rotation readLoop();
+  private:
+    BNO080 myIMU;
+};
+
+#endif

code/arduino/Movement-sensor-code/headerFIle.h

@@ -0,0 +1 @@
+#include "SensorManager.h"