BRIX5

 *  @brief  Reads the sensor and returns the data as a sensors_event_t

 *  @param  event

 *  @param  vec_type

 *          specify the type of reading

 *  @return always returns true

 */

bool Adafruit_BNO055::getEvent(sensors_event_t *event, adafruit_vector_type_t vec_type)

{

  /* Clear the event */

  memset(event, 0, sizeof(sensors_event_t));

  event->version = sizeof(sensors_event_t);

  event->sensor_id = _sensorID;

  event->timestamp = millis();

  //read the data according to vec_type

  imu::Vector<3> vec;

  if (vec_type == Adafruit_BNO055::VECTOR_LINEARACCEL)

  {

    event->type = SENSOR_TYPE_ACCELEROMETER;

    vec = getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);

    event->acceleration.x = vec.x();

    event->acceleration.y = vec.y();

    event->acceleration.z = vec.z();

  }

  else if (vec_type == Adafruit_BNO055::VECTOR_ACCELEROMETER)

  {

    event->type = SENSOR_TYPE_ACCELEROMETER;

    vec = getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);

    event->acceleration.x = vec.x();

    event->acceleration.y = vec.y();

    event->acceleration.z = vec.z();

  }

  else if (vec_type == Adafruit_BNO055::VECTOR_GRAVITY)

  {

    event->type = SENSOR_TYPE_ACCELEROMETER;

    vec = getVector(Adafruit_BNO055::VECTOR_GRAVITY);

    event->acceleration.x = vec.x();

    event->acceleration.y = vec.y();

    event->acceleration.z = vec.z();

  }

  else if (vec_type == Adafruit_BNO055::VECTOR_EULER)

  {

    event->type = SENSOR_TYPE_ORIENTATION;

    vec = getVector(Adafruit_BNO055::VECTOR_EULER);

    event->orientation.x = vec.x();

    event->orientation.y = vec.y();

    event->orientation.z = vec.z();

  }

  else if (vec_type == Adafruit_BNO055::VECTOR_GYROSCOPE)

  {

    event->type = SENSOR_TYPE_ROTATION_VECTOR;

    vec = getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);

    event->gyro.x = vec.x();

    event->gyro.y = vec.y();

    event->gyro.z = vec.z();

  }

  else if (vec_type == Adafruit_BNO055::VECTOR_MAGNETOMETER)

  {

    event->type = SENSOR_TYPE_MAGNETIC_FIELD;

    vec = getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);

    event->magnetic.x = vec.x();

    event->magnetic.y = vec.y();

    event->magnetic.z = vec.z();

  }

  return true;

}

/*!