Diff: BMX055.h

Revision:

1:43c83e461ea4

Parent:

0:d56d821617b6

diff -r d56d821617b6 -r 43c83e461ea4 BMX055.h
--- a/BMX055.h	Mon Sep 02 09:01:59 2019 +0000
+++ b/BMX055.h	Mon Sep 02 09:12:25 2019 +0000
@@ -1,3 +1,72 @@
+/*
+宣言方法
+BMX055 bmx(SDA_pin,SCL_pin);
+
+bmx.getAcc();
+bmx.getGyro();
+bmx.getMag();    で値をゲット！
+
+値は
+bmx.accel[3];
+bmx.gyroscope[3];
+bmx.magnet[3];      に入っている！
+
+
+
+用例-----------------------------------------------------------
+#include "mbed.h"
+#include "BMX055.h"
+
+
+BMX055 bmx(D14,D15);  //SDA SCL
+DigitalOut myled(LED1);
+DigitalIn sw(PC_13);
+Timer t;
+
+int main() {
+    float   preAngle=0, AngGyr=0, gy=0, acc[2]={0}, angleAccel=0;
+    int angle=0, use_angle=0;
+    const double dt = 0.01;
+    
+    printf("\r\nrun\r\n");
+    
+    while(sw==0){}
+    while(sw==1){}
+    while(1) {
+        
+//        getAcc(accel);
+//        printf("%2.4f, %2.4f, %2.4f\r\n",(accel[0]/512)*9.8,(accel[1]/512)*9.8,(accel[2]/512)*9.8);
+//        getGyro(gyroscope);
+//        printf("%2.4f, %2.4f, %2.4f\r\n",gyroscope[0]*125/2048,gyroscope[1]*125/2048,gyroscope[2]*125/2048);       
+//        getMag(magnet);
+//        printf("%2.4f, %2.4f, %2.4f\r\n",magnet[0],magnet[1],magnet[2]);
+
+        bmx.getGyro();
+        
+        while(sw==0){
+            angle=0; 
+            use_angle=0;
+            printf("Setting now!\r\n");
+        }
+        
+        gy=bmx.gyroscope[2]*125/2048; 
+        angleAccel=bmx.gyroscope[2]*125/2560;
+        AngGyr = preAngle+gy*dt; 
+        angle = (int)(0.905*AngGyr+0.09*angleAccel);   //回転の検知幅小さくすると遅いのができて、大きくすると早いのができる
+                                                    //回転の検知制度を調整:上と反比例
+        use_angle += angle;
+        
+        printf("%3d\r\n", use_angle/48);
+        preAngle=angle;
+        acc[1]=acc[0];
+
+        wait(dt); 
+    }    
+}
+----------------------------------------------------------------------
+回転角がわかるよV
+*/
+
 #ifndef BMX055_H_
 #define BMX055_H_