Diff: main.cpp

Revision:

0:04fef978a0ab

Child:

1:8e8aac99a366

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 13 14:04:34 2020 +0000
@@ -0,0 +1,106 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "Servo.h"
+#include "LSM9DS1.h"
+#define PI 3.14159  // Used in IMU code
+#define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA (Used in IMU code) 
+
+
+// OBJECTS
+Servo servoFrontLeft(p21);
+Servo servoFrontRight(p22);
+Servo servoBackLeft(p23);
+Servo servoBackRight(p24);
+LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);  
+Serial blue(p28,p27); // bluetooth 
+//BusOut myled(LED1,LED2,LED3,LED4); //bluetooth debugging
+Thread thread1;
+Serial pc(USBTX, USBRX); // Debugging
+
+
+// VARIABLE DECLARATIONS 
+volatile char bluetoothRead = 0;
+
+
+// FUNCTION DECLARATIONS
+void bluetooth_recv()
+{
+    bluetoothRead = blue.getc();
+    /*if (blue.getc()=='!') {
+            if (blue.getc()=='B') { //button data
+                bluetoothRead = blue.getc(); //button number
+                if ((bluetoothRead>='1')&&(bluetoothRead<='4')) //is a number button 1..4
+                    myled[bluetoothRead-'1']=blue.getc()-'0'; //turn on/off that num LED
+            }
+    } */
+}
+
+// IMU - caluclate pitch and roll
+void printAttitude(float ax, float ay, float az, float mx, float my, float mz)
+{
+    float roll = atan2(ay, az);
+    float pitch = atan2(-ax, sqrt(ay * ay + az * az));
+    // touchy trig stuff to use arctan to get compass heading (scale is 0..360)
+    mx = -mx;
+    float heading;
+    if (my == 0.0)
+        heading = (mx < 0.0) ? 180.0 : 0.0;
+    else
+        heading = atan2(mx, my)*360.0/(2.0*PI);
+    //pc.printf("heading atan=%f \n\r",heading);
+    heading -= DECLINATION; //correct for geo location
+    if(heading>180.0) heading = heading - 360.0;
+    else if(heading<-180.0) heading = 360.0 + heading;
+    else if(heading<0.0) heading = 360.0  + heading;
+    // Convert everything from radians to degrees:
+    //heading *= 180.0 / PI;
+    pitch *= 180.0 / PI;
+    roll  *= 180.0 / PI;
+    pc.printf("Pitch: %f,    Roll: %f degress\n\r",pitch,roll);
+    pc.printf("Magnetic Heading: %f degress\n\r",heading);
+}
+
+// IMU - read and display magnetometer, gyroscope, acceleration values
+void getIMUData()
+{
+    while(!IMU.magAvailable(X_AXIS));
+    IMU.readMag();
+    while(!IMU.accelAvailable());
+    IMU.readAccel();
+    while(!IMU.gyroAvailable());
+    IMU.readGyro();
+    pc.printf("        X axis    Y axis    Z axis\n\r");
+    pc.printf("gyro:  %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz));
+    pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az));
+    pc.printf("mag:   %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
+    printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),
+                  IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
+} 
+
+
+// THREADS 
+void thread1Name() {
+   while (true) {
+        // things
+        Thread::wait(100);
+    }
+}
+
+
+int main() {
+    // initialise IMU
+    IMU.begin();
+    if (!IMU.begin()) {
+        pc.printf("Failed to communicate with LSM9DS1.\n");
+    }
+    IMU.calibrate(1);
+    IMU.calibrateMag(0);
+    
+    // Start threads
+    thread1.start(thread1Name);
+    
+    while(1) {
+        // things
+        Thread::wait(1000);
+    }
+}