Affordable Smart Wheelchair / Mbed OS BNO080_program

added main and defined M_PI

Dependencies:   BNOWrapper

main.cpp@8:729ad465d6c9, 2019-08-05 (annotated)

Committer:
JesiMiranda
Date:
Mon Aug 05 21:57:13 2019 +0000
Revision:
8:729ad465d6c9
Parent:
7:b548a684290d
Child:
10:14374b492f1d
up-to-date code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JesiMiranda 1:4a5b43b9502c 1 #include <mbed.h>
JesiMiranda 1:4a5b43b9502c 2 #include <BNO080.h>
JesiMiranda 7:b548a684290d 3 #include "Watchdog.h"
JesiMiranda 2:1fd1549d3fbd 4
JesiMiranda 0:0f12b8c4d5f1 5 int main()
JesiMiranda 0:0f12b8c4d5f1 6 {
JesiMiranda 7:b548a684290d 7 Serial pc(USBTX, USBRX, 57600);
JesiMiranda 1:4a5b43b9502c 8 // Create IMU, passing in output stream, pins, I2C address, and I2C frequency
JesiMiranda 7:b548a684290d 9 // These pin assignments are specific to stm32- L432KC
JesiMiranda 7:b548a684290d 10 //BNO080 imu(&pc, D4, D5, D12, D10, 0x4b, 100000);
JesiMiranda 8:729ad465d6c9 11
JesiMiranda 8:729ad465d6c9 12 //NUCLEO- F767ZI
JesiMiranda 8:729ad465d6c9 13 BNO080 imu(&pc, D2, D4, D13, D15, 0x4b, 100000);
JesiMiranda 8:729ad465d6c9 14
JesiMiranda 8:729ad465d6c9 15
JesiMiranda 8:729ad465d6c9 16 Watchdog dog(&imu);
JesiMiranda 8:729ad465d6c9 17 dog.Configure(4); //need to find the time for entire program to run
JesiMiranda 2:1fd1549d3fbd 18 imu.begin();
JesiMiranda 1:4a5b43b9502c 19 // Tell the IMU to report rotation every 100ms and acceleration every 200ms
JesiMiranda 7:b548a684290d 20
JesiMiranda 5:eefbf579d5cc 21 imu.enableReport(BNO080::TOTAL_ACCELERATION, 100);
JesiMiranda 1:4a5b43b9502c 22 imu.enableReport(BNO080::ROTATION, 100);
JesiMiranda 3:24e65bfcea6d 23
JesiMiranda 3:24e65bfcea6d 24 while (true) {
JesiMiranda 1:4a5b43b9502c 25 wait(.001f);
JesiMiranda 4:ecd3871549e8 26
JesiMiranda 1:4a5b43b9502c 27 // poll the IMU for new data -- this returns true if any packets were received
JesiMiranda 3:24e65bfcea6d 28 if(imu.updateData()) {
JesiMiranda 1:4a5b43b9502c 29 // now check for the specific type of data that was received (can be multiple at once)
JesiMiranda 5:eefbf579d5cc 30 if (imu.hasNewData(BNO080::TOTAL_ACCELERATION) || imu.hasNewData(BNO080::ROTATION)) {
JesiMiranda 8:729ad465d6c9 31 pc.printf("TAcc: ");
JesiMiranda 5:eefbf579d5cc 32 imu.totalAcceleration.print(pc, true);
JesiMiranda 7:b548a684290d 33
JesiMiranda 8:729ad465d6c9 34 pc.printf(", Rot:");
JesiMiranda 1:4a5b43b9502c 35 TVector3 eulerRadians = imu.rotationVector.euler();
JesiMiranda 1:4a5b43b9502c 36 TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI);
JesiMiranda 1:4a5b43b9502c 37 eulerDegrees.print(pc, true);
JesiMiranda 1:4a5b43b9502c 38 pc.printf("\n");
JesiMiranda 8:729ad465d6c9 39
JesiMiranda 7:b548a684290d 40 dog.Service();
JesiMiranda 1:4a5b43b9502c 41 }
JesiMiranda 7:b548a684290d 42
JesiMiranda 1:4a5b43b9502c 43 }
JesiMiranda 0:0f12b8c4d5f1 44 }
JesiMiranda 3:24e65bfcea6d 45
JesiMiranda 0:0f12b8c4d5f1 46 }
JesiMiranda 3:24e65bfcea6d 47