Affordable Smart Wheelchair / Mbed OS BNO080_program

added main and defined M_PI

Dependencies:   BNOWrapper

main.cpp@5:eefbf579d5cc, 2019-07-30 (annotated)

Committer:
JesiMiranda
Date:
Tue Jul 30 16:44:23 2019 +0000
Revision:
5:eefbf579d5cc
Parent:
4:ecd3871549e8
Child:
7:b548a684290d
Jamie changed the cpp

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 2:1fd1549d3fbd 3
JesiMiranda 0:0f12b8c4d5f1 4 int main()
JesiMiranda 0:0f12b8c4d5f1 5 {
JesiMiranda 5:eefbf579d5cc 6 Serial pc(USBTX, USBRX, 192000);
JesiMiranda 5:eefbf579d5cc 7
JesiMiranda 3:24e65bfcea6d 8
JesiMiranda 1:4a5b43b9502c 9 // Create IMU, passing in output stream, pins, I2C address, and I2C frequency
JesiMiranda 1:4a5b43b9502c 10 // These pin assignments are specific to my dev setup -- you'll need to change them
JesiMiranda 5:eefbf579d5cc 11 BNO080 imu(&pc, D4, D5, D12, D10, 0x4b, 100000);
JesiMiranda 3:24e65bfcea6d 12
JesiMiranda 2:1fd1549d3fbd 13 imu.begin();
JesiMiranda 4:ecd3871549e8 14
JesiMiranda 1:4a5b43b9502c 15 // Tell the IMU to report rotation every 100ms and acceleration every 200ms
JesiMiranda 5:eefbf579d5cc 16
JesiMiranda 5:eefbf579d5cc 17 imu.enableReport(BNO080::TOTAL_ACCELERATION, 100);
JesiMiranda 5:eefbf579d5cc 18 //imu.enableReport(BNO080::GRAVITY_ACCELERATION, 100);
JesiMiranda 1:4a5b43b9502c 19 imu.enableReport(BNO080::ROTATION, 100);
JesiMiranda 3:24e65bfcea6d 20
JesiMiranda 3:24e65bfcea6d 21 while (true) {
JesiMiranda 1:4a5b43b9502c 22 wait(.001f);
JesiMiranda 4:ecd3871549e8 23
JesiMiranda 1:4a5b43b9502c 24 // poll the IMU for new data -- this returns true if any packets were received
JesiMiranda 5:eefbf579d5cc 25
JesiMiranda 3:24e65bfcea6d 26 if(imu.updateData()) {
JesiMiranda 1:4a5b43b9502c 27 // now check for the specific type of data that was received (can be multiple at once)
JesiMiranda 5:eefbf579d5cc 28 if (imu.hasNewData(BNO080::TOTAL_ACCELERATION) || imu.hasNewData(BNO080::ROTATION)) {
JesiMiranda 5:eefbf579d5cc 29 pc.printf("Total Accel: ");
JesiMiranda 5:eefbf579d5cc 30 imu.totalAcceleration.print(pc, true);
JesiMiranda 5:eefbf579d5cc 31
JesiMiranda 5:eefbf579d5cc 32 pc.printf(", Rotation:");
JesiMiranda 1:4a5b43b9502c 33 TVector3 eulerRadians = imu.rotationVector.euler();
JesiMiranda 1:4a5b43b9502c 34 TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI);
JesiMiranda 1:4a5b43b9502c 35 eulerDegrees.print(pc, true);
JesiMiranda 1:4a5b43b9502c 36 pc.printf("\n");
JesiMiranda 1:4a5b43b9502c 37 }
JesiMiranda 5:eefbf579d5cc 38
JesiMiranda 1:4a5b43b9502c 39 }
JesiMiranda 0:0f12b8c4d5f1 40 }
JesiMiranda 3:24e65bfcea6d 41
JesiMiranda 0:0f12b8c4d5f1 42 }
JesiMiranda 3:24e65bfcea6d 43