Diff: main.cpp

Revision:

7:b548a684290d

Parent:

5:eefbf579d5cc

Child:

8:729ad465d6c9

--- a/main.cpp	Tue Jul 30 16:44:23 2019 +0000
+++ b/main.cpp	Tue Jul 30 21:06:04 2019 +0000
@@ -1,21 +1,22 @@
 #include <mbed.h>
 #include <BNO080.h>
+#include "Watchdog.h"
 
 int main()
 {
-    Serial pc(USBTX, USBRX, 192000);
-    
+    Serial pc(USBTX, USBRX, 57600);
+    Watchdog dog;
+    dog.Configure(1.7);         //need to find the time for entire program to run
 
     // Create IMU, passing in output stream, pins, I2C address, and I2C frequency
-    // These pin assignments are specific to my dev setup -- you'll need to change them
-    BNO080 imu(&pc, D4, D5, D12, D10, 0x4b, 100000);
-
+    // These pin assignments are specific to stm32- L432KC
+    //BNO080 imu(&pc, D4, D5, D12, D10, 0x4b, 100000);
+    BNO080 imu(&pc, D2, D4, D13, PB_6, 0x4b, 100000);
     imu.begin();
 
     // Tell the IMU to report rotation every 100ms and acceleration every 200ms
-    
+
     imu.enableReport(BNO080::TOTAL_ACCELERATION, 100);
-    //imu.enableReport(BNO080::GRAVITY_ACCELERATION, 100);
     imu.enableReport(BNO080::ROTATION, 100);
 
     while (true) {
@@ -28,14 +29,16 @@
             if (imu.hasNewData(BNO080::TOTAL_ACCELERATION) || imu.hasNewData(BNO080::ROTATION)) {
                 pc.printf("Total Accel: ");
                 imu.totalAcceleration.print(pc, true);
-                
+
                 pc.printf(", Rotation:");
                 TVector3 eulerRadians = imu.rotationVector.euler();
                 TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI);
                 eulerDegrees.print(pc, true);
                 pc.printf("\n");
+                
+                dog.Service();
             }
-            
+
         }
     }