added main and defined M_PI
Dependencies: BNOWrapper
Diff: main.cpp
- Revision:
- 4:ecd3871549e8
- Parent:
- 3:24e65bfcea6d
- Child:
- 5:eefbf579d5cc
- Child:
- 6:faeba56869a5
--- a/main.cpp Sat Jul 27 00:12:40 2019 +0000 +++ b/main.cpp Mon Jul 29 16:56:33 2019 +0000 @@ -7,25 +7,19 @@ // 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 - //pc.printf("============================================================\n"); - BNO080 imu(&pc, PB_7, PB_6, D12, PA_11, 0x4b, 400000); - //pc.printf("==================================== Entering imu.begin ===================================\r\n"); imu.begin(); - //pc.printf("======================================EXIT & ENABLING REPORT FOR IMU==========================================================\r\n"); + // Tell the IMU to report rotation every 100ms and acceleration every 200ms imu.enableReport(BNO080::ROTATION, 100); imu.enableReport(BNO080::TOTAL_ACCELERATION, 200); - wait(.002f); - //pc.printf("======================================DONE ENABLING REPORT FOR IMU ===================================================\r\n"); - //pc.printf("========================= STUCK INSIDE THE WHILE LOOP ===============================\r\n"); while (true) { wait(.001f); + // poll the IMU for new data -- this returns true if any packets were received if(imu.updateData()) { - //pc.printf("======================================= INSIDE IMU.UPDATEDATA() =================================\r\n"); // now check for the specific type of data that was received (can be multiple at once) if (imu.hasNewData(BNO080::ROTATION)) { // convert quaternion to Euler degrees and print @@ -35,15 +29,12 @@ eulerDegrees.print(pc, true); pc.printf("\n"); } - /* if (imu.hasNewData(BNO080::TOTAL_ACCELERATION)) { // print the acceleration vector using its builtin print() method pc.printf("IMU Total Acceleration: "); imu.totalAcceleration.print(pc, true); pc.printf("\n"); } - */ - } }