added main and defined M_PI
Dependencies: BNOWrapper
main.cpp
- Committer:
- t1jain
- Date:
- 2019-07-30
- Revision:
- 6:faeba56869a5
- Parent:
- 4:ecd3871549e8
File content as of revision 6:faeba56869a5:
#include <mbed.h> #include <BNO080.h> int main() { Serial pc(USBTX, USBRX, 115200); // 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); imu.begin(); // Tell the IMU to report rotation every 100ms and acceleration every 200ms imu.enableReport(BNO080::ROTATION, 100); imu.enableReport(BNO080::TOTAL_ACCELERATION, 200); while (true) { wait(.001f); // poll the IMU for new data -- this returns true if any packets were received if(imu.updateData()) { // 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 pc.printf("IMU Rotation Euler: "); TVector3 eulerRadians = imu.rotationVector.euler(); TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI); 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"); } } } }