Affordable Smart Wheelchair / Mbed OS BNO080_program

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Dependencies:   BNOWrapper

Files at this revision

API Documentation at this revision

Revision 4:ecd3871549e8, committed 2019-07-29

Comitter:
JesiMiranda
Date:
Mon Jul 29 16:56:33 2019 +0000
Parent:
3:24e65bfcea6d
Child:
5:eefbf579d5cc
Child:
6:faeba56869a5
Commit message:
connect ps0/1 to gnd for address 4b, address 4a does not work

Changed in this revision

BNO080.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/BNO080.lib	Sat Jul 27 00:12:40 2019 +0000
+++ b/BNO080.lib	Mon Jul 29 16:56:33 2019 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/Affordable-Smart-Wheelchair/code/BNO080/#546e4553cf6d
+https://os.mbed.com/teams/Affordable-Smart-Wheelchair/code/BNO080/#050dc348e690

--- 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");
             }
-            */
-
         }
     }