Affordable Smart Wheelchair / IMU6050Ver11

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main.cpp@16:caf587f09e34, 2019-07-09 (annotated)

Committer:
isagmz
Date:
Tue Jul 09 23:33:28 2019 +0000
Revision:
16:caf587f09e34
Parent:
15:b7cac36c4cce 
IMU

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jahutchi 12:6efce6d008f8 1 #include <MPU6050.h>
jahutchi 13:d66766523196 2 #include "IMUWheelchair.h"
sepham 14:365c1c1bf6ee 3 //MPU6050 IMU(D14, D15);
isagmz 16:caf587f09e34 4 Serial pc(USBTX, USBRX, 57600); //Serial Monitor
jahutchi 13:d66766523196 5 float dataGyro[3];
jahutchi 13:d66766523196 6 float *dataG = dataGyro;
sepham 14:365c1c1bf6ee 7 Timer t;
jahutchi 13:d66766523196 8 float dataYaw[3];
jahutchi 13:d66766523196 9 float *dataY = dataYaw;
sepham 14:365c1c1bf6ee 10 IMUWheelchair IMU(&pc,&t);
jahutchi 13:d66766523196 11
jahutchi 12:6efce6d008f8 12 int main()
jahutchi 12:6efce6d008f8 13 {
sepham 14:365c1c1bf6ee 14 t.start();
sepham 14:365c1c1bf6ee 15 //pc.printf("Imu test connections %d\r\n", IMU.testConnection());
jahutchi 12:6efce6d008f8 16 while(1){
jahutchi 12:6efce6d008f8 17
sepham 14:365c1c1bf6ee 18 //IMU.getGyro(dataG);
jahutchi 13:d66766523196 19 // pc.printf("x: %f, y: %f, z: %f\r\n", dataGyro[0]*180/3.14, dataGyro[1]*180/3.14, dataGyro[2]*180/3.14);
sepham 14:365c1c1bf6ee 20 //IMU.gyro_x();
sepham 14:365c1c1bf6ee 21 // IMU.getAcceleroAngle(dataY);
sepham 14:365c1c1bf6ee 22 // pc.printf("x: %f, y: %f, z: %f\r\n", dataG[0]*180/3.1415926 + .79, dataG[1], dataG[2]);
sepham 14:365c1c1bf6ee 23 // printf("%f, %f, %f\n", IMU.gyro_x(), IMU.gyro_y(), IMU.gyro_z());
sepham 14:365c1c1bf6ee 24 // printf("%f\r\n ", IMU.accel_x());
sepham 14:365c1c1bf6ee 25
isagmz 16:caf587f09e34 26 pc.printf("%f\r\n", IMU.gyro_x());
sepham 14:365c1c1bf6ee 27 // printf("%f\r\n ", IMU.yaw());
jahutchi 12:6efce6d008f8 28 }
jahutchi 12:6efce6d008f8 29 }