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Dependencies: MPU9150_DMP MotorControl QuaternionMath SimpleIOMacros mbed
Fork of cool_step by
Diff: main.cpp
- Revision:
- 5:3953111e9476
- Parent:
- 4:7ccb10039316
- Child:
- 6:3bd16fdf0b6e
--- a/main.cpp Mon Apr 20 12:22:15 2015 +0000 +++ b/main.cpp Mon Apr 20 14:49:36 2015 +0000 @@ -17,10 +17,15 @@ Ticker infoTicker; Vector3 eularAngles; +Timer timer; +Timer timer2; + char buffer[200]; void infoTask(void) { led1=!led1; + printf("%d\r\n",timer2.read_us()); + timer2.reset(); } int main() @@ -38,20 +43,21 @@ imu.initialiseDMP(); - Timer timer; timer.start(); + timer2.start(); imu.setFifoReset(true); imu.setDMPEnabled(true); Quaternion q1; while(1) { + if(imu.getFifoCount() >= 48) { imu.getFifoBuffer(buffer, 48); led2 = !led2; } - if(timer.read_ms() > 50) { + if(timer.read_ms() > 100) { timer.reset(); //This is the format of the data in the fifo,