Diff: IMU_code.cpp

Revision:

1:0672f84101e4

Parent:

0:22fc81041056

Child:

2:b00adea2187b

--- a/IMU_code.cpp	Fri Jun 09 17:31:10 2017 +0000
+++ b/IMU_code.cpp	Fri Jun 30 18:32:10 2017 +0000
@@ -2,12 +2,14 @@
 
 #include "MODSERIAL.h"
 Serial IMU(p13,p14);         //tx, rx for IMU
-//Serial PC1(USBTX, USBRX);
-    
+
 //FUNCTION DECLARATION for what is used below in IMU
 double double_from_le_bytes(unsigned char * p_to_double);
 float float_from_le_bytes(unsigned char * p_to_float);
 
+const double GRAVITY = 9.80665; //new placement 6/22/2017
+float stab_accel[3];
+
 #include <string>           //FOR STRINGS
 using namespace std;
 
@@ -19,7 +21,6 @@
 //functions
 string IMU_code::IMU_run()
 {   
-    //PC1.baud(9600);
     unsigned char current, last, cb1=0, cb2=0, data[MAXPACKETSIZE];
     int packetlength=MAXPACKETSIZE; //Redefined for each packet payod length below
     int mode=0,count=0;
@@ -38,27 +39,26 @@
     int dv_pos;
     descripts[2]=0x08;
     //CF Stablized Accel Vector (up) (0x0e,0x11)
-    float stab_accel[3];
+    //float stab_accel[3];  //TROY: I MADE THIS GLOBAL 6/22/17
     int sa_pos;
     descripts[3]=0x0c;
     //If adding/removing stuff, change NUMDESCRIPTS above
     IMU.baud(9600);
     current=0;
     last=0;
-    //PC1.printf("I'm alive\n");
+    //PC.printf("I'm alive\n");
     
     std::string imu_string = "";
     
     while(1) 
     {
-        //PC1.printf("while loop\n");
         if(IMU.readable()>0)
         {
+            //PC.printf("IMU readable");
             last=current;
             current=IMU.getc();
             if(mode==0&&current==0x65&&last==0x75)
             {
-                //PC1.printf("First packet recieved.\n");
                 mode=1;
                 data[0]=last;
                 data[1]=current;
@@ -127,7 +127,7 @@
                     }
                     timestamp=double_from_le_bytes(&data[6]);
                     //Relevant data to send back to ground station
-                    //PC1.printf("\nT: %f SA:(%d) Roll: %9.6f Pitch: %9.6f Yaw:%9.6f\n\n",timestamp,sa_pos,stab_accel[0],stab_accel[1],stab_accel[2]);
+                    //PC.printf("\nT: %f SA:(%d) Roll: %9.6f Pitch: %9.6f Yaw:%9.6f\n\n",timestamp,sa_pos,stab_accel[0],stab_accel[1],stab_accel[2]);
                     //PC.printf("\nT: %f SA:(%d) Roll: %9.6f Pitch: %9.6f Yaw:%9.6f\n",timestamp,sa_pos,stab_accel[0],stab_accel[1],stab_accel[2]);
                     char char_buffer [60];
                     sprintf(char_buffer,"T: %f SA:(%d) Roll: %9.6f Pitch: %9.6f Yaw: %9.6f",timestamp,sa_pos,stab_accel[0],stab_accel[1],stab_accel[2]); 
@@ -150,7 +150,11 @@
             }
         }
     } 
-    //return "TEST STRING"; //unreachable
+}
+
+float IMU_code::IMU_pitch()
+{   
+    return stab_accel[1];
 }
 
 double double_from_le_bytes(unsigned char * p_to_double)