main.cpp

00001 #include "mbed.h"
00002 #include "MPU6050.h"
00003 
00004 DigitalOut myled(LED1);
00005 Serial pc(USBTX, USBRX);
00006 MPU6050 mpu;
00007 
00008 int16_t ax, ay, az;
00009 int16_t gx, gy, gz;
00010 
00011 int main()
00012 {
00013     pc.printf("MPU6050 test\n\n");
00014     pc.printf("MPU6050 initialize \n");
00015 
00016     mpu.initialize();
00017     pc.printf("MPU6050 testConnection \n");
00018 
00019     bool mpu6050TestResult = mpu.testConnection();
00020     if(mpu6050TestResult) {
00021         pc.printf("MPU6050 test passed \n");
00022     } else {
00023         pc.printf("MPU6050 test failed \n");
00024     }
00025    
00026     while(1) {
00027         wait(1);
00028         mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
00029         //writing current accelerometer and gyro position 
00030         pc.printf("%d;%d;%d;%d;%d;%d\n",ax,ay,az,gx,gy,gz);
00031     }
00032 }