Les Vils Gredins
wooooo
Dependencies: GYRO_DISCO_L476VG mbed BSP_DISCO_L476VG COMPASS_DISCO_L476VG
Revision 8:97589b322a4f, committed 2020-06-12
- Comitter:
- Leonnn
- Date:
- Fri Jun 12 13:48:55 2020 +0000
- Parent:
- 7:4d02d2486949
- Commit message:
- LA FUSION :O
Changed in this revision
diff -r 4d02d2486949 -r 97589b322a4f COMPASS_DISCO_L476VG.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/COMPASS_DISCO_L476VG.lib Fri Jun 12 13:48:55 2020 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/COMPASS_DISCO_L476VG/#6508fa5521e0
diff -r 4d02d2486949 -r 97589b322a4f main.cpp
--- a/main.cpp Fri Jun 12 12:49:53 2020 +0000
+++ b/main.cpp Fri Jun 12 13:48:55 2020 +0000
@@ -1,39 +1,48 @@
#include "mbed.h"
#include "GYRO_DISCO_L476VG.h"
+#include "COMPASS_DISCO_L476VG.h"
+#define PI 3.14159265358979323846
+COMPASS_DISCO_L476VG compass;
GYRO_DISCO_L476VG gyro;
+
Serial pc(SERIAL_TX, SERIAL_RX);
Ticker tick_mesure;
volatile bool flag_mesure = 0;
-void mesure(void){flag_mesure = 1;}
+void mesure(void){flag_mesure = 1;}// ISR mesure
int main()
{
float GyroBuffer[3], offset, GyrY;
offset = 0;
wait(0.5);
- for(int i=0; i<100; i++){
+ for(int i=0; i<100; i++){// séquence de mise à 0
gyro.GetXYZ(GyroBuffer);
offset = offset + GyroBuffer[1];
wait(0.01);
}
- offset = offset/100;
+ offset = offset/100;//-----------------fin mise à 0
tick_mesure.attach(&mesure, 0.01);
pc.baud(115200);
- float angle = 0;
- unsigned int count = 0;
+
+ unsigned int count = 0;
+ float Gyr_angle = 0;
+ float Acc_angle;
+ int16_t AccBuffer[3];
while(1) {
- if(flag_mesure){
+ if(flag_mesure){// mesure Gyro
gyro.GetXYZ(GyroBuffer);
GyrY = GyroBuffer[1]-offset;
- angle = angle + GyrY/100;
+ Gyr_angle = Gyr_angle + GyrY/100;
+ Acc_angle = atan2((float)AccBuffer[0], (float)AccBuffer[2])*180.0/PI;
if(count > 9){
- pc.printf("$%f %f;", offset/1000, angle/1000);
+ compass.AccGetXYZ(AccBuffer);
+ pc.printf("$%f %f;", Acc_angle, Gyr_angle/1000);
count = 0;
}
else
diff -r 4d02d2486949 -r 97589b322a4f mbed-os.lib --- a/mbed-os.lib Fri Jun 12 12:49:53 2020 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://github.com/ARMmbed/mbed-os/#b81aeff1a3e171c6421984faa2cc18d0e35746c0
diff -r 4d02d2486949 -r 97589b322a4f mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Jun 12 13:48:55 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file