bamlor nuttymaisuay
Dependencies: mbed
Diff: main.cpp
- Revision:
- 2:af822f5a5120
- Parent:
- 1:c102abc55118
- Child:
- 3:46cc9d386ff4
diff -r c102abc55118 -r af822f5a5120 main.cpp --- a/main.cpp Sun Dec 10 07:31:34 2017 +0000 +++ b/main.cpp Sun Dec 10 10:44:17 2017 +0000 @@ -46,12 +46,11 @@ - - +BusOut B(PA_0,PA_1,PA_4,PB_0,PC_1,PC_2,PC_3), A(PC_10,PC_12,PA_13,PA_14,PC_13,PC_11,PD_2), C(PA_5,PA_6,PA_7,PC_7,PB_2,PB_1,PB_15); +float posA,posB,posC; int main() { pc.baud(9600); - //Set up I2C i2c.frequency(400000); // use fast (400 kHz) I2C @@ -164,15 +163,72 @@ // Serial print and/or display at 0.5 s rate independent of data rates delt_t = t.read_ms() - count; - if (delt_t > 500) { // update LCD once per half-second independent of read rate - + if (delt_t > 5) { // update LCD once per half-second independent of read rate + pc.printf("delt_t = %f\n",delt_t); + posA += (gz*delt_t/1000); + posB = posA + 120; + posC = posA + 240; + +// if (posA >= 90) + // +// A = 0x7F; +// B = 0x7F; +// C = 0x7F; +// } +// else +// { +// A = 0; +// B = 0; +// C = 0; +// } +// if (posA >= 360) +// { +// break; +// } + //if (posA >= 360) +// { +// posA-=360; +// } +// if (posA > 0 && posA < 30) +// { +// A = 0x7F; +// } +// else +// { +// A = 0x00; +// } +// if (posB >= 360) +// { +// posB-=360; +// } +// if (posB > 0 && posB < 30) +// { +// B = 0x7F; +// } +// else +// { +// B = 0x00; +// } +// if (posC >= 360) +// { +// posC-=360; +// } +// if (posC > 0 && posC < 30) +// { +// C = 0x7F; +// } +// else +// { +// C = 0x00; +// } // pc.printf("ax = %f", 1000*ax); // pc.printf(" ay = %f", 1000*ay); // pc.printf(" az = %f mg\n\r", 1000*az); - pc.printf("gx = %f", gx); - pc.printf(" gy = %f", gy); +// pc.printf("gx = %f", gx); +// pc.printf(" gy = %f", gy); pc.printf(" gz = %f deg/s\n\r", gz); + pc.printf(" posA = %f\n", posA); // pc.printf("gx = %f", mx); // pc.printf(" gy = %f", my); @@ -224,5 +280,8 @@ sumCount = 0; } } - +A = 0; +B = 0; +C = 0; + pc.printf("fuck you"); } \ No newline at end of file