Robotique FIP / Mbed 2 deprecated Coupe-Robotique-FIP-Main

ajout de l'imu pour nucleo

Dependencies:   mbed HC_SR04_Ultrasonic_Library IMU_FIP_nucleo Nucleo_Sensor_Shield VL6180x_lib

main.cpp@11:fce59d46840f, 2015-05-21 (annotated)

Committer:
quentin9696
Date:
Thu May 21 11:17:08 2015 +0000
Revision:
11:fce59d46840f
Parent:
4:149c4509b35d 
modif main

Who changed what in which revision?

UserRevisionLine numberNew contents of line
julientiron 0:72eb2b48a9e4 1 #include "mbed.h"
julientiron 2:32226f1d12e5 2 #include "ultrasonic.h"
quentin9696 11:fce59d46840f 3 #include "Imu.h"
julientiron 2:32226f1d12e5 4
quentin9696 11:fce59d46840f 5 /*
julientiron 2:32226f1d12e5 6 void dist(int distance)
julientiron 2:32226f1d12e5 7 {
quentin9696 11:fce59d46840f 8 //put code here to happen when the distance is changed
julientiron 2:32226f1d12e5 9 printf("Distance changed to %dmm\r\n", distance);
julientiron 2:32226f1d12e5 10 }
julientiron 2:32226f1d12e5 11
quentin9696 11:fce59d46840f 12 ultrasonic mu(D8, D9, .1, 1, &dist); //Set the trigger pin to D8 and the echo pin to D9
quentin9696 11:fce59d46840f 13 //have updates every .1 seconds and a timeout after 1
quentin9696 11:fce59d46840f 14 //second, and call dist when the distance changes
julientiron 2:32226f1d12e5 15
julientiron 2:32226f1d12e5 16 int main()
julientiron 2:32226f1d12e5 17 {
quentin9696 11:fce59d46840f 18 mu.startUpdates();//start mesuring the distance
julientiron 2:32226f1d12e5 19 while(1)
julientiron 2:32226f1d12e5 20 {
julientiron 2:32226f1d12e5 21 //Do something else here
julientiron 2:32226f1d12e5 22 mu.checkDistance(); //call checkDistance() as much as possible, as this is where
julientiron 2:32226f1d12e5 23 //the class checks if dist needs to be called.
julientiron 2:32226f1d12e5 24 }
quentin9696 11:fce59d46840f 25 }*/
quentin9696 11:fce59d46840f 26
quentin9696 11:fce59d46840f 27 Imu i;
quentin9696 11:fce59d46840f 28 Serial pc(SERIAL_TX, SERIAL_RX);
quentin9696 11:fce59d46840f 29 DigitalOut myled(LED1);
quentin9696 11:fce59d46840f 30 Data_IMU * foo;
quentin9696 11:fce59d46840f 31 Data_IMU * bar;
quentin9696 11:fce59d46840f 32
quentin9696 11:fce59d46840f 33 int main()
quentin9696 11:fce59d46840f 34 {
quentin9696 11:fce59d46840f 35
quentin9696 11:fce59d46840f 36 i.setOffset();
quentin9696 11:fce59d46840f 37 foo = i.getOffset();
quentin9696 11:fce59d46840f 38 bar = i.getData();
quentin9696 11:fce59d46840f 39
quentin9696 11:fce59d46840f 40 while(1) {
quentin9696 11:fce59d46840f 41
quentin9696 11:fce59d46840f 42 myled = 1; // LED is ON
quentin9696 11:fce59d46840f 43 wait(0.2); // 200 ms
quentin9696 11:fce59d46840f 44 myled = 0; // LED is OFF
quentin9696 11:fce59d46840f 45 wait(10);
quentin9696 11:fce59d46840f 46
quentin9696 11:fce59d46840f 47 i.refresh(1);
quentin9696 11:fce59d46840f 48
quentin9696 11:fce59d46840f 49
quentin9696 11:fce59d46840f 50 /*pc.printf("OFFSET : \r\n");
quentin9696 11:fce59d46840f 51 pc.printf("Temperature:\t\t %f C\r\n", foo->TEMPERATURE_Value_C);
quentin9696 11:fce59d46840f 52 pc.printf("Humidity:\t\t %f%%\r\n", foo->HUMIDITY_Value);
quentin9696 11:fce59d46840f 53 pc.printf("Pressure:\t\t %f hPa\r\n", foo->PRESSURE_Value);
quentin9696 11:fce59d46840f 54 pc.printf("Magnetometer (mGauss):\t X: %d, Y: %d, Z: %d\r\n", foo->MAG_Value->AXIS_X, foo->MAG_Value->AXIS_Y, foo->MAG_Value->AXIS_Z);
quentin9696 11:fce59d46840f 55 pc.printf("Accelerometer (mg):\t X: %d, Y: %d, Z: %d\r\n", foo->ACC_Value->AXIS_X, foo->ACC_Value->AXIS_Y, foo->ACC_Value->AXIS_Z);
quentin9696 11:fce59d46840f 56 pc.printf("Gyroscope (mdps):\t X: %d, Y: %d, Z: %d\r\n", foo->GYR_Value->AXIS_X, foo->GYR_Value->AXIS_Y, foo->GYR_Value->AXIS_Z);
quentin9696 11:fce59d46840f 57 pc.printf("\r\n");*/
quentin9696 11:fce59d46840f 58
quentin9696 11:fce59d46840f 59 pc.printf("RAW DATA : \r\n");
quentin9696 11:fce59d46840f 60 pc.printf("Temperature:\t\t %f C\r\n", bar->TEMPERATURE_Value_C);
quentin9696 11:fce59d46840f 61 pc.printf("Humidity:\t\t %f%%\r\n", bar->HUMIDITY_Value);
quentin9696 11:fce59d46840f 62 pc.printf("Pressure:\t\t %f hPa\r\n", bar->PRESSURE_Value);
quentin9696 11:fce59d46840f 63 pc.printf("Magnetometer (mGauss):\t X: %d, Y: %d, Z: %d\r\n", bar->MAG_Value->AXIS_X, bar->MAG_Value->AXIS_Y, bar->MAG_Value->AXIS_Z);
quentin9696 11:fce59d46840f 64 pc.printf("Accelerometer (mg):\t X: %d, Y: %d, Z: %d\r\n", bar->ACC_Value->AXIS_X, bar->ACC_Value->AXIS_Y, bar->ACC_Value->AXIS_Z);
quentin9696 11:fce59d46840f 65 pc.printf("Gyroscope (mdps):\t X: %d, Y: %d, Z: %d\r\n", bar->GYR_Value->AXIS_X, bar->GYR_Value->AXIS_Y, bar->GYR_Value->AXIS_Z);
quentin9696 11:fce59d46840f 66 pc.printf("\r\n");
quentin9696 11:fce59d46840f 67
quentin9696 11:fce59d46840f 68
quentin9696 11:fce59d46840f 69 }
julientiron 2:32226f1d12e5 70 }
quentin9696 11:fce59d46840f 71
quentin9696 11:fce59d46840f 72