Robotique FIP / Mbed 2 deprecated Coupe Robotique FIP

L'équipe robotique FIP a pour but de participer à la Coupe de France de Robotique (http://www.planete-sciences.org/robot/?section=pages&pageid=79). L'équipe est composée d'étudiants de l'école d'ingénieur Télécom Bretagne en filière par partenariat. Nous utilisons comme plateforme les microcontrôleurs STM32 associés aux cartes NUCLEO.

Dependencies:   mbed HC_SR04_Ultrasonic_Library Nucleo_Sensor_Shield VL6180x_lib

Fork of Coupe Robotique FIP by Julien Tiron

We are a team of students building an autonomous robot which will compete in the French Robotic Cup.

Diff: main.cpp

Revision:
11:fce59d46840f
Parent:
4:149c4509b35d
--- a/main.cpp	Thu May 21 11:05:10 2015 +0000
+++ b/main.cpp	Thu May 21 11:17:08 2015 +0000
@@ -1,23 +1,72 @@
 #include "mbed.h"
 #include "ultrasonic.h"
+#include "Imu.h"
 
+/*
  void dist(int distance)
 {
-    //code exécuté lorsque la distance change
+    //put code here to happen when the distance is changed
     printf("Distance changed to %dmm\r\n", distance);
 }
 
-ultrasonic mu(D8, D9, .1, 1, &dist);    //Trigger: pin D8; Echo: pin D9
-                                        //Updates toutes les 0.1 secondes et timeout après 1 seconde
-                                        //Appel de dist lorsque la distance change
+ultrasonic mu(D8, D9, .1, 1, &dist);    //Set the trigger pin to D8 and the echo pin to D9
+                                        //have updates every .1 seconds and a timeout after 1
+                                        //second, and call dist when the distance changes
 
 int main()
 {
-    mu.startUpdates();//démarre la mesure
+    mu.startUpdates();//start mesuring the distance
     while(1)
     {
         //Do something else here
         mu.checkDistance();     //call checkDistance() as much as possible, as this is where
                                 //the class checks if dist needs to be called.
     }
+}*/
+
+Imu i;
+Serial pc(SERIAL_TX, SERIAL_RX);
+DigitalOut myled(LED1);
+Data_IMU * foo;
+Data_IMU * bar;
+
+int main()
+{  
+    
+    i.setOffset();
+    foo = i.getOffset();
+    bar = i.getData();
+    
+    while(1) {
+        
+        myled = 1; // LED is ON
+        wait(0.2); // 200 ms
+        myled = 0; // LED is OFF
+        wait(10);
+        
+        i.refresh(1);
+        
+        
+        /*pc.printf("OFFSET : \r\n");
+        pc.printf("Temperature:\t\t %f C\r\n", foo->TEMPERATURE_Value_C);
+        pc.printf("Humidity:\t\t %f%%\r\n", foo->HUMIDITY_Value);
+        pc.printf("Pressure:\t\t %f hPa\r\n", foo->PRESSURE_Value);
+        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);
+        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);
+        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);
+        pc.printf("\r\n");*/
+        
+        pc.printf("RAW DATA : \r\n");
+        pc.printf("Temperature:\t\t %f C\r\n", bar->TEMPERATURE_Value_C);
+        pc.printf("Humidity:\t\t %f%%\r\n", bar->HUMIDITY_Value);
+        pc.printf("Pressure:\t\t %f hPa\r\n", bar->PRESSURE_Value);
+        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);
+        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);
+        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);
+        pc.printf("\r\n");
+        
+        
+    }
 }
+
+