鈴木は下ネタ大好き
Dependencies: MPU6050 SDFileSystem mbed
佐藤健士郎は変態
main.cpp@0:7847f98921db, 2018-06-08 (annotated)
- Committer:
- yoritomo
- Date:
- Fri Jun 08 17:13:20 2018 +0000
- Revision:
- 0:7847f98921db
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yoritomo | 0:7847f98921db | 1 | #include "mbed.h" |
yoritomo | 0:7847f98921db | 2 | #include "SDFileSystem.h" |
yoritomo | 0:7847f98921db | 3 | #include "MPU6050.h" |
yoritomo | 0:7847f98921db | 4 | |
yoritomo | 0:7847f98921db | 5 | SDFileSystem sd(dp2, dp1, dp6, dp4,"sd"); |
yoritomo | 0:7847f98921db | 6 | |
yoritomo | 0:7847f98921db | 7 | DigitalOut myled(LED1); |
yoritomo | 0:7847f98921db | 8 | Serial pc(USBTX,USBRX); |
yoritomo | 0:7847f98921db | 9 | MPU6050 mpu; |
yoritomo | 0:7847f98921db | 10 | Timer t; |
yoritomo | 0:7847f98921db | 11 | |
yoritomo | 0:7847f98921db | 12 | int16_t ax, ay, az; |
yoritomo | 0:7847f98921db | 13 | int16_t gx, gy, gz; |
yoritomo | 0:7847f98921db | 14 | |
yoritomo | 0:7847f98921db | 15 | char c; |
yoritomo | 0:7847f98921db | 16 | |
yoritomo | 0:7847f98921db | 17 | int main() { |
yoritomo | 0:7847f98921db | 18 | |
yoritomo | 0:7847f98921db | 19 | |
yoritomo | 0:7847f98921db | 20 | pc.printf("MPU6050 test\n\n"); |
yoritomo | 0:7847f98921db | 21 | pc.printf("MPU6050 initialize \n"); |
yoritomo | 0:7847f98921db | 22 | |
yoritomo | 0:7847f98921db | 23 | mpu.initialize(); |
yoritomo | 0:7847f98921db | 24 | pc.printf("MPU6050 testConnection \n"); |
yoritomo | 0:7847f98921db | 25 | |
yoritomo | 0:7847f98921db | 26 | bool mpu6050TestResult = mpu.testConnection(); |
yoritomo | 0:7847f98921db | 27 | if(mpu6050TestResult) { |
yoritomo | 0:7847f98921db | 28 | pc.printf("MPU6050 test passed \n"); |
yoritomo | 0:7847f98921db | 29 | } else { |
yoritomo | 0:7847f98921db | 30 | pc.printf("MPU6050 test failed \n"); |
yoritomo | 0:7847f98921db | 31 | } |
yoritomo | 0:7847f98921db | 32 | t.start(); |
yoritomo | 0:7847f98921db | 33 | |
yoritomo | 0:7847f98921db | 34 | pc.printf("Hello World!\n"); |
yoritomo | 0:7847f98921db | 35 | mkdir("/sd/ANBU!", 0777); |
yoritomo | 0:7847f98921db | 36 | |
yoritomo | 0:7847f98921db | 37 | while(1){ |
yoritomo | 0:7847f98921db | 38 | FILE *fp = fopen("/sd/ANBU!/AUO.txt", "a"); |
yoritomo | 0:7847f98921db | 39 | if(fp == NULL) { |
yoritomo | 0:7847f98921db | 40 | error("Could not open file for write\n"); |
yoritomo | 0:7847f98921db | 41 | } |
yoritomo | 0:7847f98921db | 42 | |
yoritomo | 0:7847f98921db | 43 | wait(0.1); |
yoritomo | 0:7847f98921db | 44 | mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); |
yoritomo | 0:7847f98921db | 45 | //writing current accelerometer and gyro position |
yoritomo | 0:7847f98921db | 46 | pc.printf("%f, %d, %d, %d, %d,%d, %d\n\r",t.read(),ax,ay,az,gx,gy,gz); |
yoritomo | 0:7847f98921db | 47 | fprintf(fp,"%f, %d, %d, %d, %d,%d, %d\n\r",t.read(),ax,ay,az,gx,gy,gz); |
yoritomo | 0:7847f98921db | 48 | |
yoritomo | 0:7847f98921db | 49 | |
yoritomo | 0:7847f98921db | 50 | fprintf(fp,"\n\r"); |
yoritomo | 0:7847f98921db | 51 | pc.printf("\n\r"); |
yoritomo | 0:7847f98921db | 52 | fclose(fp); |
yoritomo | 0:7847f98921db | 53 | free(fp); |
yoritomo | 0:7847f98921db | 54 | |
yoritomo | 0:7847f98921db | 55 | } |
yoritomo | 0:7847f98921db | 56 | } |