SLRC-2019 / Mbed 2 deprecated speed_robot

code for the speed robot

Dependencies:   MPU6050-DMP mbed PololuQTRSensors vl53l0x

_var.h@0:c3a27228c31b, 2019-09-30 (annotated)

Committer:
deepanaishtaweera174
Date:
Mon Sep 30 08:00:47 2019 +0000
Revision:
0:c3a27228c31b
Child:
1:b188e27eb7da
working gyro code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
deepanaishtaweera174 0:c3a27228c31b 1 I2C i2c(PB_9,PB_8);
deepanaishtaweera174 0:c3a27228c31b 2
deepanaishtaweera174 0:c3a27228c31b 3 // Gyro Variables
deepanaishtaweera174 0:c3a27228c31b 4 MPU6050 mpu;
deepanaishtaweera174 0:c3a27228c31b 5 volatile bool mpuInterrupt = false;
deepanaishtaweera174 0:c3a27228c31b 6 unsigned long savedMillis;
deepanaishtaweera174 0:c3a27228c31b 7 bool gyroTurnMode = false;
deepanaishtaweera174 0:c3a27228c31b 8 float zAngle = 0;
deepanaishtaweera174 0:c3a27228c31b 9 float xAngle = 0;
deepanaishtaweera174 0:c3a27228c31b 10 float preZAngle = 0;
deepanaishtaweera174 0:c3a27228c31b 11 float preXAngle = 0;
deepanaishtaweera174 0:c3a27228c31b 12 float startAngle = 0;
deepanaishtaweera174 0:c3a27228c31b 13 unsigned long preGyroMillis = 0;
deepanaishtaweera174 0:c3a27228c31b 14
deepanaishtaweera174 0:c3a27228c31b 15 // MPU control/status vars
deepanaishtaweera174 0:c3a27228c31b 16 bool dmpReady = false; // set true if DMP init was successful
deepanaishtaweera174 0:c3a27228c31b 17 uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
deepanaishtaweera174 0:c3a27228c31b 18 uint8_t devStatus;
deepanaishtaweera174 0:c3a27228c31b 19 uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
deepanaishtaweera174 0:c3a27228c31b 20 uint16_t fifoCount;
deepanaishtaweera174 0:c3a27228c31b 21 uint8_t fifoBuffer[64];
deepanaishtaweera174 0:c3a27228c31b 22
deepanaishtaweera174 0:c3a27228c31b 23 // orientation/motion vars
deepanaishtaweera174 0:c3a27228c31b 24 Quaternion q; // [w, x, y, z] quaternion container
deepanaishtaweera174 0:c3a27228c31b 25 VectorInt16 aa; // [x, y, z] accel sensor measurements
deepanaishtaweera174 0:c3a27228c31b 26 VectorInt16 aaReal; // [x, y, z]
deepanaishtaweera174 0:c3a27228c31b 27 VectorInt16 aaWorld; // [x, y, z]
deepanaishtaweera174 0:c3a27228c31b 28 VectorFloat gravity; // [x, y, z] gravity vector
deepanaishtaweera174 0:c3a27228c31b 29 float euler[3]; // [psi, theta, phi] Euler angle container
deepanaishtaweera174 0:c3a27228c31b 30 float ypr[3]; // [yaw, pitch, roll]