Takujyou_Ishii / Mbed 2 deprecated test_mpu6050

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Dependencies:   mbed Madgwickfilter MPU6050

main.cpp

Committer:
shimizuta
Date:
2019-07-17
Revision:
5:f41d7b3be417
Parent:
4:fdba5e452d36
Child:
6:94c4a0e7bf48

File content as of revision 5:f41d7b3be417:

#include "mbed.h"
#include "MPU6050.h"
#include "madgwickfilter.h"
MPU6050 mpu6050(p28,p27);
Madgwickfilter filter;
const double PI = 3.14159265358979323846f;
const double kRad2Deg = 180.0/PI;

int main()
{
    mpu6050.init();
    while(1) {
        //ジャイロから値取得
        mpu6050.CalMPU6050();
        double accel_x = mpu6050.GetAccelX();
        double accel_y = mpu6050.GetAccelY();
        double accel_z = mpu6050.GetAccelZ();
        double omega_x = mpu6050.GetXRadPerSec();
        double omega_y = mpu6050.GetYRadPerSec();
        double omega_z = mpu6050.GetZRadPerSec();
        //madgwickフィルターをかけ、yaw, pitch, rollを計算
        filter.Update(accel_x, accel_y, accel_z, omega_x, omega_y, omega_z);

        printf("Yaw, Pitch, Roll[deg]: %9.4f %9.4f %9.4f\r\n",
               filter.getYaw()*kRad2Deg, filter.getPitch()*kRad2Deg, filter.getRoll()*kRad2Deg);
    }
}