TeamSurface
/
RT2_P3
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed
Fork of
RT2_P3_students_G4
by 
RT2_P3_students
Diff: main.cpp
- Revision:
- 9:67ee46be0403
- Parent:
- 8:72f260c467ad
- Child:
- 10:85840c065e00
diff -r 72f260c467ad -r 67ee46be0403 main.cpp
--- a/main.cpp Tue Apr 24 09:13:59 2018 +0000
+++ b/main.cpp Tue Apr 24 09:17:04 2018 +0000
@@ -53,13 +53,10 @@
//------------------------------------------
//LinearCharacteristics i2u(0.8f,-2.0f);
LinearCharacteristics i2u(-2.0f,2.0f,0.0f,3.2f);
-LinearCharacteristics ax2ms2(0.2972f,0.7028f,-9.81,9.81);
-LinearCharacteristics ay2ms2(0.29866f,0.70134f,-9.81,9.81);
-LinearCharacteristics gz2om(4.6517f,1.4852f);
//-------------DEFINE FILTERS----------------
float tau = 1.0f;
-IIR_filter f_ax(tau,Ts,1.0f); // filter ax signals
-IIR_filter f_ay(tau,Ts,1.0f); // filter ay signals
+IIR_filter f_ax(tau,Ts); // filter ax signals
+IIR_filter f_ay(tau,Ts); // filter ay signals
IIR_filter f_gz(tau,Ts,tau); // filter gz signals
//------------------------------------------
@@ -105,12 +102,9 @@
*/
//float phi1 = atan2(-f_ax(ax2ms2(ax.read())),f_ay(ax2ms2(ay.read()))) + PI/4.0f + f_gz(gz2om(gz.read()*3.3f));
- float fax = f_ax(ax2ms2(ax.read()));
- float fay = f_ay(ay2ms2(ay.read()));
if(++k >= 249){
k = 0;
- //pc.printf("Phi1: %1.5f \r\n",phi1);
- pc.printf("f_ax: %1.5f f_ay: %1.5f \r\n",fax,fay);
+ pc.printf("Some Output: %1.5f \r\n",PI);
}
}
//******************************************************************************