Diff: main.cpp

Revision:

22:f9370f71d17d

Parent:

20:7e7325edcf5c

Child:

23:26b3a25fc637

--- a/main.cpp	Wed Feb 23 07:18:32 2022 +0000
+++ b/main.cpp	Wed Mar 02 17:20:10 2022 +0000
@@ -74,7 +74,7 @@
 
 // LSM9DS1 IMU
 // create imu comunication objects, carefull: not all PES boards have an imu (chip shortage)
-LSM9DS1 imu(PC_9, PA_8);
+// LSM9DS1 imu(PC_9, PA_8); // if you want to be able to use the imu you need to #include "LSM9DS1_i2c.h"
 
 int main()
 {    
@@ -152,7 +152,6 @@
         }
 
         /* do only output via serial what's really necessary (this makes your code slow)*/
-        /*
         printf("%3.3f, %3d, %3.3f, %3.3f, %3d, %3d, %3.3f;\r\n",
                dist_ir_sensor * 1e3,
                encoder_M1.read(),
@@ -161,13 +160,15 @@
                servo_position_S1_mus,
                servo_position_S2_mus,
                dist_us_sensor);
-        */
 
+        /* read out the imu, the actual frames of the sensor reading needs to be figured out */
+        /*
         imu.updateGyro();
         imu.updateAcc();
         imu.updateMag();
         printf("%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f\r\n", imu.readGyroX(), imu.readGyroY(), imu.readGyroZ(),
         imu.readAccX(), imu.readAccY(), imu.readAccZ(), imu.readMagX(), imu.readMagY(), imu.readMagZ());
+        */
 
         /* ------------- stop hacking ----------------------------------------*/