![](/media/cache/group/GF5017-1-1.jpg.50x50_q85.jpg)
Pre-test
Dependencies: LinkedList mbed-rtos mbed
main.cpp@0:d98bd8b7dc46, 2018-04-09 (annotated)
- Committer:
- Khanchana
- Date:
- Mon Apr 09 15:57:36 2018 +0000
- Revision:
- 0:d98bd8b7dc46
Pre-test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Khanchana | 0:d98bd8b7dc46 | 1 | #include "mbed.h" |
Khanchana | 0:d98bd8b7dc46 | 2 | #include "rtos.h" |
Khanchana | 0:d98bd8b7dc46 | 3 | #include "attitude.h" |
Khanchana | 0:d98bd8b7dc46 | 4 | #include "LinkedList.h" |
Khanchana | 0:d98bd8b7dc46 | 5 | |
Khanchana | 0:d98bd8b7dc46 | 6 | LinkedList<int>command; |
Khanchana | 0:d98bd8b7dc46 | 7 | |
Khanchana | 0:d98bd8b7dc46 | 8 | Serial pc(USBTX,USBRX); |
Khanchana | 0:d98bd8b7dc46 | 9 | |
Khanchana | 0:d98bd8b7dc46 | 10 | Timer timer1; |
Khanchana | 0:d98bd8b7dc46 | 11 | Timer timerwalk; |
Khanchana | 0:d98bd8b7dc46 | 12 | |
Khanchana | 0:d98bd8b7dc46 | 13 | Thread thread1; |
Khanchana | 0:d98bd8b7dc46 | 14 | Thread thread2; |
Khanchana | 0:d98bd8b7dc46 | 15 | |
Khanchana | 0:d98bd8b7dc46 | 16 | void IMU(); |
Khanchana | 0:d98bd8b7dc46 | 17 | void move(); |
Khanchana | 0:d98bd8b7dc46 | 18 | |
Khanchana | 0:d98bd8b7dc46 | 19 | int walking_time; |
Khanchana | 0:d98bd8b7dc46 | 20 | int i = 1; |
Khanchana | 0:d98bd8b7dc46 | 21 | int n = 0; |
Khanchana | 0:d98bd8b7dc46 | 22 | |
Khanchana | 0:d98bd8b7dc46 | 23 | list<int> command; |
Khanchana | 0:d98bd8b7dc46 | 24 | |
Khanchana | 0:d98bd8b7dc46 | 25 | int main() { |
Khanchana | 0:d98bd8b7dc46 | 26 | pc.baud(1000000); |
Khanchana | 0:d98bd8b7dc46 | 27 | timer1.start(); |
Khanchana | 0:d98bd8b7dc46 | 28 | pc.printf("start\n"); |
Khanchana | 0:d98bd8b7dc46 | 29 | thread1.start(move); |
Khanchana | 0:d98bd8b7dc46 | 30 | thread2.start(IMU); |
Khanchana | 0:d98bd8b7dc46 | 31 | } |
Khanchana | 0:d98bd8b7dc46 | 32 | |
Khanchana | 0:d98bd8b7dc46 | 33 | void move(){ |
Khanchana | 0:d98bd8b7dc46 | 34 | wait(5); |
Khanchana | 0:d98bd8b7dc46 | 35 | while(n<10){ |
Khanchana | 0:d98bd8b7dc46 | 36 | wait(0.01); |
Khanchana | 0:d98bd8b7dc46 | 37 | pc.printf("%d\n", command(n)); |
Khanchana | 0:d98bd8b7dc46 | 38 | n = n+1; |
Khanchana | 0:d98bd8b7dc46 | 39 | } |
Khanchana | 0:d98bd8b7dc46 | 40 | } |
Khanchana | 0:d98bd8b7dc46 | 41 | |
Khanchana | 0:d98bd8b7dc46 | 42 | void IMU() |
Khanchana | 0:d98bd8b7dc46 | 43 | { |
Khanchana | 0:d98bd8b7dc46 | 44 | while(1) { |
Khanchana | 0:d98bd8b7dc46 | 45 | if (timer1.read_us() >= 1000)// read time in ms |
Khanchana | 0:d98bd8b7dc46 | 46 | { |
Khanchana | 0:d98bd8b7dc46 | 47 | attitude_get(); |
Khanchana | 0:d98bd8b7dc46 | 48 | //pc.printf("IMU"); |
Khanchana | 0:d98bd8b7dc46 | 49 | //pc.printf(" %f \n", ax*10 ); |
Khanchana | 0:d98bd8b7dc46 | 50 | //pc.printf(" %f \t", ay*10 ); |
Khanchana | 0:d98bd8b7dc46 | 51 | //pc.printf(" %f \t", az*10 -10); //cm/s*s |
Khanchana | 0:d98bd8b7dc46 | 52 | |
Khanchana | 0:d98bd8b7dc46 | 53 | //pc.printf(" %f \t", gx ); |
Khanchana | 0:d98bd8b7dc46 | 54 | //pc.printf(" %f \t", gy ); |
Khanchana | 0:d98bd8b7dc46 | 55 | //pc.printf(" %f \t", gz ); //deg/s */ |
Khanchana | 0:d98bd8b7dc46 | 56 | //pc.printf("%.0f\t %.0f \t %.0f \n\r", roll, pitch, yaw); |
Khanchana | 0:d98bd8b7dc46 | 57 | command(i) = roll; |
Khanchana | 0:d98bd8b7dc46 | 58 | i = i+1; |
Khanchana | 0:d98bd8b7dc46 | 59 | timer1.reset(); // reset timer |
Khanchana | 0:d98bd8b7dc46 | 60 | } |
Khanchana | 0:d98bd8b7dc46 | 61 | } |
Khanchana | 0:d98bd8b7dc46 | 62 | } |
Khanchana | 0:d98bd8b7dc46 | 63 |