Diff: main.cpp

Revision:

2:899128d20215

Parent:

0:42d1dda7d9c0

--- a/main.cpp	Tue Jul 12 19:16:19 2016 +0000
+++ b/main.cpp	Wed Aug 17 20:31:42 2016 +0000
@@ -19,7 +19,7 @@
 DigitalOut status_LED(LED1);
 DigitalOut armed_LED(LED2);
 DigitalOut auto_LED(LED3);
-DigitalOut hall_LED(LED4);
+DigitalOut imu_LED(LED4);
 
 Serial pc(USBTX, USBRX); // tx, rx for serial USB interface to pc
 Serial xbee(p28, p27); // tx, rx for Xbee
@@ -67,48 +67,41 @@
         pc.printf("BNO055 connected\r\n");
         imu.setmode(OPERATION_MODE_CONFIG);
         imu.SetExternalCrystal(1);
-        //bno.set_orientation(1);
         imu.setmode(OPERATION_MODE_NDOF);  //Uses magnetometer
-        //bno.setmode(OPERATION_MODE_NDOF_FMC_OFF);   //no magnetometer
-        imu.set_angle_units(DEGREES);
-        imu.set_mapping(1);
+        imu.set_angle_units(RADIANS);
+        imu.set_mapping(2);
+        
+            
     } else {
         pc.printf("IMU BNO055 NOT connected\r\n Program Trap.");
         status_LED = 1;
         armed_LED = 1;
-        hall_LED = 1;
+        imu_LED = 1;
         auto_LED = 1;
         while(1) {
             status_LED = !status_LED;
             armed_LED = !armed_LED;
-            hall_LED = !hall_LED;
+            imu_LED = !imu_LED;
             auto_LED = !auto_LED;
             wait(0.5);
         }
     }
 
-    pc.printf("ES456 Vehcile Program\r\n");
+    pc.printf("ES456 Vehicle Sensor Logger\r\n");
     while(1){
                  
-
         imu.get_angles();
         imu.get_accel();
         imu.get_gyro();
         imu.get_mag();
          if(t.read()-t_imu > (1/LOG_RATE)) {
 
-
-           //  pc.printf("%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", imu.accel.x,imu.accel.y,imu.accel.z,imu.gyro.x,imu.gyro.y,imu.gyro.z);
              pc.printf("$IMU,%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", imu.accel.x,imu.accel.y,imu.accel.z,imu.gyro.x,imu.gyro.y,imu.gyro.z);             
              pc.printf("$MAG,%.1f, %.1f, %.1f\r\n",imu.mag.x,imu.mag.y,imu.mag.z);
-             pc.printf("$BNO,%.2f, %.2f, %.2f\r\n",imu.euler.roll,imu.euler.pitch,imu.euler.yaw);
              
              xbee.printf("$IMU,%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", imu.accel.x,imu.accel.y,imu.accel.z,imu.gyro.x,imu.gyro.y,imu.gyro.z);             
              xbee.printf("$MAG,%.1f, %.1f, %.1f\r\n",imu.mag.x,imu.mag.y,imu.mag.z);
-             xbee.printf("$BNO,%.2f, %.2f, %.2f\r\n",imu.euler.roll,imu.euler.pitch,imu.euler.yaw);             
              
-             xbee.printf("%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", imu.accel.x,imu.accel.y,imu.accel.z,imu.gyro.x,imu.gyro.y,imu.gyro.z);
-
              t_imu = t.read();
          } // if t.read
         wait(1/LOOP_RATE);