Revision 3:82e223a4a4e4, committed 2016-09-09

Comitter:

jdawkins

Date:

Fri Sep 09 15:28:02 2016 +0000

Parent:

2:899128d20215

Child:

4:0d0d62b0a6bd

Commit message:

Modified print statements to output $IMU and $MAG messages. This will work with Matlab madPulseCar Class.

Changed in this revision

--- a/main.cpp	Wed Aug 17 20:31:42 2016 +0000
+++ b/main.cpp	Fri Sep 09 15:28:02 2016 +0000
@@ -1,6 +1,6 @@
 //Uses the measured z-acceleration to drive leds 2 and 3 of the mbed
 
-#define LOG_RATE 25.0
+#define LOG_RATE 50.0
 #define LOOP_RATE 200.0
 #define CMD_TIMEOUT 1.0
 #define GEAR_RATIO (1/2.75)
@@ -64,12 +64,17 @@
     status_LED = 1;
 
     if(imu.check()) {
+        
         pc.printf("BNO055 connected\r\n");
         imu.setmode(OPERATION_MODE_CONFIG);
         imu.SetExternalCrystal(1);
         imu.setmode(OPERATION_MODE_NDOF);  //Uses magnetometer
-        imu.set_angle_units(RADIANS);
+        imu.set_angle_units(DEGREES);
+        imu.set_accel_units(MPERSPERS);
+        imu.set_anglerate_units(DEG_PER_SEC);        
+        imu.setoutputformat(WINDOWS);
         imu.set_mapping(2);
+
         
             
     } else {
@@ -89,18 +94,22 @@
 
     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("$MAD,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.1f,%.1f,%.1f\r\n", imu.gyro.x,imu.gyro.y,imu.gyro.z,imu.accel.x,imu.accel.y,imu.accel.z,imu.mag.x,imu.mag.y,imu.mag.z);             
+             //xbee.printf("$MAD,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.1f,%.1f,%.1f\r\n", imu.gyro.x,imu.gyro.y,imu.gyro.z,imu.accel.x,imu.accel.y,imu.accel.z,imu.mag.x,imu.mag.y,imu.mag.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);
              
-             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("$IMU,%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", imu.accel.x,imu.accel.y,imu.accel.z,imu.gyro.x,imu.gyro.y,imu.gyro.z);             
+           //  xbee.printf("$MAG,%.1f, %.1f, %.1f\r\n",imu.mag.x,imu.mag.y,imu.mag.z);
              
              t_imu = t.read();
          } // if t.read