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九軸の制御
Dependencies: mbed
Fork of MPU9250AHRS by
Diff: MPU9250.h
- Revision:
- 3:51217f251b8d
- Parent:
- 2:4e59a37182df
--- a/MPU9250.h Tue Aug 05 01:37:23 2014 +0000 +++ b/MPU9250.h Fri Jul 13 07:55:27 2018 +0000 @@ -190,7 +190,7 @@ float aRes, gRes, mRes; // scale resolutions per LSB for the sensors //Set up I2C, (SDA,SCL) -I2C i2c(I2C_SDA, I2C_SCL); +I2C i2c(p28, p27); DigitalOut myled(LED1); @@ -625,7 +625,7 @@ // Configure the accelerometer for self-test writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s - delay(25); // Delay a while to let the device stabilize + wait(25); // Delay a while to let the device stabilize for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer @@ -648,7 +648,7 @@ // Configure the gyro and accelerometer for normal operation writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); - delay(25); // Delay a while to let the device stabilize + wait(25); // Delay a while to let the device stabilize // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg selfTest[0] = readByte(MPU9250_ADDRESS, SELF_TEST_X_ACCEL); // X-axis accel self-test results