Diff: main.cpp

Revision:

0:c462deb7ee50

diff -r 000000000000 -r c462deb7ee50 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Mar 20 03:01:54 2016 +0000
@@ -0,0 +1,48 @@
+/*********************************************************************************
+* This code sets the valve motor to a pwm of 0.8. It also sets interrupts for the
+* hall sensor input, so on each rising and falling edge, LED1 is flipped, testing
+* the ability of the mbed to accurately detect the hall sensor reading. Lastly,
+* this code configures the BNO055 and prints the yaw, pitch, and roll to a PC
+* terminal.
+*********************************************************************************/
+
+#include "mbed.h"
+#include "BNO055.h"
+using namespace std;
+
+Serial pc(USBTX, USBRX);
+
+// BNO055
+BNO055 bno055(p28, p27);
+
+// Hall Sensor
+InterruptIn hallVoltage1(p8);
+DigitalOut led1(LED1);
+
+// Motor Driver
+PwmOut valve_pwm(p21);
+
+void flipLed1() {
+    led1 = !led1;
+}
+
+int main() {
+    led1 = 0;
+    hallVoltage1.rise(&flipLed1);
+    hallVoltage1.fall(&flipLed1);
+    
+    valve_pwm = 0.8;
+    
+    bno055.reset();
+    bno055.setmode(OPERATION_MODE_NDOF);
+    bno055.write_calibration_data();
+    bno055.get_calib();
+    while (bno055.calib == 0) {
+        bno055.get_calib();
+    }
+    
+    while(1) {
+        bno055.get_angles(); //query the i2c device
+        pc.printf("yaw:%6.2f pitch:%6.2f roll:%6.2f\n",bno055.euler.yaw, bno055.euler.pitch, bno055.euler.roll);
+    }
+}
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