jetfishteam / Mbed 2 deprecated robfish_test_IMU_and_hallsensor

Tests for BNO055 IMU and hall sensor interrupts

Dependencies:   BNO055 mbed

Files at this revision

API Documentation at this revision

Revision 0:c462deb7ee50, committed 2016-03-20

Comitter:
alex93
Date:
Sun Mar 20 03:01:54 2016 +0000
Commit message:
Tests for BNO055 IMU and hall sensor interrupts

Changed in this revision

BNO055.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.lib	Sun Mar 20 03:01:54 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/StressedDave/code/BNO055/#1f722ffec323

--- /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);
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Mar 20 03:01:54 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/4f6c30876dfa
\ No newline at end of file