for interfacing the sparkfun boards
Dependencies: ADXL345_I2C HMC5883L IMUfilter ITG3200_HelloWorld mbed
Diff: main.cpp
- Revision:
- 0:441caaf895d8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Tue Apr 29 00:04:48 2014 +0000 @@ -0,0 +1,33 @@ +#include "ADXL345_I2C.h" +#include "ADXL345HL.h" +#include "ITG3200HL.h" + +#include "IMUfilter.h" + + +//ADXL345_I2C accelerometer(p28, p27); +ADXL345HL accel; +ITG3200HL gyro; +//ITG3200 gyro(p28, p27); +Serial pc(USBTX, USBRX); +IMUfilter imuFilter(0.1, 10); + +int main() +{ + accel.init(20,4,0.004); + accel.calibrateAccelerometer(); + gyro.init(20,4,0.004); + gyro.calibrate(); + while (1) { + + wait(0.1); + double* accelreadings=accel.sampleAccelerometer(); + double* gyroreadings=gyro.sample(); + imuFilter.updateFilter(gyroreadings[0],gyroreadings[1],gyroreadings[2],accelreadings[0],accelreadings[1],accelreadings[2]); + imuFilter.computeEuler(); + pc.printf("roll: %f, pitch: %f, yaw: %f\n", imuFilter.getRoll(), imuFilter.getPitch(), imuFilter.getYaw()); + //pc.printf("aceelerometer: %f, %f, %f\n", readings[0], readings[1], readings[2]); + //pc.printf("gyro: %i, %i, %i\n", gyros[0],gyros[1],gyros[2]); + } + +} \ No newline at end of file