mbedを用いた制御学生の制御 / Mbed 2 deprecated Tilt

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Dependencies:   mbed

main.cpp

Committer:
WAT34
Date:
2014-12-18
Revision:
0:8c7b1674d5eb

File content as of revision 0:8c7b1674d5eb:

#include "mbed.h"
#include "math.h"
#define pi 3.1415
I2C sensor(p9,p10); //using ADXL345
Serial pc(USBTX,USBRX);
int main() {
    int addr = 0x1D; //set device's address
    int i;
    double a[2],t;
    short data[3];
    char rd_val[6];
    char start[2] = {0x2D,0x08};
    char get_val[6] ={0x32};
    sensor.write(addr<<1,start,2);
    while(1) {
        sensor.write(addr<<1,get_val,1);
        sensor.read((addr<<1)+1,rd_val,6);
        i = 0;
        while(i<3){
            data[i] =(rd_val[2*i+1]<<8)+rd_val[2*i];
            i++;
        }
        i = 0;
        while(i<3){
            a[i] = data[i]*4.0/1024.0;
            pc.printf("val%d--->%lfG\n\r",i,a[i]);
            
            i++;
        }
        t = atan(a[0]/a[1]);
        t = 180/pi*t;
        pc.printf("t=%lf\n\r",t);
        wait(1);
     
    }
    
}