mbedを用いた制御学生の制御
/
Tilt
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Dependencies: mbed
Diff: main.cpp
- Revision:
- 0:8c7b1674d5eb
diff -r 000000000000 -r 8c7b1674d5eb main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Dec 18 15:43:21 2014 +0000
@@ -0,0 +1,37 @@
+#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);
+
+ }
+
+}