Diff: main.cpp

Revision:

20:7e7325edcf5c

Parent:

17:c19b471f05cb

Child:

22:f9370f71d17d

--- a/main.cpp	Thu Feb 10 15:50:27 2022 +0000
+++ b/main.cpp	Wed Feb 23 07:17:16 2022 +0000
@@ -72,8 +72,12 @@
 float       dist_us_sensor = 0.0f;
 
 
+// LSM9DS1 IMU
+// create imu comunication objects, carefull: not all PES boards have an imu (chip shortage)
+LSM9DS1 imu(PC_9, PA_8);
+
 int main()
-{
+{    
     /* attach button fall and rise functions */
     user_button.fall(&button_fall);
     user_button.rise(&button_rise);
@@ -148,6 +152,7 @@
         }
 
         /* do only output via serial what's really necessary (this makes your code slow)*/
+        /*
         printf("%3.3f, %3d, %3.3f, %3.3f, %3d, %3d, %3.3f;\r\n",
                dist_ir_sensor * 1e3,
                encoder_M1.read(),
@@ -156,7 +161,13 @@
                servo_position_S1_mus,
                servo_position_S2_mus,
                dist_us_sensor);
+        */
 
+        imu.updateGyro();
+        imu.updateAcc();
+        imu.updateMag();
+        printf("%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f\r\n", imu.readGyroX(), imu.readGyroY(), imu.readGyroZ(),
+        imu.readAccX(), imu.readAccY(), imu.readAccZ(), imu.readMagX(), imu.readMagY(), imu.readMagZ());
 
         /* ------------- stop hacking ----------------------------------------*/