andres castaño / Mbed 2 deprecated acelerometro

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed MPU6050 TextLCD

main.cpp@0:304aaa70b2e8, 2020-05-06 (annotated)

Committer:
20172573073
Date:
Wed May 06 03:15:37 2020 +0000
Revision:
0:304aaa70b2e8
acelerometro

Who changed what in which revision?

UserRevisionLine numberNew contents of line
20172573073 0:304aaa70b2e8 1 #include "mbed.h"
20172573073 0:304aaa70b2e8 2 #include "MPU6050.h"
20172573073 0:304aaa70b2e8 3 #include "TextLCD.h"
20172573073 0:304aaa70b2e8 4
20172573073 0:304aaa70b2e8 5 MPU6050 mpu(A4,A5);
20172573073 0:304aaa70b2e8 6 Serial pc(USBTX, USBRX);
20172573073 0:304aaa70b2e8 7 TextLCD lcd(PTB18,PTB19,PTC0,PTC4,PTC6,PTC7, TextLCD::LCD16x2 );
20172573073 0:304aaa70b2e8 8 Timer timer;
20172573073 0:304aaa70b2e8 9 int gx,gy,gz,ax,ay,az;
20172573073 0:304aaa70b2e8 10 long tiempo_prev;
20172573073 0:304aaa70b2e8 11 float dt,giro1x,giro1z,giro2x,giro2z,giro1y,giro2y;
20172573073 0:304aaa70b2e8 12
20172573073 0:304aaa70b2e8 13 int main()
20172573073 0:304aaa70b2e8 14 {
20172573073 0:304aaa70b2e8 15 timer.start();
20172573073 0:304aaa70b2e8 16 if(mpu.getID()==0x68) {
20172573073 0:304aaa70b2e8 17 lcd.cls();
20172573073 0:304aaa70b2e8 18 lcd.printf("MPU6050 OK");
20172573073 0:304aaa70b2e8 19 wait(1);
20172573073 0:304aaa70b2e8 20 } else {
20172573073 0:304aaa70b2e8 21 lcd.cls();
20172573073 0:304aaa70b2e8 22 lcd.printf("MPU6050 error ID=0x%x\r\n",mpu.getID());
20172573073 0:304aaa70b2e8 23 while(1) {
20172573073 0:304aaa70b2e8 24 }
20172573073 0:304aaa70b2e8 25 }
20172573073 0:304aaa70b2e8 26 mpu.start();
20172573073 0:304aaa70b2e8 27 tiempo_prev=timer.read_ms();
20172573073 0:304aaa70b2e8 28 while(1) {
20172573073 0:304aaa70b2e8 29
20172573073 0:304aaa70b2e8 30 mpu.readraw(&gx,&gy,&gz,&ax,&ay,&az);
20172573073 0:304aaa70b2e8 31 dt =(timer.read_ms() - tiempo_prev);
20172573073 0:304aaa70b2e8 32 tiempo_prev=timer.read_ms();
20172573073 0:304aaa70b2e8 33
20172573073 0:304aaa70b2e8 34
20172573073 0:304aaa70b2e8 35 giro1x=(gx/131)*dt/1000.0+giro2x;
20172573073 0:304aaa70b2e8 36 giro1z=(gz/131)*dt/1000.0+giro2z;
20172573073 0:304aaa70b2e8 37 giro1y=(gy/131)*dt/1000.0+giro2y;
20172573073 0:304aaa70b2e8 38 giro2x=giro1x;
20172573073 0:304aaa70b2e8 39 giro2z=giro1z;
20172573073 0:304aaa70b2e8 40 giro2y=giro1y;
20172573073 0:304aaa70b2e8 41 lcd.cls();
20172573073 0:304aaa70b2e8 42 lcd.printf("z: %f",giro1z);
20172573073 0:304aaa70b2e8 43 wait(1);
20172573073 0:304aaa70b2e8 44 lcd.cls();
20172573073 0:304aaa70b2e8 45 lcd.printf("x: %f",giro1x);
20172573073 0:304aaa70b2e8 46 wait(1);
20172573073 0:304aaa70b2e8 47 lcd.cls();
20172573073 0:304aaa70b2e8 48 lcd.printf("y: %f ",giro1y);
20172573073 0:304aaa70b2e8 49 wait(1);
20172573073 0:304aaa70b2e8 50 //pc.printf("Der: %5.1f ,Izq: %5.1f ",tDer,tIzq);
20172573073 0:304aaa70b2e8 51
20172573073 0:304aaa70b2e8 52 }
20172573073 0:304aaa70b2e8 53 }
20172573073 0:304aaa70b2e8 54
20172573073 0:304aaa70b2e8 55 //////////////////////////////////////////////////////////////////////////////////////////////////////
20172573073 0:304aaa70b2e8 56
20172573073 0:304aaa70b2e8 57