Revision 6:ea945b2ea724, committed 2019-05-21

Comitter:

AndersonIctus

Date:

Tue May 21 02:51:20 2019 +0000

Parent:

5:e16fe9e301f9

Child:

7:310098916153

Commit message:

commit de lib

Changed in this revision

--- a/main.cpp	Tue May 21 00:09:41 2019 +0000
+++ b/main.cpp	Tue May 21 02:51:20 2019 +0000
@@ -1,5 +1,6 @@
 #include "mbed.h"
 #include "Grove_temperature.h"
+#include "MPU6050.h"
 
 DigitalOut led1 (LED1);         // LED 1 de 3 DO BOARD
 DigitalOut led_dig(D6);         // LED 1 da porta Digital 6 (A placa tem D6 e D8)
@@ -7,6 +8,14 @@
 Grove_temperature temp(A1);     // Deve ser ligado na Porta ANALOGICA 1 
 Serial pc(USBTX, USBRX);        // SAIDA SERIAL PADRÃO
 
+// Sensor de movimento !!!
+I2C    i2c(I2C_SDA, I2C_SCL);       // PORTA I2C
+MPU6050 mpu(i2c, MPU6050_ADDRESS_AD0_LOW);
+
+// Constantes usadas no sensor de movimento !
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+
 void rodarLed() {
     int count = 0;
     while(count ++ < 10) {
@@ -26,86 +35,56 @@
 }
 
 int main () {
-    printf("!!!INICIO!!!\r\n");
+    printf("!!!INICIO!!!\r\n");    
+
+    mpu.initialize();
+
+    bool mpu6050TestResult = mpu.testConnection();
+    if(mpu6050TestResult) {
+        printf("MPU6050 test passed \r\n");
+    } else {
+        printf("MPU6050 test failed \r\n");
+        printf("FIM \r\n");
+        return 0;
+    }
 
     int count = 0;
     float tempValue = 0;
-    while(count ++ < 50) {
-        tempValue = temp.getTemperature();
-        printf("%2d -> Temperature = %2.2f\r\n", count, tempValue);
+    char buffer_giro[100];
+    while(count ++ < 25) {
+        // ------------------------------------------------------ //
+        mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+
+        //sabe calibrar o gyroscópio!  
+        if ( gz > 150 ) { 
+            sprintf(buffer_giro, "Movimentou Z .... gy_z = %d", gz);
+        } else if ( gy > 50 ){             
+            sprintf(buffer_giro, "Movimentou Y .... gy_y = %d",gy);
+        } else if ( gx < -370 ){            
+            sprintf(buffer_giro, "Movimentou X .... gy_x = %d",gx);
+        } else {
+            sprintf(buffer_giro, "Sem movimento!");
+        }
         
+        // ------------------------------------------------------ //
+        tempValue = temp.getTemperature();        
         // Acende o LED quando está acima do valor indicado !!
         if(tempValue > 30.0) {
             led_dig = 1;
         } else {
             led_dig = 0;
         }
-        wait(1);
+        // ------------------------------------------------------ //
+
+        printf("******************* ROLL -> %02d ********************\r\n", count);
+        printf("*** Giro -> %-35s ***\r\n", buffer_giro);
+        printf("*** (gy_x = %03d; gy_y = %03d; gy_z = %03d)       ***\r\n", gx, gy, gz);
+        printf("*** Temperatura -> %02.02f                        ***\r\n", tempValue);
+        printf("***************************************************\r\n\r\n");
+
+        wait(2);
     }
 
     printf("!!!FIM DE LEITURA!!!\r\n");
     return 1;
 }
-
-/**
-#include "mbed.h"
-#include "MPU6050.h"
- 
-DigitalOut myled(LED1);
-Serial pc(USBTX, USBRX);
-I2C    i2c(I2C_SDA, I2C_SCL);
-MPU6050 mpu(i2c);
- 
-int16_t ax, ay, az;
-int16_t gx, gy, gz;
- 
-int main()
-{
-    pc.printf("MPU6050 test\r\n");
-    pc.printf("MPU6050 initialize\r\n");
- 
-    mpu.initialize();
-    
-    pc.printf("MPU6050 testConnection \r\n");
- 
-    bool mpu6050TestResult = mpu.testConnection();
-    if(mpu6050TestResult) {
-        pc.printf("MPU6050 test passed \r\n");
-    } else {
-        pc.printf("MPU6050 test failed \r\n");
-        pc.printf("FIM \r\n");
-        return 0;
-    }
-   
-    while(1) {
-        wait(2);
-        mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
-        //writing current accelerometer and gyro position 
-        pc.printf("-----------------\r\n");      
-        pc.printf("## Verificando: \r\n");
-        //pc.printf("ac_x = %d; ac_y = %d; ac_z = %d\r\n",ax,ay,az); 
-        //pc.printf("gy_x = %d; gy_y = %d; gy_z = %d\r\n",gx,gy,gz);
-        //pc.printf("## Rotation\r\n");
-        //mpu.getRotation(&gx, &gy, &gz);    
-        //pc.printf("gy_x = %d; gy_y = %d; gy_z = %d\r\n",gx,gy,gz);  
-        
-        //sabe calibrar o gyroscópio!  
-        if ( gz > 150 ){             
-             pc.printf("-> Movimentou ....\r\n"); 
-             pc.printf("gy_z = %d\r\n",gz); 
-            
-        } else if ( gy > 50 ){             
-             pc.printf("-> Movimentou ....\r\n");
-             pc.printf("gy_y = %d \r\n",gy);
-            
-        } else if ( gx < -370 ){            
-            pc.printf("gy_x = %d \r\n",gx);
-            pc.printf("-> Movimentou ....\r\n"); 
-            
-        } else {
-            pc.printf("-> Sem movimento!\r\n");               
-        }
-        pc.printf("gy_x = %d; gy_y = %d; gy_z = %d\r\n",gx,gy,gz);
-    }
-}
-*/