Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Diff: main.cpp

Revision:
62:bc5caf59fe39
Parent:
57:0d8a155d511d
Child:
63:d9a81b3d69f5
--- a/main.cpp	Sat Apr 08 17:40:13 2017 +0000
+++ b/main.cpp	Sun Apr 09 18:20:57 2017 +0000
@@ -3,7 +3,7 @@
 #include <math.h>
 #define PI 3.14159265f
 
-//#define SW_DEBUG
+#define SW_DEBUG
 #include "SWCommon.h"
 #include "GlobalVariable.h"
 
@@ -15,6 +15,7 @@
 
 #include "ArduCAM.h"
 #include "ArduUTFT.h"
+#include "IMUManager.h"
 
 #include "PinAssignment.h"
 
@@ -50,6 +51,11 @@
     
     ardu_cam_init();
     
+    
+    uint8_t IMUInitResult = imu_manager_init();
+    LOGI("IMU Init: %#x", IMUInitResult);
+    //wait(0.5);
+    
     //timer.reset();
     timer.start();
     float timeWas = timer.read();
@@ -137,6 +143,14 @@
         }
         
         //LOGI("FPS: %f", 1 / deltaTime);
+        
+        //imu_manager_init();
+        imu_manager_update();
+        
+        const volatile struct imu_vec3* AccelV = imu_manager_get_accl();
+        
+        LOGI("A: %5.3f, %5.3f, %5.3f ", AccelV->x, AccelV->y, AccelV->z);
+        
         counter.Update();
         
         /*