Eduardo Vergara / Mbed OS BNO080_program

added main and defined M_PI

Dependencies:   BNOWrapper

main.cpp@4:ecd3871549e8, 2019-07-29 (annotated)

Committer:
JesiMiranda
Date:
Mon Jul 29 16:56:33 2019 +0000
Revision:
4:ecd3871549e8
Parent:
3:24e65bfcea6d
Child:
5:eefbf579d5cc
Child:
6:faeba56869a5
connect ps0/1 to gnd for address 4b, address 4a does not work

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JesiMiranda 1:4a5b43b9502c 1 #include <mbed.h>
JesiMiranda 1:4a5b43b9502c 2 #include <BNO080.h>
JesiMiranda 2:1fd1549d3fbd 3
JesiMiranda 0:0f12b8c4d5f1 4 int main()
JesiMiranda 0:0f12b8c4d5f1 5 {
JesiMiranda 3:24e65bfcea6d 6 Serial pc(USBTX, USBRX, 115200);
JesiMiranda 3:24e65bfcea6d 7
JesiMiranda 1:4a5b43b9502c 8 // Create IMU, passing in output stream, pins, I2C address, and I2C frequency
JesiMiranda 1:4a5b43b9502c 9 // These pin assignments are specific to my dev setup -- you'll need to change them
JesiMiranda 3:24e65bfcea6d 10 BNO080 imu(&pc, PB_7, PB_6, D12, PA_11, 0x4b, 400000);
JesiMiranda 3:24e65bfcea6d 11
JesiMiranda 2:1fd1549d3fbd 12 imu.begin();
JesiMiranda 4:ecd3871549e8 13
JesiMiranda 1:4a5b43b9502c 14 // Tell the IMU to report rotation every 100ms and acceleration every 200ms
JesiMiranda 1:4a5b43b9502c 15 imu.enableReport(BNO080::ROTATION, 100);
JesiMiranda 1:4a5b43b9502c 16 imu.enableReport(BNO080::TOTAL_ACCELERATION, 200);
JesiMiranda 3:24e65bfcea6d 17
JesiMiranda 3:24e65bfcea6d 18 while (true) {
JesiMiranda 1:4a5b43b9502c 19 wait(.001f);
JesiMiranda 4:ecd3871549e8 20
JesiMiranda 1:4a5b43b9502c 21 // poll the IMU for new data -- this returns true if any packets were received
JesiMiranda 3:24e65bfcea6d 22 if(imu.updateData()) {
JesiMiranda 1:4a5b43b9502c 23 // now check for the specific type of data that was received (can be multiple at once)
JesiMiranda 3:24e65bfcea6d 24 if (imu.hasNewData(BNO080::ROTATION)) {
JesiMiranda 1:4a5b43b9502c 25 // convert quaternion to Euler degrees and print
JesiMiranda 1:4a5b43b9502c 26 pc.printf("IMU Rotation Euler: ");
JesiMiranda 1:4a5b43b9502c 27 TVector3 eulerRadians = imu.rotationVector.euler();
JesiMiranda 1:4a5b43b9502c 28 TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI);
JesiMiranda 1:4a5b43b9502c 29 eulerDegrees.print(pc, true);
JesiMiranda 1:4a5b43b9502c 30 pc.printf("\n");
JesiMiranda 1:4a5b43b9502c 31 }
JesiMiranda 3:24e65bfcea6d 32 if (imu.hasNewData(BNO080::TOTAL_ACCELERATION)) {
JesiMiranda 1:4a5b43b9502c 33 // print the acceleration vector using its builtin print() method
JesiMiranda 1:4a5b43b9502c 34 pc.printf("IMU Total Acceleration: ");
JesiMiranda 1:4a5b43b9502c 35 imu.totalAcceleration.print(pc, true);
JesiMiranda 1:4a5b43b9502c 36 pc.printf("\n");
JesiMiranda 1:4a5b43b9502c 37 }
JesiMiranda 1:4a5b43b9502c 38 }
JesiMiranda 0:0f12b8c4d5f1 39 }
JesiMiranda 3:24e65bfcea6d 40
JesiMiranda 0:0f12b8c4d5f1 41 }
JesiMiranda 3:24e65bfcea6d 42