Diff: main.cpp

Revision:

8:729ad465d6c9

Parent:

7:b548a684290d

Child:

10:14374b492f1d

--- a/main.cpp	Tue Jul 30 21:06:04 2019 +0000
+++ b/main.cpp	Mon Aug 05 21:57:13 2019 +0000
@@ -5,15 +5,17 @@
 int main()
 {
     Serial pc(USBTX, USBRX, 57600);
-    Watchdog dog;
-    dog.Configure(1.7);         //need to find the time for entire program to run
-
     // Create IMU, passing in output stream, pins, I2C address, and I2C frequency
     // These pin assignments are specific to stm32- L432KC
     //BNO080 imu(&pc, D4, D5, D12, D10, 0x4b, 100000);
-    BNO080 imu(&pc, D2, D4, D13, PB_6, 0x4b, 100000);
+
+    //NUCLEO- F767ZI
+    BNO080 imu(&pc, D2, D4, D13, D15, 0x4b, 100000);
+
+
+    Watchdog dog(&imu);
+    dog.Configure(4);         //need to find the time for entire program to run
     imu.begin();
-
     // Tell the IMU to report rotation every 100ms and acceleration every 200ms
 
     imu.enableReport(BNO080::TOTAL_ACCELERATION, 100);
@@ -23,19 +25,18 @@
         wait(.001f);
 
         // poll the IMU for new data -- this returns true if any packets were received
-
         if(imu.updateData()) {
             // now check for the specific type of data that was received (can be multiple at once)
             if (imu.hasNewData(BNO080::TOTAL_ACCELERATION) || imu.hasNewData(BNO080::ROTATION)) {
-                pc.printf("Total Accel: ");
+                pc.printf("TAcc: ");
                 imu.totalAcceleration.print(pc, true);
 
-                pc.printf(", Rotation:");
+                pc.printf(", Rot:");
                 TVector3 eulerRadians = imu.rotationVector.euler();
                 TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI);
                 eulerDegrees.print(pc, true);
                 pc.printf("\n");
-                
+
                 dog.Service();
             }