Diff: main.cpp

Revision:

4:ecd3871549e8

Parent:

3:24e65bfcea6d

Child:

5:eefbf579d5cc

Child:

6:faeba56869a5

--- a/main.cpp	Sat Jul 27 00:12:40 2019 +0000
+++ b/main.cpp	Mon Jul 29 16:56:33 2019 +0000
@@ -7,25 +7,19 @@
 
     // Create IMU, passing in output stream, pins, I2C address, and I2C frequency
     // These pin assignments are specific to my dev setup -- you'll need to change them
-    //pc.printf("============================================================\n");
-
     BNO080 imu(&pc, PB_7, PB_6, D12, PA_11, 0x4b, 400000);
 
-    //pc.printf("====================================  Entering imu.begin ===================================\r\n");
     imu.begin();
-    //pc.printf("======================================EXIT & ENABLING REPORT FOR IMU==========================================================\r\n");
+
     // Tell the IMU to report rotation every 100ms and acceleration every 200ms
     imu.enableReport(BNO080::ROTATION, 100);
     imu.enableReport(BNO080::TOTAL_ACCELERATION, 200);
-    wait(.002f);
-    //pc.printf("======================================DONE ENABLING REPORT FOR IMU ===================================================\r\n");
-    //pc.printf("=========================    STUCK INSIDE THE WHILE LOOP ===============================\r\n");
 
     while (true) {
         wait(.001f);
+
         // poll the IMU for new data -- this returns true if any packets were received
         if(imu.updateData()) {
-            //pc.printf("======================================= INSIDE IMU.UPDATEDATA() =================================\r\n");
             // now check for the specific type of data that was received (can be multiple at once)
             if (imu.hasNewData(BNO080::ROTATION)) {
                 // convert quaternion to Euler degrees and print
@@ -35,15 +29,12 @@
                 eulerDegrees.print(pc, true);
                 pc.printf("\n");
             }
-            /*
             if (imu.hasNewData(BNO080::TOTAL_ACCELERATION)) {
                 // print the acceleration vector using its builtin print() method
                 pc.printf("IMU Total Acceleration: ");
                 imu.totalAcceleration.print(pc, true);
                 pc.printf("\n");
             }
-            */
-
         }
     }