Eduardo Vergara
/
BNO080_program
added main and defined M_PI
main.cpp
- Committer:
- JesiMiranda
- Date:
- 2019-07-30
- Revision:
- 7:b548a684290d
- Parent:
- 5:eefbf579d5cc
- Child:
- 8:729ad465d6c9
File content as of revision 7:b548a684290d:
#include <mbed.h> #include <BNO080.h> #include "Watchdog.h" 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); imu.begin(); // Tell the IMU to report rotation every 100ms and acceleration every 200ms imu.enableReport(BNO080::TOTAL_ACCELERATION, 100); imu.enableReport(BNO080::ROTATION, 100); while (true) { 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: "); imu.totalAcceleration.print(pc, true); pc.printf(", Rotation:"); TVector3 eulerRadians = imu.rotationVector.euler(); TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI); eulerDegrees.print(pc, true); pc.printf("\n"); dog.Service(); } } } }