Eduardo Vergara / Mbed OS BNO080_program

added main and defined M_PI

Dependencies:   BNOWrapper

main.cpp@2:1fd1549d3fbd, 2019-07-22 (annotated)

Committer:
JesiMiranda
Date:
Mon Jul 22 18:54:39 2019 +0000
Revision:
2:1fd1549d3fbd
Parent:
1:4a5b43b9502c
Child:
3:24e65bfcea6d
fixed some syntax

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 2:1fd1549d3fbd 6 Serial pc(USBTX, USBRX, 9600);
JesiMiranda 1:4a5b43b9502c 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 2:1fd1549d3fbd 10 BNO080 imu(&pc, PB_7 , PB_6, PB_0, D10, 0x4b, 400000);
JesiMiranda 1:4a5b43b9502c 11
JesiMiranda 1:4a5b43b9502c 12 pc.printf("============================================================\n");
JesiMiranda 2:1fd1549d3fbd 13 imu.begin();
JesiMiranda 2:1fd1549d3fbd 14 pc.printf("======================================ENABLING REPORT FOR IMU==========================================================\r\n");
JesiMiranda 1:4a5b43b9502c 15 // Tell the IMU to report rotation every 100ms and acceleration every 200ms
JesiMiranda 1:4a5b43b9502c 16 imu.enableReport(BNO080::ROTATION, 100);
JesiMiranda 1:4a5b43b9502c 17 imu.enableReport(BNO080::TOTAL_ACCELERATION, 200);
JesiMiranda 2:1fd1549d3fbd 18 pc.printf("======================================DONE ENABLING REPORT FOR IMU ===================================================\r\n");
JesiMiranda 2:1fd1549d3fbd 19 pc.printf("========================= STUCK INSIDE THE WHILE LOOP ===============================\r\n");
JesiMiranda 1:4a5b43b9502c 20 while (true)
JesiMiranda 2:1fd1549d3fbd 21 {
JesiMiranda 1:4a5b43b9502c 22 wait(.001f);
JesiMiranda 1:4a5b43b9502c 23 // poll the IMU for new data -- this returns true if any packets were received
JesiMiranda 1:4a5b43b9502c 24 if(imu.updateData())
JesiMiranda 1:4a5b43b9502c 25 {
JesiMiranda 2:1fd1549d3fbd 26 pc.printf("======================================= INSIDE IMU.UPDATEDATA() =================================\r\n");
JesiMiranda 1:4a5b43b9502c 27 // now check for the specific type of data that was received (can be multiple at once)
JesiMiranda 1:4a5b43b9502c 28 if (imu.hasNewData(BNO080::ROTATION))
JesiMiranda 1:4a5b43b9502c 29 {
JesiMiranda 1:4a5b43b9502c 30 // convert quaternion to Euler degrees and print
JesiMiranda 1:4a5b43b9502c 31 pc.printf("IMU Rotation Euler: ");
JesiMiranda 1:4a5b43b9502c 32 TVector3 eulerRadians = imu.rotationVector.euler();
JesiMiranda 1:4a5b43b9502c 33 TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI);
JesiMiranda 1:4a5b43b9502c 34 eulerDegrees.print(pc, true);
JesiMiranda 1:4a5b43b9502c 35 pc.printf("\n");
JesiMiranda 1:4a5b43b9502c 36 }
JesiMiranda 1:4a5b43b9502c 37 if (imu.hasNewData(BNO080::TOTAL_ACCELERATION))
JesiMiranda 1:4a5b43b9502c 38 {
JesiMiranda 1:4a5b43b9502c 39 // print the acceleration vector using its builtin print() method
JesiMiranda 1:4a5b43b9502c 40 pc.printf("IMU Total Acceleration: ");
JesiMiranda 1:4a5b43b9502c 41 imu.totalAcceleration.print(pc, true);
JesiMiranda 1:4a5b43b9502c 42 pc.printf("\n");
JesiMiranda 1:4a5b43b9502c 43 }
JesiMiranda 1:4a5b43b9502c 44 }
JesiMiranda 0:0f12b8c4d5f1 45 }
JesiMiranda 1:4a5b43b9502c 46
JesiMiranda 0:0f12b8c4d5f1 47 }
JesiMiranda 1:4a5b43b9502c 48
JesiMiranda 1:4a5b43b9502c 49