Eduardo Vergara
/
BNO080_program
added main and defined M_PI
main.cpp@3:24e65bfcea6d, 2019-07-27 (annotated)
- Committer:
- JesiMiranda
- Date:
- Sat Jul 27 00:12:40 2019 +0000
- Revision:
- 3:24e65bfcea6d
- Parent:
- 2:1fd1549d3fbd
- Child:
- 4:ecd3871549e8
changed like 1 line
Who changed what in which revision?
User | Revision | Line number | New 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 | //pc.printf("============================================================\n"); |
JesiMiranda | 3:24e65bfcea6d | 11 | |
JesiMiranda | 3:24e65bfcea6d | 12 | BNO080 imu(&pc, PB_7, PB_6, D12, PA_11, 0x4b, 400000); |
JesiMiranda | 3:24e65bfcea6d | 13 | |
JesiMiranda | 3:24e65bfcea6d | 14 | //pc.printf("==================================== Entering imu.begin ===================================\r\n"); |
JesiMiranda | 2:1fd1549d3fbd | 15 | imu.begin(); |
JesiMiranda | 3:24e65bfcea6d | 16 | //pc.printf("======================================EXIT & ENABLING REPORT FOR IMU==========================================================\r\n"); |
JesiMiranda | 1:4a5b43b9502c | 17 | // Tell the IMU to report rotation every 100ms and acceleration every 200ms |
JesiMiranda | 1:4a5b43b9502c | 18 | imu.enableReport(BNO080::ROTATION, 100); |
JesiMiranda | 1:4a5b43b9502c | 19 | imu.enableReport(BNO080::TOTAL_ACCELERATION, 200); |
JesiMiranda | 3:24e65bfcea6d | 20 | wait(.002f); |
JesiMiranda | 3:24e65bfcea6d | 21 | //pc.printf("======================================DONE ENABLING REPORT FOR IMU ===================================================\r\n"); |
JesiMiranda | 3:24e65bfcea6d | 22 | //pc.printf("========================= STUCK INSIDE THE WHILE LOOP ===============================\r\n"); |
JesiMiranda | 3:24e65bfcea6d | 23 | |
JesiMiranda | 3:24e65bfcea6d | 24 | while (true) { |
JesiMiranda | 1:4a5b43b9502c | 25 | wait(.001f); |
JesiMiranda | 1:4a5b43b9502c | 26 | // poll the IMU for new data -- this returns true if any packets were received |
JesiMiranda | 3:24e65bfcea6d | 27 | if(imu.updateData()) { |
JesiMiranda | 3:24e65bfcea6d | 28 | //pc.printf("======================================= INSIDE IMU.UPDATEDATA() =================================\r\n"); |
JesiMiranda | 1:4a5b43b9502c | 29 | // now check for the specific type of data that was received (can be multiple at once) |
JesiMiranda | 3:24e65bfcea6d | 30 | if (imu.hasNewData(BNO080::ROTATION)) { |
JesiMiranda | 1:4a5b43b9502c | 31 | // convert quaternion to Euler degrees and print |
JesiMiranda | 1:4a5b43b9502c | 32 | pc.printf("IMU Rotation Euler: "); |
JesiMiranda | 1:4a5b43b9502c | 33 | TVector3 eulerRadians = imu.rotationVector.euler(); |
JesiMiranda | 1:4a5b43b9502c | 34 | TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI); |
JesiMiranda | 1:4a5b43b9502c | 35 | eulerDegrees.print(pc, true); |
JesiMiranda | 1:4a5b43b9502c | 36 | pc.printf("\n"); |
JesiMiranda | 1:4a5b43b9502c | 37 | } |
JesiMiranda | 3:24e65bfcea6d | 38 | /* |
JesiMiranda | 3:24e65bfcea6d | 39 | if (imu.hasNewData(BNO080::TOTAL_ACCELERATION)) { |
JesiMiranda | 1:4a5b43b9502c | 40 | // print the acceleration vector using its builtin print() method |
JesiMiranda | 1:4a5b43b9502c | 41 | pc.printf("IMU Total Acceleration: "); |
JesiMiranda | 1:4a5b43b9502c | 42 | imu.totalAcceleration.print(pc, true); |
JesiMiranda | 1:4a5b43b9502c | 43 | pc.printf("\n"); |
JesiMiranda | 1:4a5b43b9502c | 44 | } |
JesiMiranda | 3:24e65bfcea6d | 45 | */ |
JesiMiranda | 3:24e65bfcea6d | 46 | |
JesiMiranda | 1:4a5b43b9502c | 47 | } |
JesiMiranda | 0:0f12b8c4d5f1 | 48 | } |
JesiMiranda | 3:24e65bfcea6d | 49 | |
JesiMiranda | 0:0f12b8c4d5f1 | 50 | } |
JesiMiranda | 3:24e65bfcea6d | 51 |