Diff: main.cpp

Revision:

0:0a940ef5a5b2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Dec 30 08:45:22 2019 +0000
@@ -0,0 +1,69 @@
+//==================================================
+//Inertial measurement
+//MPU board: mbed LPC1768
+//Accelerometer +Gyro sensor : GY-521
+//2019/10/11 A.Toda
+//==================================================
+#include "mbed.h"
+#include "MPU6050.h"
+
+//==================================================
+#define RAD_TO_DEG          57.2957795f             // 180 / π
+
+//==================================================
+//Port Setting
+MPU6050 mpu(p9, p10);  //Accelerometer + Gyro
+                        //(SDA,SCLK)
+
+Serial pc(USBTX, USBRX);    //UART
+
+//==================================================
+//Accelerometer and gyro data
+//==================================================
+float acc[3]; //variables for accelerometer
+float gyro[3]; //variables for gyro
+
+//==================================================
+//Main
+//==================================================
+int main() {
+    
+    //UART initialization
+    pc.baud(115200);
+    
+    //Accelerometer and gyro setting 
+    mpu.setAcceleroRange(0);//acceleration range is +-2G
+    mpu.setGyroRange(1);//gyro rate is +-500degree per second(dps)
+    
+    while(1) {
+        
+        //Aquisition sensor values
+        mpu.getAccelero(acc);//get acceleration (Accelerometer)
+                                //x_axis acc[0]
+                                //y_axis acc[1]
+                                //z_axis acc[2]
+        mpu.getGyro(gyro);   //get rate of angle(Gyro)
+                                //x_axis gyro[0]
+                                //y_axis gyro[1]
+                                //z_axis gyro[2]
+        
+        //Invertion for direction of Accelerometer axis
+        acc[0]*=(-1.0);
+        acc[2]*=(-1.0);
+        
+        //Unit convertion of rate of angle(radian to degree)
+        gyro[0]*=RAD_TO_DEG;
+        gyro[0]*=(-1.0);
+        
+        gyro[1]*=RAD_TO_DEG;
+        
+        gyro[2]*=RAD_TO_DEG;
+        gyro[2]*=(-1.0);
+        
+        //Display inertial values 
+        pc.printf("a_x=%f,a_y=%f,a_z=%f,g_x=%f,g_y=%f,g_z=%f\r\n"
+                    ,acc[0],acc[1],acc[2],gyro[0],gyro[1],gyro[2]);
+        
+        wait(0.01);
+    }
+}