Johan Beverini
For a school project
Fork of
MPU6050IMU
by 
Kris Winer
Diff: main.cpp
- Revision:
- 3:4c1180a712e3
- Parent:
- 1:cea9d83b8636
--- a/main.cpp Sun Jun 29 21:53:23 2014 +0000
+++ b/main.cpp Thu Mar 15 15:02:02 2018 +0000
@@ -1,66 +1,79 @@
-
-/* MPU6050 Basic Example Code
- by: Kris Winer
- date: May 1, 2014
- license: Beerware - Use this code however you'd like. If you
- find it useful you can buy me a beer some time.
-
- Demonstrate MPU-6050 basic functionality including initialization, accelerometer trimming, sleep mode functionality as well as
- parameterizing the register addresses. Added display functions to allow display to on breadboard monitor.
- No DMP use. We just want to get out the accelerations, temperature, and gyro readings.
-
- SDA and SCL should have external pull-up resistors (to 3.3V).
- 10k resistors worked for me. They should be on the breakout
- board.
-
- Hardware setup:
- MPU6050 Breakout --------- Arduino
- 3.3V --------------------- 3.3V
- SDA ----------------------- A4
- SCL ----------------------- A5
- GND ---------------------- GND
-
- Note: The MPU6050 is an I2C sensor and uses the Arduino Wire library.
- Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1.
- We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file.
- We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
- */
-
#include "mbed.h"
#include "MPU6050.h"
-#include "N5110.h"
+#include <math.h>
-// Using NOKIA 5110 monochrome 84 x 48 pixel display
-// pin 9 - Serial clock out (SCLK)
-// pin 8 - Serial data out (DIN)
-// pin 7 - Data/Command select (D/C)
-// pin 5 - LCD chip select (CS)
-// pin 6 - LCD reset (RST)
-//Adafruit_PCD8544 display = Adafruit_PCD8544(9, 8, 7, 5, 6);
float sum = 0;
uint32_t sumCount = 0;
MPU6050 mpu6050;
+ AnalogOut ANA1(A3);
+ //AnalogOut ANA2(PA_5);
+
+ Ticker ms;
+
Timer t;
- Serial pc(USBTX, USBRX); // tx, rx
+ Serial pc(SERIAL_TX, SERIAL_RX); // tx, rx
+
+ Serial BT(PA_9, PA_10); // tx, rx
+
- // VCC, SCE, RST, D/C, MOSI,S CLK, LED
- N5110 lcd(PA_8, PB_10, PA_9, PA_6, PA_7, PA_5, PC_7);
+
+ float alpha, betaa, gammaa;
+ float axx, ayy, azz;
+ float poid[3];
+ float a, b, c, d, e, s;
+ int i;
+ float matrice[3][3], resultat[3];
+
+ bool first = true;
+
+ bool tick_mili;
+
+ float x_x_filter[3]={0,0,0}, x_y_filter[3]={0,0,0};
+ float y_x_filter[3]={0,0,0}, y_y_filter[3]={0,0,0};
+ float z_x_filter[3]={0,0,0}, z_y_filter[3]={0,0,0};
+ float a_coef[3]={1.0000, -1.5610, 0.6414};
+ float b_coef[3]={0.0201, 0.0402, 0.0201};
+ float x_x_filter_ph[3]={0,0,0}, x_y_filter_ph[3]={0,0,0};
+ float y_x_filter_ph[3]={0,0,0}, y_y_filter_ph[3]={0,0,0};
+ float z_x_filter_ph[3]={0,0,0}, z_y_filter_ph[3]={0,0,0};
+ float a_coef_ph[3]={1.0000, -1.9956, 0.9956};
+ float b_coef_ph[3]={0.9978, -1.9956, 0.9978};
+ float gx_filtre, gy_filtre, gz_filtre;
+ float gx_filtre2=0.0f, gy_filtre2=0.0f, gz_filtre2=0.0f;
+ float trapeze_x = 0.0f;
+ float trapeze_y = 0.0f;
+ float trapeze_z = 0.0f;
+
+void mili(void){
+ tick_mili=true;
+}
+
+
int main()
{
pc.baud(9600);
+ BT.baud(9600);
+
+ pc.printf("hello word\n");
+ BT.printf("connection...\n");
//Set up I2C
i2c.frequency(400000); // use fast (400 kHz) I2C
+ alpha=0;
+ betaa=0;
+ gammaa=0;
+
+ ms.attach(&mili, 0.001);
t.start();
- lcd.init();
- lcd.setBrightness(0.05);
+ //lcd.init();
+ //lcd.setBrightness(0.05);
// Read the WHO_AM_I register, this is a good test of communication
@@ -71,8 +84,8 @@
{
pc.printf("MPU6050 is online...");
wait(1);
- lcd.clear();
- lcd.printString("MPU6050 OK", 0, 0);
+ //lcd.clear();
+ //lcd.printString("MPU6050 OK", 0, 0);
mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
@@ -90,20 +103,20 @@
mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
mpu6050.initMPU6050(); pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
- lcd.clear();
- lcd.printString("MPU6050", 0, 0);
- lcd.printString("pass self test", 0, 1);
- lcd.printString("initializing", 0, 2);
+ //lcd.clear();
+ //lcd.printString("MPU6050", 0, 0);
+ //lcd.printString("pass self test", 0, 1);
+ //lcd.printString("initializing", 0, 2);
wait(2);
}
else
{
pc.printf("Device did not the pass self-test!\n\r");
- lcd.clear();
- lcd.printString("MPU6050", 0, 0);
- lcd.printString("no pass", 0, 1);
- lcd.printString("self test", 0, 2);
+ //lcd.clear();
+ //lcd.printString("MPU6050", 0, 0);
+ //lcd.printString("no pass", 0, 1);
+ //lcd.printString("self test", 0, 2);
}
}
else
@@ -111,10 +124,10 @@
pc.printf("Could not connect to MPU6050: \n\r");
pc.printf("%#x \n", whoami);
- lcd.clear();
- lcd.printString("MPU6050", 0, 0);
- lcd.printString("no connection", 0, 1);
- lcd.printString("0x", 0, 2); lcd.setXYAddress(20, 2); lcd.printChar(whoami);
+ //lcd.clear();
+ //lcd.printString("MPU6050", 0, 0);
+ //lcd.printString("no connection", 0, 1);
+ //lcd.printString("0x", 0, 2); lcd.setXYAddress(20, 2); lcd.printChar(whoami);
while(1) ; // Loop forever if communication doesn't happen
}
@@ -123,6 +136,10 @@
while(1) {
+ if (tick_mili==true){
+ tick_mili=false;
+
+
// If data ready bit set, all data registers have new data
if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
@@ -139,7 +156,8 @@
// Calculate the gyro value into actual degrees per second
gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
- gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
+ gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
+
tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
@@ -158,11 +176,111 @@
}
// Pass gyro rate as rad/s
- mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
+ //mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
+
+
+ //gx*=PI/180.0f;
+ //gy*=PI/180.0f;
+ //gz*=PI/180.0f;
+ //gx/=1000.0f;
+ //gy/=1000.0f;
+ //gz/=1000.0f;
+
+ ////////filtre PB 100Hz / PH 1Hz
+ //x_x_filter[6]=x_x_filter[5]; x_x_filter[5]=x_x_filter[4]; x_x_filter[4]=x_x_filter[3];
+ //x_x_filter[3]=x_x_filter[2];
+ x_x_filter[2]=x_x_filter[1]; x_x_filter[1]=x_x_filter[0];
+ x_x_filter[0]=gx;
+ //x_y_filter[6]=x_y_filter[5]; x_y_filter[5]=x_y_filter[4]; x_y_filter[4]=x_y_filter[3];
+ //x_y_filter[3]=x_y_filter[2];
+ x_y_filter[2]=x_y_filter[1]; x_y_filter[1]=x_y_filter[0];
+ x_y_filter[0]=b_coef[0]*x_x_filter[0]+b_coef[1]*x_x_filter[1]+b_coef[2]*x_x_filter[2] //+b_coef[3]*x_x_filter[3] //+b_coef[4]*x_x_filter[4]+b_coef[5]*x_x_filter[5]+b_coef[6]*x_x_filter[6]
+ -(a_coef[1]*x_y_filter[1]+a_coef[2]*x_y_filter[2]); //+a_coef[3]*x_y_filter[3]); //+a_coef[4]*x_y_filter[4]+a_coef[5]*x_y_filter[5]+a_coef[6]*x_y_filter[6]);
+ gx_filtre=x_y_filter[0];
+
+ //y_x_filter[6]=y_x_filter[5]; y_x_filter[5]=y_x_filter[4]; y_x_filter[4]=y_x_filter[3];
+ //y_x_filter[3]=y_x_filter[2];
+ y_x_filter[2]=y_x_filter[1]; y_x_filter[1]=y_x_filter[0];
+ y_x_filter[0]=gy;
+ //y_y_filter[6]=y_y_filter[5]; y_y_filter[5]=y_y_filter[4]; y_y_filter[4]=y_y_filter[3];
+ //y_y_filter[3]=y_y_filter[2];
+ y_y_filter[2]=y_y_filter[1]; y_y_filter[1]=y_y_filter[0];
+ y_y_filter[0]=b_coef[0]*y_x_filter[0]+b_coef[1]*y_x_filter[1]+b_coef[2]*y_x_filter[2] //+b_coef[3]*y_x_filter[3] //+b_coef[4]*y_x_filter[4]+b_coef[5]*y_x_filter[5]+b_coef[6]*y_x_filter[6]
+ -(a_coef[1]*y_y_filter[1]+a_coef[2]*y_y_filter[2]); //+a_coef[3]*y_y_filter[3]); //+a_coef[4]*y_y_filter[4]+a_coef[5]*y_y_filter[5]+a_coef[6]*y_y_filter[6]);
+ gy_filtre=y_y_filter[0];
+
+ //z_x_filter[6]=z_x_filter[5]; z_x_filter[5]=z_x_filter[4]; z_x_filter[4]=z_x_filter[3];
+ //z_x_filter[3]=z_x_filter[2];
+ z_x_filter[2]=z_x_filter[1]; z_x_filter[1]=z_x_filter[0];
+ z_x_filter[0]=gz;
+ //z_y_filter[6]=z_y_filter[5]; z_y_filter[5]=z_y_filter[4]; z_y_filter[4]=z_y_filter[3];
+ //z_y_filter[3]=z_y_filter[2];
+ z_y_filter[2]=z_y_filter[1]; z_y_filter[1]=z_y_filter[0];
+ z_y_filter[0]=b_coef[0]*z_x_filter[0]+b_coef[1]*z_x_filter[1]+b_coef[2]*z_x_filter[2] //+b_coef[3]*z_x_filter[3] //+b_coef[4]*z_x_filter[4]+b_coef[5]*z_x_filter[5]+b_coef[6]*z_x_filter[6]
+ -(a_coef[1]*z_y_filter[1]+a_coef[2]*z_y_filter[2]); //+a_coef[3]*z_y_filter[3]); //+a_coef[4]*z_y_filter[4]+a_coef[5]*z_y_filter[5]+a_coef[6]*z_y_filter[6]);
+ gz_filtre=z_y_filter[0];
+
+ ////////filtre PB 100Hz / PH 1Hz
+ //x_x_filter[6]=x_x_filter[5]; x_x_filter[5]=x_x_filter[4]; x_x_filter[4]=x_x_filter[3];
+ //x_x_filter_ph[3]=x_x_filter_ph[2];
+ x_x_filter_ph[2]=x_x_filter_ph[1]; x_x_filter_ph[1]=x_x_filter_ph[0];
+ x_x_filter_ph[0]=gx_filtre;
+ //x_y_filter[6]=x_y_filter[5]; x_y_filter[5]=x_y_filter[4]; x_y_filter[4]=x_y_filter[3];
+ //x_y_filter_ph[3]=x_y_filter_ph[2];
+ x_y_filter_ph[2]=x_y_filter_ph[1]; x_y_filter_ph[1]=x_y_filter_ph[0];
+ x_y_filter_ph[0]=b_coef_ph[0]*x_x_filter_ph[0]+b_coef_ph[1]*x_x_filter_ph[1]+b_coef_ph[2]*x_x_filter_ph[2] //+b_coef_ph[3]*x_x_filter_ph[3] //+b_coef[4]*x_x_filter[4]+b_coef[5]*x_x_filter[5]+b_coef[6]*x_x_filter[6]
+ -(a_coef_ph[1]*x_y_filter_ph[1]+a_coef_ph[2]*x_y_filter_ph[2]); //+a_coef_ph[3]*x_y_filter_ph[3]); //+a_coef[4]*x_y_filter[4]+a_coef[5]*x_y_filter[5]+a_coef[6]*x_y_filter[6]);
+ gx_filtre=x_y_filter_ph[0];
+
+ //y_x_filter[6]=y_x_filter[5]; y_x_filter[5]=y_x_filter[4]; y_x_filter[4]=y_x_filter[3];
+ //y_x_filter_ph[3]=y_x_filter_ph[2];
+ y_x_filter_ph[2]=y_x_filter_ph[1]; y_x_filter_ph[1]=y_x_filter_ph[0];
+ y_x_filter_ph[0]=gy_filtre;
+ //y_y_filter[6]=y_y_filter[5]; y_y_filter[5]=y_y_filter[4]; y_y_filter[4]=y_y_filter[3];
+ //y_y_filter_ph[3]=y_y_filter_ph[2];
+ y_y_filter_ph[2]=y_y_filter_ph[1]; y_y_filter_ph[1]=y_y_filter_ph[0];
+ y_y_filter_ph[0]=b_coef_ph[0]*y_x_filter_ph[0]+b_coef_ph[1]*y_x_filter_ph[1]+b_coef_ph[2]*y_x_filter_ph[2] //+b_coef_ph[3]*y_x_filter_ph[3] //+b_coef[4]*y_x_filter[4]+b_coef[5]*y_x_filter[5]+b_coef[6]*y_x_filter[6]
+ -(a_coef_ph[1]*y_y_filter_ph[1]+a_coef_ph[2]*y_y_filter_ph[2]); //+a_coef_ph[3]*y_y_filter_ph[3]); //+a_coef[4]*y_y_filter[4]+a_coef[5]*y_y_filter[5]+a_coef[6]*y_y_filter[6]);
+ gy_filtre=y_y_filter_ph[0];
+
+ //z_x_filter[6]=z_x_filter[5]; z_x_filter[5]=z_x_filter[4]; z_x_filter[4]=z_x_filter[3];
+ //z_x_filter_ph[3]=z_x_filter_ph[2];
+ z_x_filter_ph[2]=z_x_filter_ph[1]; z_x_filter_ph[1]=z_x_filter_ph[0];
+ z_x_filter_ph[0]=gz_filtre;
+ //z_y_filter[6]=z_y_filter[5]; z_y_filter[5]=z_y_filter[4]; z_y_filter[4]=z_y_filter[3];
+ //z_y_filter_ph[3]=z_y_filter_ph[2];
+ z_y_filter_ph[2]=z_y_filter_ph[1]; z_y_filter_ph[1]=z_y_filter_ph[0];
+ z_y_filter_ph[0]=b_coef_ph[0]*z_x_filter_ph[0]+b_coef_ph[1]*z_x_filter_ph[1]+b_coef_ph[2]*z_x_filter_ph[2] //+b_coef_ph[3]*z_x_filter_ph[3] //+b_coef[4]*z_x_filter[4]+b_coef[5]*z_x_filter[5]+b_coef[6]*z_x_filter[6]
+ -(a_coef_ph[1]*z_y_filter_ph[1]+a_coef_ph[2]*z_y_filter_ph[2]); //+a_coef_ph[3]*z_y_filter_ph[3]); //+a_coef[4]*z_y_filter[4]+a_coef[5]*z_y_filter[5]+a_coef[6]*z_y_filter[6]);
+ gz_filtre=z_y_filter_ph[0];
+
+
+ trapeze_x=deltat*((gx_filtre+gx_filtre2)/2.0f);
+ trapeze_y=deltat*((gy_filtre+gy_filtre2)/2.0f);
+ trapeze_z=deltat*((gz_filtre+gz_filtre2)/2.0f);
+
+ gx_filtre2=gx_filtre;
+ gy_filtre2=gy_filtre;
+ gz_filtre2=gz_filtre;
+
+ //calcule angle
+ alpha+=trapeze_x;
+ betaa+=trapeze_y;
+ gammaa+=trapeze_z;
+
+ if(alpha>=360.0f){alpha-=360.0f;}
+ if(alpha<=-360.0f){alpha+=360.0f;}
+ if(betaa>=360.0f){betaa-=360.0f;}
+ if(betaa<=-360.0f){betaa+=360.0f;}
+ if(gammaa>=360.0f){gammaa-=360.0f;}
+ if(gammaa<=-360.0f){gammaa+=360.0f;}
+
+ ANA1.write((alpha+500.0f)/1000.0f);
+ //ANA2.write(alpha/360.0f);
// Serial print and/or display at 0.5 s rate independent of data rates
delt_t = t.read_ms() - count;
- if (delt_t > 500) { // update LCD once per half-second independent of read rate
+ if (delt_t > 100) { // update LCD once per half-second independent of read rate
pc.printf("ax = %f", 1000*ax);
pc.printf(" ay = %f", 1000*ay);
@@ -172,19 +290,23 @@
pc.printf(" gy = %f", gy);
pc.printf(" gz = %f deg/s\n\r", gz);
+// pc.printf("post filtre : gx = %f", gx_filtre2);
+// pc.printf(" gy = %f", gy_filtre2);
+// pc.printf(" gz = %f deg/s\n\r", gz_filtre2);
+
pc.printf(" temperature = %f C\n\r", temperature);
- pc.printf("q0 = %f\n\r", q[0]);
- pc.printf("q1 = %f\n\r", q[1]);
- pc.printf("q2 = %f\n\r", q[2]);
- pc.printf("q3 = %f\n\r", q[3]);
+// pc.printf("q0 = %f\n\r", q[0]);
+// pc.printf("q1 = %f\n\r", q[1]);
+// pc.printf("q2 = %f\n\r", q[2]);
+// pc.printf("q3 = %f\n\r", q[3]);
- lcd.clear();
- lcd.printString("MPU6050", 0, 0);
- lcd.printString("x y z", 0, 1);
- lcd.setXYAddress(0, 2); lcd.printChar((char)(1000*ax));
- lcd.setXYAddress(20, 2); lcd.printChar((char)(1000*ay));
- lcd.setXYAddress(40, 2); lcd.printChar((char)(1000*az)); lcd.printString("mg", 66, 2);
+ //lcd.clear();
+ //lcd.printString("MPU6050", 0, 0);
+ //lcd.printString("x y z", 0, 1);
+ //lcd.setXYAddress(0, 2); lcd.printChar((char)(1000*ax));
+ //lcd.setXYAddress(20, 2); lcd.printChar((char)(1000*ay));
+ //lcd.setXYAddress(40, 2); lcd.printChar((char)(1000*az)); lcd.printString("mg", 66, 2);
// Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
@@ -196,12 +318,12 @@
// Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
// applied in the correct order which for this configuration is yaw, pitch, and then roll.
// For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
- yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
- pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
- roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
- pitch *= 180.0f / PI;
- yaw *= 180.0f / PI;
- roll *= 180.0f / PI;
+ //yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
+ //pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
+ //roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
+ //pitch *= 180.0f / PI;
+ //yaw *= 180.0f / PI;
+ //roll *= 180.0f / PI;
// pc.printf("Yaw, Pitch, Roll: \n\r");
// pc.printf("%f", yaw);
@@ -211,8 +333,62 @@
// pc.printf("%f\n\r", roll);
// pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r");
- pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
- pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+ //pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
+ //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+
+ //BT.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
+ //BT.printf("average rate = %f\n\r", (float) sumCount/sum);
+
+ //alpha=yaw;
+ //betaa=pitch;
+ //gammaa=roll;
+
+ pc.printf("delta = %f\n\r", (float) deltat);
+// pc.printf("alpha, beta, gamma: %f %f %f\n\r", alpha, betaa, gammaa);
+
+ axx=ax;
+ ayy=ay;
+ azz=az;
+
+////////////////////////////////////////////////////////Matrice d'Euler();
+ c = cos(alpha*PI/180.0f); s = sin(alpha*PI/180.0f);
+ a = cos(betaa*PI/180.0f); b = sin(betaa*PI/180.0f);
+ d = cos(gammaa*PI/180.0f); e = sin(gammaa*PI/180.0f);
+
+ matrice[0][0] = e*a - e*c*b;
+ matrice[0][1] = (-d)*b - e*c*a;
+ matrice[0][2] = e*s;
+ matrice[1][0] = e*a + d*c*b;
+ matrice[1][1] = (-e)*b + d*c*a;
+ matrice[1][2] = (-d)*s;
+ matrice[2][0] = s*b;
+ matrice[2][1] = s*a;
+ matrice[2][2] = c;
+
+ for(i=0; i<3; i++)
+ {
+ float temp = 0;
+ temp = axx * matrice[i][0] + ayy * matrice[i][1] + azz * matrice[i][2];
+ resultat[i] = temp;
+ }
+//////////////////////////////////////////////////////////
+
+// if (first==true){
+// poid[0]=resultat[0];
+// poid[1]=resultat[1];
+// poid[2]=resultat[2];
+// first=false;
+// } else {
+// resultat[0]-=poid[0];
+// resultat[1]-=poid[1];
+// resultat[2]-=poid[2];
+// }
+
+// pc.printf("acceleration sans Euler : %f ; %f ; %f\n\r", axx, ayy, azz);
+// pc.printf("acceleration avec Euler : %f ; %f ; %f\n\r", resultat[0], resultat[1], resultat[2]);
+ BT.printf("acceleration sans Euler : %f ; %f ; %f\n\r", axx, ayy, azz);
+ BT.printf("acceleration avec Euler : %f ; %f ; %f\n\r", resultat[0], resultat[1], resultat[2]);
+
myled= !myled;
count = t.read_ms();
@@ -220,5 +396,15 @@
sumCount = 0;
}
}
+ if (BT.readable()) {
+ char c = BT.getc();
+ if(c == 'a') {
+ BT.printf("\nOK\n");
+ }
+ }
+}
- }
\ No newline at end of file
+ }
+
+
+
\ No newline at end of file