Diff: main.cpp

Revision:

1:8f6591373cfd

Parent:

0:1d41bd249237

Child:

2:f89067092cef

--- a/main.cpp	Fri Nov 24 11:10:42 2017 +0000
+++ b/main.cpp	Fri Nov 24 11:30:50 2017 +0000
@@ -5,20 +5,13 @@
 Serial BT(PA_10, PA_9);
 
 MPU6050 mpu6050;
+Ticker t;
 
 DigitalOut myled(LED1);
 
-int main()
-{
-    PC.baud(9600);  
-    PC.printf("Hello World !\n");
-    BT.baud(9600);  
-    BT.printf("Connection BT\n");
-    
-    
-    
-    
-    while(1) {
+float alpha, beta, gamma, R11, R12, R13, R21, R22, R23, R31, R32, R33, poidx, poidy, poidz, periode;
+
+void recup_MPU(void){
         
         if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
     mpu6050.readAccelData(accelCount);  // Read the x/y/z adc values
@@ -70,5 +63,42 @@
             PC.printf("gyroscope in Z = %u, or %f dps\n", (unsigned int)gyroCount[2], gz);
             
             PC.printf("temperature = %u, or %f C\n", (unsigned int)tempCount, temperature);
+}
+
+void boucle(void){
+    recup_MPU();
+    alpha+=gx*periode;
+    beta+=gy*periode;
+    gamma+=gz*periode;
+    
+    
+}
+
+int main()
+{
+    PC.baud(9600);  
+    PC.printf("Hello World !\n");
+    BT.baud(9600);  
+    BT.printf("Connection BT\n");
+    
+    periode=0.1;
+    
+    alpha=0.0;
+    beta=0.0;
+    gamma=0.0;        
+    
+    recup_MPU();
+    poidx=ax;
+    poidy=ay;
+    poidz=az;
+    
+    
+    t.attach(&boucle, periode);
+    
+    
+    
+    while(1) {
+
+    
     }
 }