keisuke Yoshida
/
BLE_WallbotBLE_Challenge_byYUTAKA
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BLE_WallbotBLE_Challenge
by 
Yutaka Yoshida
Revision 3:f707552ec50a, committed 2018-06-03
- Comitter:
- Dyotty
- Date:
- Sun Jun 03 07:04:34 2018 +0000
- Parent:
- 2:3c406d25860e
- Child:
- 4:951fabc31ba6
- Commit message:
- MPU6050????????
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050_Mod.lib Sun Jun 03 07:04:34 2018 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/mbed_tw_hoehoe/code/MPU6050_Mod/#01634c0bcfd9
--- a/TB6612FNG/TB6612.cpp Fri Feb 20 00:07:48 2015 +0000
+++ b/TB6612FNG/TB6612.cpp Sun Jun 03 07:04:34 2018 +0000
@@ -47,7 +47,7 @@
if( speed > 0.0 )
{
- if( speed > 0.7) speed = 0.7;
+ //if( speed > 0.7) speed = 1.0;
_pwm = speed;
_fwd = 1;
_rev = 0;
@@ -55,7 +55,7 @@
}
else if( speed < 0.0 )
{
- if( speed < -0.7) speed = -0.7;
+ //if( speed < -0.7) speed = -1.0;
_pwm = -speed;
_fwd = 0;
_rev = 1;
--- a/main.cpp Fri Feb 20 00:07:48 2015 +0000
+++ b/main.cpp Sun Jun 03 07:04:34 2018 +0000
@@ -2,10 +2,14 @@
#include "BLEDevice.h"
#include "RCBController.h"
#include "TB6612.h"
+#include "MPU6050.h"
#define DBG 0
BLEDevice ble;
+
+MPU6050 mpu(I2C_SDA, I2C_SCL);
+
#if DBG
Serial pc(USBTX, USBRX);
#endif
@@ -19,7 +23,7 @@
AnalogIn fsen2(P0_3);
AnalogIn fsen3(P0_4);
AnalogIn fsen4(P0_5);
-#if 0
+#if 1
TB6612 left(P0_29,P0_23,P0_24);
TB6612 right(P0_28,P0_30,P0_0);
#else
@@ -404,6 +408,11 @@
}
}
+ // MPU6050 Initialize
+ mpu.initialize();
+ mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_8G);
+ mpu.setGyroRange(MPU6050_GYRO_RANGE_1000);
+
ble.init();
ble.onConnection(onConnected);
ble.onDisconnection(onDisconnected);