Kazushi Yamanobe
てすと
Dependencies: BOARDC_BNO055 mbed BOARDC_BME280
Revision 0:8c0d8dc9eeac, committed 2018-11-28
- Comitter:
- Yamanobe
- Date:
- Wed Nov 28 05:04:30 2018 +0000
- Commit message:
- ???1
Changed in this revision
diff -r 000000000000 -r 8c0d8dc9eeac BOARDC_BME280.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BOARDC_BME280.lib Wed Nov 28 05:04:30 2018 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/Yajirushi/code/BOARDC_BME280/#2baa0f77d4d2
diff -r 000000000000 -r 8c0d8dc9eeac BOARDC_BNO055.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BOARDC_BNO055.lib Wed Nov 28 05:04:30 2018 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/Yajirushi/code/BOARDC_BNO055/#3807ce385b2a
diff -r 000000000000 -r 8c0d8dc9eeac main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Nov 28 05:04:30 2018 +0000
@@ -0,0 +1,80 @@
+#include "mbed.h"
+#include "BNO055.h"
+#include "BME280.h"
+
+DigitalOut m1_dir(p23);
+PwmOut m1_duty(p24);
+DigitalOut m2_dir(p21);
+PwmOut m2_duty(p22);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+Serial pc(USBTX, USBRX);
+I2C ifaceI2C(I2C_SDA, I2C_SCL); //センサー用のI2C
+BOARDC_BNO055 sensor1(&ifaceI2C);//センサーで使うI2Cの定義
+
+float pitch, roll;
+int i = 1.0;
+int k = 0.0;
+float p;
+
+int main()
+{
+ char co;
+ ifaceI2C.frequency(200000);
+ sensor1.initialize(false);
+ short dataBox[12];
+ float scEUL;
+ scEUL = sensor1.getEulerScale();
+
+ pc.printf("Chaek Driver.\n");
+
+ while(1)
+ {
+ wait(0.1);
+ co=pc.getc();
+ pc.putc(co);
+ sensor1.get9AxisAndEUL(dataBox);
+ roll = (float)dataBox[10] * scEUL;
+ pitch = (float)dataBox[11] * scEUL;
+
+ m1_duty.write(p);
+ m2_duty.write(p);
+
+ switch(co)
+ {
+ case'w':
+ m1_dir = i;
+ m2_dir =1.0 - i ;
+ p = 0.95;
+ break;
+
+ case'd':
+ m1_dir = i;
+ m2_dir = i;
+ p = 0.95;
+ break;
+
+ case's':
+ m1_dir = 1.0 - i;
+ m2_dir = i;
+ p = 0.95;
+ break;
+
+ case'a':
+ m1_dir = 1.0 - i;
+ m2_dir = 1.0 - i;
+ p = 0.95;
+ break;
+
+ case'e':
+ p = 0.0;
+ break;
+
+ case'c':
+ pc.printf("%05.4f,%05.4f\n", pitch,roll);
+ break;
+ }
+}
+}
\ No newline at end of file
diff -r 000000000000 -r 8c0d8dc9eeac mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Nov 28 05:04:30 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc \ No newline at end of file