Aaron Berk
/
IMUfilter_HelloWorld
Inertial measurement unit orientation filter example.
main.cpp
- Committer:
- aberk
- Date:
- 2010-08-03
- Revision:
- 0:56aa1ac6b59d
- Child:
- 1:9133b457bb41
File content as of revision 0:56aa1ac6b59d:
#include "IMUfilter.h" Serial pc(USBTX, USBRX); IMUfilter imuFilter(0.1); AnalogIn accelerometerX(p15); AnalogIn accelerometerY(p16); AnalogIn accelerometerZ(p17); AnalogIn gyroscopeX(p18); AnalogIn gyroscopeY(p19); AnalogIn gyroscopeZ(p20); int main() { while(1){ wait(0.1); //Gyro and accelerometer values must be converted to rad/s and m/s/s //before being passed to the filter. imuFilter.updateFilter(gyroscopeX.read(), gyroscopeY.read(), gyroscopeZ.read(), accelerometerX.read(), accelerometerY.read(), accelerometerZ.read()); imuFilter.computeEuler(); pc.printf("%f, %f, %f\n", imuFilter.getRoll(), imuFilter.getPitch(), imuFilter.getYaw()); } }