File content as of revision 20:babcf777607b:

/**
 ******************************************************************************
 * @file    main.cpp
 * @author  CLab
 * @version V1.0.0
 * @date    2-December-2016
 * @brief   Simple Example application for using the X_NUCLEO_IKS01A1
 *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
*/

/* Includes */
#include "mbed.h"
#include "XNucleoIKS01A2.h"
#include <iostream>
#include <cmath>

const float MAX_SPEED = .002;
const float MIN_SPEED = .003;
const float MAX_DEGREES = 3.0;
const float MIN_DEGREES = .5; 
const float MAX_TILT = (MIN_SPEED - MAX_SPEED) / MAX_DEGREES;



struct Vec3 {
    float x, y, z;
};

/* Instantiate the expansion board */
static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);

/* Retrieve the composing elements of the expansion board */
static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;




DigitalOut M1_step(D3);
DigitalOut M1_dir(D2);

DigitalOut M2_step(D5);
DigitalOut M2_dir(D4);




Vec3 get_accel()
{
    Vec3 vec3;
    int32_t axes[3];
    acc_gyro->get_x_axes(axes);

    vec3.x = axes[0]/1000.0f + 0.013f;
    vec3.y = axes[1]/1000.0f + 0.004f;
    vec3.z = axes[2]/1000.0f - 0.032f;

    return vec3;
}

void print_vec3(const char* str, const Vec3& vec3)
{
    std::cout << str << vec3.x << " " << vec3.y << " " << vec3.z << "\r\n";
}

float rad_to_deg(float radians)
{
    return radians * 57.2957795131f;
}




int main()
{
    /* Enable all sensors */
    magnetometer->enable();
    accelerometer->enable();
    acc_gyro->enable_x();
    acc_gyro->enable_g();

    Vec3 vec3;
    int numOfSteps;

    M1_dir = 1;
    M2_dir = 0;

    float given;


    for(;;) {
        vec3 = get_accel();
        given = rad_to_deg(atan(vec3.y / sqrtf(vec3.x*vec3.x + vec3.z*vec3.z)));

        numOfSteps = given / 0.055f;


        if (std::abs(given) > MIN_DEGREES) {
//Change direction.
            if(given > 0) {
                M1_dir = 0;
                M2_dir = 1;
            } else {
                M1_dir = 1;
                M2_dir = 0;
            }

            float stepTime;
            given = std::abs(given);
            
            if (given > MAX_DEGREES){
                stepTime = MAX_SPEED;
            }
            else{
                stepTime = (MAX_TILT * given) + MIN_SPEED;
            }
            //Control stepper motor.
            for(int i = 0; i < numOfSteps; ++i) {
                M2_step = 1;
                M1_step = 1;
                wait(0.0014);
                M1_step = 0;
                M2_step = 0;
                wait(0.0014);
            }
        }



    }
}