main.cpp

00001 //Base Unit containing the accelerometer and the Xbee Module
00002 #include "mbed.h"
00003  #include "ADXL345.h"
00004  
00005  ADXL345 accelerometer(p5, p6, p7, p8);
00006  Serial pc(USBTX, USBRX);
00007  
00008 Serial xbee1(p9, p10);
00009 DigitalOut rst1(p11);
00010 
00011 
00012 DigitalOut myled(LED3);//Create variable for Led 3 on the mbed
00013 
00014 int main() {
00015 
00016     // reset the xbees (at least 200ns)
00017     rst1 = 0;
00018    // rst2 = 0;
00019     wait_ms(1); 
00020     rst1 = 1;
00021   //  rst2 = 1;
00022     wait_ms(1); 
00023     
00024      int readings[3] = {0, 0, 0};
00025      
00026      pc.printf("Starting ADXL345 test...\n");
00027      pc.printf("Device ID is: 0x%02x\n", accelerometer.getDevId());
00028  
00029      //Go into standby mode to configure the device.
00030      accelerometer.setPowerControl(0x00);
00031  
00032      //Full resolution, +/-16g, 4mg/LSB.
00033      accelerometer.setDataFormatControl(0x0B);
00034      
00035      //3.2kHz data rate.
00036      accelerometer.setDataRate(ADXL345_3200HZ);
00037  
00038      //Measurement mode.
00039      accelerometer.setPowerControl(0x08);
00040  
00041     while(1) {
00042     
00043              wait(0.5);
00044          
00045          accelerometer.getOutput(readings);
00046          
00047          //13-bit, sign extended values.
00048          pc.printf("%f, %f, %f\n\r", (float)readings[0]/65535, (float)readings[1]/65535, (float)readings[2]/65535);
00049  
00050         if ((float)readings[1]/65535 > 0.5)
00051         xbee1.putc('C'); //Forward
00052         if ((float)readings[1]/65535 < 0.5)
00053         xbee1.putc('D'); //Reverse
00054         myled = 1;
00055              wait_ms(100);
00056              myled=0;
00057               wait_ms(100);
00058    
00059     }
00060 }