Diff: MPU6050.cpp

Revision:

2:d7915dab2d3c

Parent:

0:662207e34fba

--- a/MPU6050.cpp	Wed May 08 00:34:55 2013 +0000
+++ b/MPU6050.cpp	Tue Jul 01 23:24:17 2014 +0000
@@ -41,8 +41,9 @@
 */
 
 #include "MPU6050.h"
+#include "shared.h"
 
-#define useDebugSerial
+//#define useDebugSerial
 
 //instead of using pgmspace.h
 typedef const unsigned char prog_uchar;
@@ -52,7 +53,7 @@
 /** Default constructor, uses default I2C address.
  * @see MPU6050_DEFAULT_ADDRESS
  */
-MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
+MPU6050::MPU6050()
 {
     devAddr = MPU6050_DEFAULT_ADDRESS;
 }
@@ -63,7 +64,7 @@
  * @see MPU6050_ADDRESS_AD0_LOW
  * @see MPU6050_ADDRESS_AD0_HIGH
  */
-MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
+MPU6050::MPU6050(uint8_t address)
 {
     devAddr = address;
 }
@@ -1899,6 +1900,12 @@
 void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
 {
     i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
+    
+    for (int i = 0; i < 14; i++)
+    {
+        pc.printf("%d", buffer[i]);
+    }
+    
     *ax = (((int16_t)buffer[0]) << 8) | buffer[1];
     *ay = (((int16_t)buffer[2]) << 8) | buffer[3];
     *az = (((int16_t)buffer[4]) << 8) | buffer[5];