Diff: main.cpp

Revision:

9:9185d37e061f

Parent:

8:769ff3814355

Child:

10:16ca5e9ee0dc

--- a/main.cpp	Sun Aug 06 21:17:29 2017 +0000
+++ b/main.cpp	Tue Aug 08 08:32:25 2017 +0000
@@ -26,14 +26,42 @@
 static DigitalOut db6(PC_14);
 static DigitalOut db7(PC_15);
 
+PwmOut Motor2 (PC_9);       //  Weiß
+PwmOut Motor1 (PC_8);       //  Schwarz
+PwmOut Motor3 (PC_6);       //  Grau
+PwmOut Motor4 (PB_9);       //  Blau
+                            //  Gelb und Orange Vcc +5V 
+                            //  Gnd Rot
+
 
 int main()
 { 
+
+float winkel1, winkel2;
+
 initialisierung_gyro();
 initialisierung_acc ();
+pc.printf("\n\r");
     while(1)
     {
-        pc.printf("\n\r");
-        pc.printf("%ld\t%ld\t%ld\t%ld\t%ld\t%ld\t\r",aktuell_gyro_z(), aktuell_gyro_x(), aktuell_gyro_y(), aktuell_acc_x (), aktuell_acc_y (), aktuell_acc_z ());
+        #include "mbed.h"
+
+        PwmOut PWM (PB_11);
+        AnalogIn poti (PA_6);
+ 
+
+        {
+        PWM = poti.read();
+        pc.printf("%f\n\r", poti.read());
+        }   
+        
+        float x = aktuell_acc_x ();
+        float z = aktuell_acc_z ();
+        winkel1 = (((float)atan2(x, z)));
+        float y = aktuell_acc_y ();
+        winkel2 = (((float)atan2(y, z)));
+
+
+        pc.printf("%4.2f\t\t\t%4.2f\t\r",winkel1*360/6.28, winkel2*360/6.28);
     }
 }
\ No newline at end of file