main.cpp

00001 #include "mbed.h"
00002 #include "x_nucleo_iks01a1.h"
00003 
00004 #define SERVO_IDLE (0.00153)
00005 
00006 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(D14, D15);
00007 static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer();
00008 PwmOut servo(D3);
00009 
00010 int main(int argc, char** argv)
00011 {
00012     int32_t axes[3];
00013     float pwmWidth;
00014     
00015     /* Initialize PWM to 50Hz*/
00016     servo.period(0.020);
00017     servo.pulsewidth(SERVO_IDLE);
00018         
00019     while(1){
00020         /* SENSE accelerometer X axis */
00021         accelerometer->Get_X_Axes(axes);
00022         
00023         /* COMPUTE PWM width */
00024         pwmWidth = SERVO_IDLE + axes[0] * 1e-7;
00025         
00026         /* ACTUATE Servo Motor according to accelerometer value */
00027         servo.pulsewidth(pwmWidth);
00028         
00029         /* Wait 50ms */
00030         wait(0.05);
00031     }
00032 }
00033