Dongbing Gu / Mbed 2 deprecated mbed_MPU6050

test

Dependencies:   MPU6050 ledControl2 mbed

main.cpp@0:24e3c27078b0, 2018-01-19 (annotated)

Committer:
dgu
Date:
Fri Jan 19 09:58:39 2018 +0000
Revision:
0:24e3c27078b0
a1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dgu 0:24e3c27078b0 1 #include "mbed.h"
dgu 0:24e3c27078b0 2 #include "MPU6050.h"
dgu 0:24e3c27078b0 3 #include "ledControl.h"
dgu 0:24e3c27078b0 4
dgu 0:24e3c27078b0 5 Serial pc(USBTX, USBRX);
dgu 0:24e3c27078b0 6 MPU6050 mpu6050;
dgu 0:24e3c27078b0 7
dgu 0:24e3c27078b0 8 Ticker toggler1;
dgu 0:24e3c27078b0 9
dgu 0:24e3c27078b0 10 void toggle_led1();
dgu 0:24e3c27078b0 11 //void toggle_led2();
dgu 0:24e3c27078b0 12
dgu 0:24e3c27078b0 13 float pitchAngle = 0;
dgu 0:24e3c27078b0 14 float rollAngle = 0;
dgu 0:24e3c27078b0 15 float yawAngle = 0;
dgu 0:24e3c27078b0 16
dgu 0:24e3c27078b0 17 int main()
dgu 0:24e3c27078b0 18 {
dgu 0:24e3c27078b0 19 pc.baud(9600); // baud rate: 9600
dgu 0:24e3c27078b0 20 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading
dgu 0:24e3c27078b0 21 wait(1);
dgu 0:24e3c27078b0 22 mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050
dgu 0:24e3c27078b0 23 pc.printf("Calibration is completed. \r\n");
dgu 0:24e3c27078b0 24 wait(0.5);
dgu 0:24e3c27078b0 25 mpu6050.init(); // Initialize the sensor
dgu 0:24e3c27078b0 26 wait(1);
dgu 0:24e3c27078b0 27 pc.printf("MPU6050 is initialized for operation.. \r\n\r\n");
dgu 0:24e3c27078b0 28 wait_ms(500);
dgu 0:24e3c27078b0 29
dgu 0:24e3c27078b0 30 while(1)
dgu 0:24e3c27078b0 31 {
dgu 0:24e3c27078b0 32 mpu6050.complementaryFilter(&pitchAngle, &rollAngle, &yawAngle);
dgu 0:24e3c27078b0 33 //pc.printf("%.3f,%.3f,%.3f \r\n",pitchAngle, rollAngle,yawAngle);
dgu 0:24e3c27078b0 34 pc.printf("%.3f,%.3f,%.3f \r\n",ax, ay,az);
dgu 0:24e3c27078b0 35 //wait(0.1);
dgu 0:24e3c27078b0 36
dgu 0:24e3c27078b0 37 }
dgu 0:24e3c27078b0 38 }
dgu 0:24e3c27078b0 39
dgu 0:24e3c27078b0 40 void toggle_led1() {ledToggle(1);}
dgu 0:24e3c27078b0 41 //void toggle_led2() {ledToggle(2);}