Diff: main.cpp

Revision:

0:24e3c27078b0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jan 19 09:58:39 2018 +0000
@@ -0,0 +1,41 @@
+#include "mbed.h"
+#include "MPU6050.h"
+#include "ledControl.h"
+
+Serial pc(USBTX, USBRX);  
+MPU6050 mpu6050;
+
+Ticker toggler1;
+
+void toggle_led1();
+//void toggle_led2();
+
+float pitchAngle = 0;
+float rollAngle = 0;
+float yawAngle = 0;
+
+int main() 
+{
+    pc.baud(9600);          // baud rate: 9600
+    mpu6050.whoAmI();       // Communication test: WHO_AM_I register reading 
+    wait(1);
+    mpu6050.calibrate(accelBias,gyroBias);  // Calibrate MPU6050
+    pc.printf("Calibration is completed. \r\n");
+    wait(0.5);
+    mpu6050.init();         // Initialize the sensor
+    wait(1);
+    pc.printf("MPU6050 is initialized for operation.. \r\n\r\n");
+    wait_ms(500);
+ 
+    while(1) 
+    {
+        mpu6050.complementaryFilter(&pitchAngle, &rollAngle, &yawAngle);
+        //pc.printf("%.3f,%.3f,%.3f   \r\n",pitchAngle, rollAngle,yawAngle);
+        pc.printf("%.3f,%.3f,%.3f   \r\n",ax, ay,az);
+        //wait(0.1);
+
+    }
+}
+
+void toggle_led1() {ledToggle(1);}
+//void toggle_led2() {ledToggle(2);}
\ No newline at end of file