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?
User | Revision | Line number | New 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);} |