Revision 2:add8059b69fa, committed 2016-04-07

Comitter:

szeitler18

Date:

Thu Apr 07 18:01:22 2016 +0000

Parent:

1:f2736d5ba512

Commit message:

Sick Program in need of tlc

Changed in this revision

diff -r f2736d5ba512 -r add8059b69fa dof9RazorImuAhrs.cpp
--- a/dof9RazorImuAhrs.cpp	Thu Apr 07 16:52:48 2016 +0000
+++ b/dof9RazorImuAhrs.cpp	Thu Apr 07 18:01:22 2016 +0000
@@ -17,19 +17,20 @@
 // Includes
 //****************************************************************************/
 #include "dof9RazorImuAhrs.h"
+extern DigitalOut led1;
 
 dof9RazorImuAhrs::dof9RazorImuAhrs(PinName tx, PinName rx) {
 
     razor = new Serial(tx, rx);
     razor->baud(BAUD_RATE);
-
+    led1 = 0;
 }
 
 void dof9RazorImuAhrs::update(void) {
-
+    led1 = 1;
     //Make sure we get to the start of a line.
     while (razor->getc() != '\n');
-
+    led1 = 0;
 #if PRINT_EULER == 1
     razor->scanf("!ANG:%f,%f,%f", &roll, &pitch, &yaw);
 #endif

diff -r f2736d5ba512 -r add8059b69fa dof9RazorImuAhrs.h
--- a/dof9RazorImuAhrs.h	Thu Apr 07 16:52:48 2016 +0000
+++ b/dof9RazorImuAhrs.h	Thu Apr 07 18:01:22 2016 +0000
@@ -24,8 +24,8 @@
 //****************************************************************************/
 // Defines
 //****************************************************************************/
-#define PRINT_EULER   1     //Corrected heading data.
-#define PRINT_ANALOGS 0     //Razor spits out raw gyro/accelerometer/magneto
+#define PRINT_EULER   0     //Corrected heading data.
+#define PRINT_ANALOGS 1     //Razor spits out raw gyro/accelerometer/magneto
                             //data.
                             //Set as a define when compiling AHRS code.
 #define BAUD_RATE     57600 //Default in AHRS code.

diff -r f2736d5ba512 -r add8059b69fa main.cpp
--- a/main.cpp	Thu Apr 07 16:52:48 2016 +0000
+++ b/main.cpp	Thu Apr 07 18:01:22 2016 +0000
@@ -6,15 +6,25 @@
 #include "mbed.h"
 
 Serial pc(USBTX, USBRX);
-dof9RazorImuAhrs theRazor(p27, p28);
+dof9RazorImuAhrs theRazor(p9, p10);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
 const float g = 9.8;
+float x;
+
 int main() {
-    
+    pc.printf("I'm alive!\r\n");
     while(1) {
-        wait(0.1);
-        theRazor.update();
-         pc.printf("ax = %.2fg, ay = %.2fg, az = %.2fg\r\n", theRazor.getAccX()*g,theRazor.getAccY()*g, theRazor.getAccZ()*g);
-         pc.printf("gyrox = %.2fg, gyroy = %.2fg, gyroz = %.2fg\r\n", theRazor.getGyroX() *g, theRazor.getGyroY() *g, theRazor.getGyroZ() *g);
+        pc.printf("Hi!\r\n");
+        led2 = 1;
+        wait(1);
+        led2 = 0;
+       theRazor.update();
+       x = theRazor.getAccX();
+       pc.printf("ax = %.2f\r\n",x);
+        pc.printf("ax = %.2fg, ay = %.2fg, az = %.2fg\r\n", theRazor.getAccX(),theRazor.getAccY(), theRazor.getAccZ());
+         //pc.printf("gyrox = %.2fg, gyroy = %.2fg, gyroz = %.2fg\r\n", theRazor.getGyroX() , theRazor.getGyroY() , theRazor.getGyroZ());
           
     }