main.cpp

00001 /**
00002  * Read the yaw value from the SparkFun 9DOF Razor IMU.
00003  */
00004 
00005 #include "dof9RazorImuAhrs.h"
00006 #include "mbed.h"
00007 
00008 Serial pc(USBTX, USBRX);
00009 dof9RazorImuAhrs theRazor(p9, p10);
00010 DigitalOut led1(LED1);
00011 DigitalOut led2(LED2);
00012 
00013 const float g = 9.8;
00014 float x;
00015 
00016 int main() {
00017     pc.printf("I'm alive!\r\n");
00018     while(1) {
00019         pc.printf("Hi!\r\n");
00020         led2 = 1;
00021         wait(1);
00022         led2 = 0;
00023        theRazor.update();
00024        x = theRazor.getAccX();
00025        pc.printf("ax = %.2f\r\n",x);
00026         pc.printf("ax = %.2fg, ay = %.2fg, az = %.2fg\r\n", theRazor.getAccX(),theRazor.getAccY(), theRazor.getAccZ());
00027          //pc.printf("gyrox = %.2fg, gyroy = %.2fg, gyroz = %.2fg\r\n", theRazor.getGyroX() , theRazor.getGyroY() , theRazor.getGyroZ());
00028           
00029     }
00030     
00031 }