svoe
Dependencies: mbed mbed-STM32F103C8T6 MPU6050_1
Diff: main.cpp
- Revision:
- 10:5bdd3dfd5f59
- Parent:
- 9:8f98b1c277a4
- Child:
- 12:721a9ea55e91
--- a/main.cpp Sat Sep 16 13:24:25 2017 +0000 +++ b/main.cpp Wed Sep 05 18:25:54 2018 +0000 @@ -17,12 +17,18 @@ // usb_serial.printf("I am a USB serial port\r\n"); //stop(); gyro_x=0, gyro_y=0, gyro_angle=0, gyro_v=0, gyro_s=0; - play(21); + //play(21); /*go(1); stop();*/ - speed = 10;radius = 1e5; - infinite_flag = 1;motor_busy = 1;stop_flag = 0; - //go(5); + //speed = 10;radius = 1e5; + //infinite_flag = 1;motor_busy = 1;stop_flag = 0; + + /*go(0.1); + myled = !myled ; + go(0.1); + go(-0.3); + go(0.4);*/ + //external_command = 0xff; /* MPU6050 gyro(PB_9,PB_8); @@ -40,13 +46,13 @@ pc.printf("%hhu: ",i2c.read(tmaddr,&tmdata,1)); pc.printf("%hhu; \n",tmdata); */ - while(1){ + while(1){ //pc.printf("mhgc"); while(realtime_flag == 0){} if(external_command != 0) command_process(); //wait_ms(40); //blocking - gy_old = gy; + //gy_old = gy; gyro_process(); //doesn't work in interrupt //pc.printf("ax:%.2f",ax); //if (infinite_flag == 1) wifi.printf("%.4f %.2f %.2f; ",ax,gz,motor_speed[1]);