Dorian Mauša / Mbed 2 deprecated Konstrukcijski

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Dependencies:   mbed MPU6050 Pozicija

main.cpp@1:19dc1ee367a9, 2020-05-04 (annotated)

Committer:
dmausa
Date:
Mon May 04 12:03:50 2020 +0000
Revision:
1:19dc1ee367a9
Parent:
0:eeb65c4f3a00 
Tvz,specelo,Mikroupravljaci

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dmausa 0:eeb65c4f3a00 1 #include "mbed.h"
dmausa 0:eeb65c4f3a00 2 #include "MPU6050.h"
dmausa 0:eeb65c4f3a00 3 #include "Pozicija.h"
dmausa 0:eeb65c4f3a00 4
dmausa 0:eeb65c4f3a00 5 Serial pc(USBTX, USBRX);
dmausa 0:eeb65c4f3a00 6 MPU6050 mpu(0x68);
dmausa 0:eeb65c4f3a00 7 Pozicije poz(mpu);
dmausa 0:eeb65c4f3a00 8
dmausa 0:eeb65c4f3a00 9
dmausa 0:eeb65c4f3a00 10 DigitalOut myled1(LED1); //Objekti digitalnih izlaza (spojeni na ugradjene LED diode)
dmausa 0:eeb65c4f3a00 11 DigitalOut myled4(LED4); //Objekti digitalnih izlaza (spojeni na ugradjene LED diode)
dmausa 0:eeb65c4f3a00 12
dmausa 0:eeb65c4f3a00 13 InterruptIn button(p21); //Interrupt na pin 21
dmausa 0:eeb65c4f3a00 14
dmausa 0:eeb65c4f3a00 15 Timer debounce;
dmausa 0:eeb65c4f3a00 16 Ticker TickTack;
dmausa 0:eeb65c4f3a00 17
dmausa 0:eeb65c4f3a00 18
dmausa 0:eeb65c4f3a00 19 void PrintOut()
dmausa 0:eeb65c4f3a00 20 {
dmausa 0:eeb65c4f3a00 21 myled1=myled4;
dmausa 0:eeb65c4f3a00 22 myled4=!myled4; //Blinkanje ledicama
dmausa 0:eeb65c4f3a00 23
dmausa 0:eeb65c4f3a00 24 pc.printf("Trenutne koordinate osi: \n");
dmausa 0:eeb65c4f3a00 25 pc.printf("Acc X : %d \r", poz.getAccX() );
dmausa 0:eeb65c4f3a00 26 pc.printf("Acc Y : %d \r", poz.getAccY() );
dmausa 0:eeb65c4f3a00 27 pc.printf("Acc Z : %d \r", poz.getAccZ() );
dmausa 0:eeb65c4f3a00 28
dmausa 0:eeb65c4f3a00 29 pc.printf("Rotacija X : %d \r", poz.getGyX() );
dmausa 0:eeb65c4f3a00 30 pc.printf("Rotacija Y : %d \r", poz.getGyY() );
dmausa 0:eeb65c4f3a00 31 pc.printf("Rotacija Z : %d \r", poz.getGyZ() );
dmausa 0:eeb65c4f3a00 32 }
dmausa 0:eeb65c4f3a00 33
dmausa 0:eeb65c4f3a00 34 void Update()
dmausa 0:eeb65c4f3a00 35 {
dmausa 0:eeb65c4f3a00 36 if (debounce.read_ms()>200) { //200 ms od zadnjeg interrupta
dmausa 0:eeb65c4f3a00 37
dmausa 0:eeb65c4f3a00 38 if(mpu.testConnection()) { //Testira konekciju s MPU6050
dmausa 0:eeb65c4f3a00 39
dmausa 0:eeb65c4f3a00 40 pc.printf("Konekcija OK\n");
dmausa 0:eeb65c4f3a00 41 poz.Update();
dmausa 0:eeb65c4f3a00 42 } else {
dmausa 0:eeb65c4f3a00 43 pc.printf("Konekcija !OK\n");
dmausa 0:eeb65c4f3a00 44 }
dmausa 0:eeb65c4f3a00 45 }
dmausa 0:eeb65c4f3a00 46
dmausa 0:eeb65c4f3a00 47 debounce.reset(); //Reser debounce timera na 0 ms
dmausa 0:eeb65c4f3a00 48 }
dmausa 0:eeb65c4f3a00 49
dmausa 0:eeb65c4f3a00 50 void setup()
dmausa 0:eeb65c4f3a00 51 {
dmausa 0:eeb65c4f3a00 52 mpu.initialize(); //"Budi" mpu i postavlja osnovne parametre
dmausa 0:eeb65c4f3a00 53
dmausa 0:eeb65c4f3a00 54 if(mpu.testConnection()) { // Testira konekciju
dmausa 0:eeb65c4f3a00 55 pc.printf("MPU uspjesno spojen \n");
dmausa 0:eeb65c4f3a00 56 } else {
dmausa 0:eeb65c4f3a00 57 pc.printf("MPU nije pronaden \n");
dmausa 0:eeb65c4f3a00 58 }
dmausa 0:eeb65c4f3a00 59
dmausa 0:eeb65c4f3a00 60 debounce.start(); //Pokreče debounce Timer
dmausa 0:eeb65c4f3a00 61 button.rise(Update); //Na rastuci brid pokreče funkciju "Update"
dmausa 0:eeb65c4f3a00 62
dmausa 0:eeb65c4f3a00 63 TickTack.attach(&PrintOut,2) ;//Svake 2 sekunde pokrece funkciju za ispis pozicija
dmausa 0:eeb65c4f3a00 64 }
dmausa 0:eeb65c4f3a00 65
dmausa 0:eeb65c4f3a00 66
dmausa 0:eeb65c4f3a00 67 int main()
dmausa 0:eeb65c4f3a00 68 {
dmausa 0:eeb65c4f3a00 69 setup();
dmausa 0:eeb65c4f3a00 70 }