E Shibut / Mbed 2 deprecated IMU_Tracker

Reads IMU and pushbutton trigger, writes to PC over serial.

Dependencies:   LSM9DS0 mbed

main.cpp@0:5fa2d8adbee6, 2015-12-04 (annotated)

Committer:
eshibut3
Date:
Fri Dec 04 05:29:39 2015 +0000
Revision:
0:5fa2d8adbee6
Reads in IMU data and checks for pushbutton trigger, writes to PC over serial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
eshibut3 0:5fa2d8adbee6 1 #include "mbed.h"
eshibut3 0:5fa2d8adbee6 2 #include "LSM9DS0.h"
eshibut3 0:5fa2d8adbee6 3
eshibut3 0:5fa2d8adbee6 4 #define LSM9DS0_XM_ADDR 0x1D // Would be 0x1E if SDO_XM is LOW
eshibut3 0:5fa2d8adbee6 5 #define LSM9DS0_G_ADDR 0x6B // Would be 0x6A if SDO_G is LOW
eshibut3 0:5fa2d8adbee6 6
eshibut3 0:5fa2d8adbee6 7 LSM9DS0 imu(p9, p10, LSM9DS0_G_ADDR, LSM9DS0_XM_ADDR);
eshibut3 0:5fa2d8adbee6 8 Serial pc(USBTX, USBRX);
eshibut3 0:5fa2d8adbee6 9
eshibut3 0:5fa2d8adbee6 10 //Extra inputs for 'fake' connections, can ignore
eshibut3 0:5fa2d8adbee6 11 DigitalIn in0(p21);
eshibut3 0:5fa2d8adbee6 12 DigitalIn in1(p22);
eshibut3 0:5fa2d8adbee6 13 DigitalIn in2(p23);
eshibut3 0:5fa2d8adbee6 14 DigitalIn in3(p17);
eshibut3 0:5fa2d8adbee6 15
eshibut3 0:5fa2d8adbee6 16 //Trigger pushbutton
eshibut3 0:5fa2d8adbee6 17 DigitalIn trigger(p15);
eshibut3 0:5fa2d8adbee6 18
eshibut3 0:5fa2d8adbee6 19 int main() {
eshibut3 0:5fa2d8adbee6 20 //Initialize IMU
eshibut3 0:5fa2d8adbee6 21 imu.begin();
eshibut3 0:5fa2d8adbee6 22 //Set pushbutton input mode
eshibut3 0:5fa2d8adbee6 23 trigger.mode(PullUp);
eshibut3 0:5fa2d8adbee6 24 while(1) {
eshibut3 0:5fa2d8adbee6 25 imu.readAccel();
eshibut3 0:5fa2d8adbee6 26 imu.readGyro();
eshibut3 0:5fa2d8adbee6 27 imu.readMag();
eshibut3 0:5fa2d8adbee6 28 //IMPORTANT - Unity only recognizes Unix-style line endings in the context of the C# SerialPort.ReadLine() function
eshibut3 0:5fa2d8adbee6 29 pc.printf("%f %f %f$%f %f %f$%f %f %f\r\n", imu.ax, imu.ay, imu.az, imu.gx, imu.gy, imu.gz, imu.mx, imu.my, imu.mz);
eshibut3 0:5fa2d8adbee6 30 wait(.005);
eshibut3 0:5fa2d8adbee6 31 if (!trigger) //Print constant fire string
eshibut3 0:5fa2d8adbee6 32 pc.printf("PEW\r\n");
eshibut3 0:5fa2d8adbee6 33 }
eshibut3 0:5fa2d8adbee6 34 }
eshibut3 0:5fa2d8adbee6 35