Gal Yaroslavsky / MicroMouse-v1

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Dependencies:   L3GD20 LSM303DLHC mbed

Main.cpp@1:cfe6a6ad8dca, 2014-03-29 (annotated)

Committer:
goy5022
Date:
Sat Mar 29 13:25:23 2014 +0000
Revision:
1:cfe6a6ad8dca
Parent:
0:c2ec30f28676
Child:
2:997f57aee3b7
derp_1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
goy5022 0:c2ec30f28676 1 #include "Core.h"
goy5022 0:c2ec30f28676 2
goy5022 0:c2ec30f28676 3 #include <iostream>
goy5022 0:c2ec30f28676 4 using namespace std;
goy5022 0:c2ec30f28676 5
goy5022 0:c2ec30f28676 6 IMUfilter imuFilter(0.01, 0.10f);
goy5022 0:c2ec30f28676 7
goy5022 1:cfe6a6ad8dca 8 Ticker ticker;
goy5022 0:c2ec30f28676 9
goy5022 1:cfe6a6ad8dca 10 void test()
goy5022 1:cfe6a6ad8dca 11 {
goy5022 1:cfe6a6ad8dca 12 collectSample();
goy5022 0:c2ec30f28676 13 }
goy5022 0:c2ec30f28676 14
goy5022 0:c2ec30f28676 15 int main()
goy5022 0:c2ec30f28676 16 {
goy5022 0:c2ec30f28676 17 Motor.baud(115200);
goy5022 1:cfe6a6ad8dca 18 ledF.period_us(26.2); //28.5 //27.9
goy5022 1:cfe6a6ad8dca 19 wait_us(100);
goy5022 1:cfe6a6ad8dca 20 //ledR.period_us(26.3); //28.5 // 26
goy5022 1:cfe6a6ad8dca 21 wait_us(100);
goy5022 1:cfe6a6ad8dca 22 //ledL.period_us(26.3); //28.5
goy5022 1:cfe6a6ad8dca 23 ledF = 0.5;
goy5022 0:c2ec30f28676 24 wait_us(100);
goy5022 1:cfe6a6ad8dca 25 ledR = 0.3; //31 & 26.2
goy5022 0:c2ec30f28676 26 wait_us(100);
goy5022 1:cfe6a6ad8dca 27 ledL = 0.651; //48 without cap
goy5022 1:cfe6a6ad8dca 28 Motor.baud(115200);
goy5022 1:cfe6a6ad8dca 29 //initMapping();
goy5022 1:cfe6a6ad8dca 30 //p.start();
goy5022 1:cfe6a6ad8dca 31 ticker.attach(&test, 0.002);
goy5022 0:c2ec30f28676 32 while(1)
goy5022 0:c2ec30f28676 33 {
goy5022 1:cfe6a6ad8dca 34 /*
goy5022 1:cfe6a6ad8dca 35 switch(WIRELESS.getChar())
goy5022 0:c2ec30f28676 36 {
goy5022 1:cfe6a6ad8dca 37 case 'r':
goy5022 1:cfe6a6ad8dca 38 WIRELESS.printf("Rights");
goy5022 1:cfe6a6ad8dca 39 turn_right(3);
goy5022 1:cfe6a6ad8dca 40 break;
goy5022 1:cfe6a6ad8dca 41 case 'l':
goy5022 1:cfe6a6ad8dca 42 WIRELESS.printf("Lefts");
goy5022 1:cfe6a6ad8dca 43 turn_left(3);
goy5022 1:cfe6a6ad8dca 44 break;
goy5022 1:cfe6a6ad8dca 45 case 'f':
goy5022 1:cfe6a6ad8dca 46 WIRELESS.printf("Front");
goy5022 1:cfe6a6ad8dca 47 forward(3);
goy5022 1:cfe6a6ad8dca 48 break;
goy5022 0:c2ec30f28676 49 case 't':
goy5022 1:cfe6a6ad8dca 50 WIRELESS.printf("%f", imuFilter.getYaw());
goy5022 0:c2ec30f28676 51 break;
goy5022 0:c2ec30f28676 52
goy5022 1:cfe6a6ad8dca 53 }*/
goy5022 1:cfe6a6ad8dca 54
goy5022 1:cfe6a6ad8dca 55 // stop();
goy5022 1:cfe6a6ad8dca 56
goy5022 1:cfe6a6ad8dca 57 /*
goy5022 1:cfe6a6ad8dca 58 compass.read(&ax, &ay, &az, &mx, &my, &mz);
goy5022 1:cfe6a6ad8dca 59 gyro.read(&gx, &gy, &gz);
goy5022 1:cfe6a6ad8dca 60
goy5022 1:cfe6a6ad8dca 61 curr = p.read();
goy5022 1:cfe6a6ad8dca 62
goy5022 1:cfe6a6ad8dca 63 imuFilter.updateFilter(gx * (PI/18000), gy * (PI/18000), (gz + 0.63f) * (PI/18000), ax, ay, az, .01);
goy5022 1:cfe6a6ad8dca 64 imuFilter.computeEuler();
goy5022 1:cfe6a6ad8dca 65
goy5022 1:cfe6a6ad8dca 66 last = curr;
goy5022 1:cfe6a6ad8dca 67
goy5022 1:cfe6a6ad8dca 68 WIRELESS.printf("%f %f \n\r", last-curr, 1000.0f * imuFilter.getYaw());
goy5022 1:cfe6a6ad8dca 69 wait_ms(10);
goy5022 1:cfe6a6ad8dca 70
goy5022 1:cfe6a6ad8dca 71 //forward(5);
goy5022 1:cfe6a6ad8dca 72 //return 0;
goy5022 0:c2ec30f28676 73
goy5022 0:c2ec30f28676 74 */
goy5022 0:c2ec30f28676 75
goy5022 0:c2ec30f28676 76
goy5022 1:cfe6a6ad8dca 77 //WIRELESS.printf("V: %f \tA: %f\n\r", new_value, accumulator);
goy5022 0:c2ec30f28676 78
goy5022 1:cfe6a6ad8dca 79
goy5022 1:cfe6a6ad8dca 80 forward(3);
goy5022 0:c2ec30f28676 81 }
goy5022 0:c2ec30f28676 82
goy5022 0:c2ec30f28676 83 return 0;
goy5022 0:c2ec30f28676 84 }