Lin ShengKun / Mbed OS NYP_FYP

FYP

Dependencies:   LSM6DSL

Fork of humanoid by Junjie Wang

main.cpp@2:7d574b1ab3cd, 2018-05-02 (annotated)

Committer:
ha731548874
Date:
Wed May 02 03:33:15 2018 +0000
Revision:
2:7d574b1ab3cd
Parent:
0:0ea84b3cf851
Child:
3:1345f959c490
together

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mr_wang 0:0ea84b3cf851 1 #include "mbed.h"
mr_wang 0:0ea84b3cf851 2 #include "rtos.h"
mr_wang 0:0ea84b3cf851 3
mr_wang 0:0ea84b3cf851 4 #include "accgyro.h"
mr_wang 0:0ea84b3cf851 5 //Serial pc(USBTX, USBRX);
mr_wang 0:0ea84b3cf851 6 DigitalOut led2(LED2);
mr_wang 0:0ea84b3cf851 7 Thread eventthread;
mr_wang 0:0ea84b3cf851 8 EventQueue eventqueue;
mr_wang 0:0ea84b3cf851 9
mr_wang 0:0ea84b3cf851 10 int main()
ha731548874 2:7d574b1ab3cd 11 {
ha731548874 2:7d574b1ab3cd 12 SERVO_init();
mr_wang 0:0ea84b3cf851 13 ACCGYRO_init();
mr_wang 0:0ea84b3cf851 14 eventthread.start(callback(&eventqueue, &EventQueue::dispatch_forever));
mr_wang 0:0ea84b3cf851 15 //ACCGYRO_thread.start(ACCGYRO_init);
mr_wang 0:0ea84b3cf851 16 //Thread::wait(osWaitForever);
ha731548874 2:7d574b1ab3cd 17 //eventqueue.call_every(1000, SERVO_task);
mr_wang 0:0ea84b3cf851 18 eventqueue.call_every(1000, ACCGYRO_task);
mr_wang 0:0ea84b3cf851 19 //q.dispatch();
mr_wang 0:0ea84b3cf851 20 //eventqueue.call_every(1000,printf,"LSM6DSL [acc/mg]: %6ld\r\n", ACCGYRO_get_gyro_x());
mr_wang 0:0ea84b3cf851 21 //q.dispatch();
mr_wang 0:0ea84b3cf851 22
mr_wang 0:0ea84b3cf851 23
mr_wang 0:0ea84b3cf851 24 while(1)
mr_wang 0:0ea84b3cf851 25 {
mr_wang 0:0ea84b3cf851 26 eventqueue.call(printf,"LSM6DSL [acc/mg]: %6ld\r\n", ACCGYRO_get_gyro_x());
mr_wang 0:0ea84b3cf851 27 led2 = !led2;
mr_wang 0:0ea84b3cf851 28 wait(1);
mr_wang 0:0ea84b3cf851 29 //q.dispatch();
mr_wang 0:0ea84b3cf851 30 //q.call(printf, "*\n");
mr_wang 0:0ea84b3cf851 31 //printf("*");
mr_wang 0:0ea84b3cf851 32 //Thread::wait(1000);
mr_wang 0:0ea84b3cf851 33 //printf("LSM6DSL [acc/mg]: %6ld\r\n", ACCGYRO_get_gyro_x());
mr_wang 0:0ea84b3cf851 34 //printf("LSM6DSL [gyro/mdps]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
mr_wang 0:0ea84b3cf851 35 }
mr_wang 0:0ea84b3cf851 36 }