HEPTA2 9軸センサー
Dependencies: Hepta2_9axis mbed
main.cpp
00001 #include "mbed.h" 00002 #include"Hepta9axis.h" 00003 00004 //DigitalOut myled(LED1); 00005 HeptaMPU9250 MPU9250(p28,p27,0xD0,0x18); 00006 Serial pc(USBTX,USBRX); 00007 int main() 00008 { 00009 while(1) { 00010 float ax,ay,az; 00011 float gx,gy,gz; 00012 float mx,my,mz; 00013 char gxa[4],gya[4],gza[4],axa[4],aya[4],aza[4],mxa[4],mya[4],mza[4]; 00014 int dsizea[4]; 00015 MPU9250.sen_acc(&ax,&ay,&az); 00016 MPU9250.sen_gyro(&gx,&gy,&gz); 00017 MPU9250.sen_mag(&mx,&my,&mz); 00018 MPU9250.sen_acc_u16(axa,aya,aza,&dsizea[0]); 00019 MPU9250.sen_gyro_u16(gxa,gya,gza,&dsizea[1]); 00020 MPU9250.sen_mag_u16(mxa,mya,mza,&dsizea[2]); 00021 pc.printf("AX = %f,AY = %f,AZ = %f\r\n",ax,ay,az); 00022 pc.printf("GX = %f,GY = %f,GZ = %f\r\n",gx,gy,gz); 00023 pc.printf("MX = %f,MY = %f,MZ = %f\r\n",mx,my,mz); 00024 00025 pc.printf("AX_16 = "); 00026 for(int i=0; i<4; i++) { 00027 pc.printf("%c",axa[i]); 00028 } 00029 pc.printf(","); 00030 pc.printf("AY_16 = "); 00031 for(int i=0; i<4; i++) { 00032 pc.printf("%c",aya[i]); 00033 } 00034 pc.printf(","); 00035 pc.printf("AZ_16 = "); 00036 for(int i=0; i<4; i++) { 00037 pc.printf("%c",aza[i]); 00038 } 00039 pc.printf("\r\n"); 00040 00041 pc.printf("GX_16 = "); 00042 for(int i=0; i<4; i++) { 00043 pc.printf("%c",gxa[i]); 00044 } 00045 pc.printf(","); 00046 pc.printf("GY_16 = "); 00047 for(int i=0; i<4; i++) { 00048 pc.printf("%c",gya[i]); 00049 } 00050 pc.printf(","); 00051 pc.printf("GZ_16 = "); 00052 for(int i=0; i<4; i++) { 00053 pc.printf("%c",gza[i]); 00054 } 00055 pc.printf("\r\n"); 00056 pc.printf("MX_16 = "); 00057 for(int i=0; i<4; i++) { 00058 pc.printf("%c",mxa[i]); 00059 } 00060 pc.printf(","); 00061 pc.printf("MY_16 = "); 00062 for(int i=0; i<4; i++) { 00063 pc.printf("%c",mya[i]); 00064 } 00065 pc.printf(","); 00066 pc.printf("MZ_16 = "); 00067 for(int i=0; i<4; i++) { 00068 pc.printf("%c",mza[i]); 00069 } 00070 pc.printf("\r\n"); 00071 00072 } 00073 }
Generated on Fri Jul 15 2022 14:00:09 by 1.7.2