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ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
main.cpp@3:828e82089564, 2016-03-31 (annotated)
- Committer:
- ivo_david_michelle
- Date:
- Thu Mar 31 22:05:57 2016 +0000
- Revision:
- 3:828e82089564
- Parent:
- 2:c041e434eab6
- Child:
- 4:3040d0f9e8c6
more refactoring of code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ivo_david_michelle | 0:4c04e4fd1310 | 1 | #include "mbed.h" |
ivo_david_michelle | 1:b87e95907a18 | 2 | #define _MBED_ |
ivo_david_michelle | 1:b87e95907a18 | 3 | #include "Adafruit_9DOF.h" |
ivo_david_michelle | 1:b87e95907a18 | 4 | #include "Serial_base.h" |
ivo_david_michelle | 1:b87e95907a18 | 5 | #include "controller.h" |
ivo_david_michelle | 3:828e82089564 | 6 | #include "sensor.h" |
ivo_david_michelle | 1:b87e95907a18 | 7 | |
ivo_david_michelle | 1:b87e95907a18 | 8 | DigitalOut myled(LED1); |
ivo_david_michelle | 1:b87e95907a18 | 9 | Adafruit_9DOF dof = Adafruit_9DOF(); |
ivo_david_michelle | 1:b87e95907a18 | 10 | Adafruit_LSM303_Accel_Unified accel = Adafruit_LSM303_Accel_Unified(30301); |
ivo_david_michelle | 1:b87e95907a18 | 11 | Adafruit_LSM303_Mag_Unified mag = Adafruit_LSM303_Mag_Unified(30302); |
ivo_david_michelle | 1:b87e95907a18 | 12 | Adafruit_L3GD20_Unified gyro = Adafruit_L3GD20_Unified(20); |
ivo_david_michelle | 0:4c04e4fd1310 | 13 | |
ivo_david_michelle | 0:4c04e4fd1310 | 14 | Serial pc(USBTX, USBRX); |
ivo_david_michelle | 0:4c04e4fd1310 | 15 | |
ivo_david_michelle | 0:4c04e4fd1310 | 16 | |
ivo_david_michelle | 0:4c04e4fd1310 | 17 | |
ivo_david_michelle | 0:4c04e4fd1310 | 18 | int main() |
ivo_david_michelle | 0:4c04e4fd1310 | 19 | { |
ivo_david_michelle | 3:828e82089564 | 20 | control result; |
ivo_david_michelle | 3:828e82089564 | 21 | offset offset_gyro; |
ivo_david_michelle | 3:828e82089564 | 22 | |
ivo_david_michelle | 3:828e82089564 | 23 | initSensors(accel, mag, gyro,offset_gyro); |
ivo_david_michelle | 1:b87e95907a18 | 24 | |
ivo_david_michelle | 1:b87e95907a18 | 25 | sensors_event_t accel_event; |
ivo_david_michelle | 1:b87e95907a18 | 26 | sensors_event_t mag_event; |
ivo_david_michelle | 1:b87e95907a18 | 27 | sensors_event_t gyro_event; |
ivo_david_michelle | 1:b87e95907a18 | 28 | sensors_vec_t orientation; |
ivo_david_michelle | 2:c041e434eab6 | 29 | |
ivo_david_michelle | 3:828e82089564 | 30 | |
ivo_david_michelle | 0:4c04e4fd1310 | 31 | |
ivo_david_michelle | 0:4c04e4fd1310 | 32 | while (1) { |
ivo_david_michelle | 1:b87e95907a18 | 33 | |
ivo_david_michelle | 1:b87e95907a18 | 34 | /* Calculate pitch and roll from the raw accelerometer data */ |
ivo_david_michelle | 1:b87e95907a18 | 35 | accel.getEvent(&accel_event); |
ivo_david_michelle | 1:b87e95907a18 | 36 | if (dof.accelGetOrientation(&accel_event, &orientation)) { |
ivo_david_michelle | 1:b87e95907a18 | 37 | /* 'orientation' should have valid .roll and .pitch fields */ |
ivo_david_michelle | 1:b87e95907a18 | 38 | //s_com->print(("Roll: ")); |
ivo_david_michelle | 1:b87e95907a18 | 39 | //s_com->print(orientation.roll); |
ivo_david_michelle | 1:b87e95907a18 | 40 | //s_com->print(("; ")); |
ivo_david_michelle | 1:b87e95907a18 | 41 | //s_com->print(("Pitch: ")); |
ivo_david_michelle | 1:b87e95907a18 | 42 | //s_com->print(orientation.pitch); |
ivo_david_michelle | 1:b87e95907a18 | 43 | //s_com->print((";\t")); |
ivo_david_michelle | 1:b87e95907a18 | 44 | } |
ivo_david_michelle | 1:b87e95907a18 | 45 | /* Calculate the heading using the magnetometer */ |
ivo_david_michelle | 1:b87e95907a18 | 46 | mag.getEvent(&mag_event); |
ivo_david_michelle | 1:b87e95907a18 | 47 | if (dof.magGetOrientation(SENSOR_AXIS_Z, &mag_event, &orientation)) { |
ivo_david_michelle | 1:b87e95907a18 | 48 | /* 'orientation' should have valid .heading data now */ |
ivo_david_michelle | 1:b87e95907a18 | 49 | //s_com->print(("Heading: ")); |
ivo_david_michelle | 1:b87e95907a18 | 50 | //s_com->print(orientation.heading); |
ivo_david_michelle | 1:b87e95907a18 | 51 | // s_com->print((";\r\n")); |
ivo_david_michelle | 1:b87e95907a18 | 52 | } |
ivo_david_michelle | 1:b87e95907a18 | 53 | /* Get angular rate data from gyroscope */ |
ivo_david_michelle | 1:b87e95907a18 | 54 | gyro.getEvent(&gyro_event); |
ivo_david_michelle | 3:828e82089564 | 55 | gyro_event.gyro.x -= offset_gyro.x_offset; |
ivo_david_michelle | 3:828e82089564 | 56 | gyro_event.gyro.y -= offset_gyro.y_offset; |
ivo_david_michelle | 3:828e82089564 | 57 | gyro_event.gyro.z -= offset_gyro.z_offset; |
ivo_david_michelle | 1:b87e95907a18 | 58 | |
ivo_david_michelle | 1:b87e95907a18 | 59 | wait(0.1); |
ivo_david_michelle | 1:b87e95907a18 | 60 | |
ivo_david_michelle | 0:4c04e4fd1310 | 61 | // get sensor values |
ivo_david_michelle | 0:4c04e4fd1310 | 62 | |
ivo_david_michelle | 0:4c04e4fd1310 | 63 | // call controller |
ivo_david_michelle | 2:c041e434eab6 | 64 | controller(gyro_event, orientation, &result); |
ivo_david_michelle | 0:4c04e4fd1310 | 65 | |
ivo_david_michelle | 0:4c04e4fd1310 | 66 | // plot |
ivo_david_michelle | 0:4c04e4fd1310 | 67 | |
ivo_david_michelle | 0:4c04e4fd1310 | 68 | //pc.printf("F: %f M_x: %f M_y: %f M_z: %f\n\r", F, M_x, M_y, M_z); |
ivo_david_michelle | 2:c041e434eab6 | 69 | pc.printf("M_x: %f\tM_y: %f\tM_z: %f\tF: %f\n\r", result.M_x, result.M_y, result.M_z, result.F); |
ivo_david_michelle | 0:4c04e4fd1310 | 70 | } |
ivo_david_michelle | 0:4c04e4fd1310 | 71 | } |