ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
sensor.cpp
- Committer:
- ivo_david_michelle
- Date:
- 2016-03-31
- Revision:
- 3:828e82089564
- Child:
- 4:3040d0f9e8c6
File content as of revision 3:828e82089564:
#include "sensor.h" #include "Adafruit_9DOF.h" #include "Serial_base.h" /* Offsets of gyro at rest */ //float x_offset = 0, y_offset = 0, z_offset = 0; void initSensors(Adafruit_LSM303_Accel_Unified &accel,Adafruit_LSM303_Mag_Unified &mag,Adafruit_L3GD20_Unified &gyro, offset &offset_gyro) { s_com->println(("\r\nInitializing sensors!")); if (!accel.begin()) { /* There was a problem detecting the LSM303 ... check your connections */ s_com->println(("Ooops, no LSM303 accel detected ... Check your wiring!")); while(1); } if (!mag.begin()) { /* There was a problem detecting the LSM303 ... check your connections */ s_com->println("Ooops, no LSM303 mag detected ... Check your wiring!"); while(1); } if (!gyro.begin(GYRO_RANGE_2000DPS)) { /* There was a problem detecting the L3GD20 ... check your connections */ s_com->println("Ooops, no L3GD20 gyro detected ... Check your wiring or I2C ADDR!"); while(1); } /* Calculate initial offsets and noise level of gyro */ float sampleNum = 500; sensors_event_t gyro_event; offset_gyro.x_offset=0; offset_gyro.y_offset=0; offset_gyro.z_offset=0; for (int n = 0; n < sampleNum; n++) { gyro.getEvent(&gyro_event); offset_gyro.x_offset += gyro_event.gyro.x; offset_gyro.y_offset += gyro_event.gyro.y; offset_gyro.z_offset += gyro_event.gyro.z; } offset_gyro.x_offset = offset_gyro.x_offset / sampleNum; offset_gyro.y_offset = offset_gyro.y_offset / sampleNum; offset_gyro.y_offset = offset_gyro.y_offset / sampleNum; /* s_com->print("Offsets... X: "); s_com->print(x_offset); s_com->print("\tY: "); s_com->print(y_offset); s_com->print("\tZ: "); s_com->print(z_offset); */ }