James Hutchinson / Mbed OS IMU6050

Header file and functions

main.cpp@13:d66766523196, 2019-07-03 (annotated)

Committer:
jahutchi
Date:
Wed Jul 03 22:09:33 2019 +0000
Revision:
13:d66766523196
Parent:
12:6efce6d008f8 
Functions are working but now figuring out the yaw

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jahutchi 12:6efce6d008f8 1 #include <MPU6050.h>
jahutchi 13:d66766523196 2 #include "IMUWheelchair.h"
jahutchi 12:6efce6d008f8 3 MPU6050 IMU(D14, D15);
jahutchi 12:6efce6d008f8 4 Serial pc(USBTX, USBRX, 57600); //Serial Monitor
jahutchi 13:d66766523196 5 float dataGyro[3];
jahutchi 13:d66766523196 6 float *dataG = dataGyro;
jahutchi 13:d66766523196 7
jahutchi 13:d66766523196 8 float dataYaw[3];
jahutchi 13:d66766523196 9 float *dataY = dataYaw;
jahutchi 13:d66766523196 10
jahutchi 12:6efce6d008f8 11 int main()
jahutchi 12:6efce6d008f8 12 {
jahutchi 12:6efce6d008f8 13 IMU.setGyroRange(MPU6050_GYRO_RANGE_500);
jahutchi 12:6efce6d008f8 14 pc.printf("Imu test connections %d\r\n", IMU.testConnection());
jahutchi 12:6efce6d008f8 15 while(1){
jahutchi 12:6efce6d008f8 16
jahutchi 13:d66766523196 17 IMU.getGyro(dataG);
jahutchi 13:d66766523196 18 // pc.printf("x: %f, y: %f, z: %f\r\n", dataGyro[0]*180/3.14, dataGyro[1]*180/3.14, dataGyro[2]*180/3.14);
jahutchi 12:6efce6d008f8 19 wait(.2);
jahutchi 13:d66766523196 20
jahutchi 13:d66766523196 21 IMU.getAcceleroAngle(dataY);
jahutchi 13:d66766523196 22 pc.printf("x: %f, y: %f, z: %f\r\n", dataG[0], dataG[1], dataG[2]);
jahutchi 12:6efce6d008f8 23 }
jahutchi 12:6efce6d008f8 24 }