Jay Balar
Sound update
Dependencies: 4DGL-uLCD-SE Physac-MBED PinDetect SDFileSystem mbed-rtos mbed
Revision 7:d27f97ac2bea, committed 20 months ago
- Comitter:
- jstephens78
- Date:
- Tue Nov 15 04:20:38 2022 +0000
- Parent:
- 0:da114b98e013
- Child:
- 8:005b0a85be70
- Commit message:
- Accelerometer-based control testing
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/4DGL-uLCD-SE.lib Tue Nov 15 04:20:38 2022 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/4180_1/code/4DGL-uLCD-SE/#2cb1845d7681
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Fusion.lib Tue Nov 15 04:20:38 2022 +0000 @@ -0,0 +1,1 @@ +https://github.com/xioTechnologies/Fusion/#bbbdd630e031d183db85e698b2dff573f683faef
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM9DS1_Library_cal.lib Tue Nov 15 04:20:38 2022 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/4180_1/code/LSM9DS1_Library_cal/#36abf8e18ade
--- a/main.cpp Mon Nov 14 20:23:43 2022 +0000
+++ b/main.cpp Tue Nov 15 04:20:38 2022 +0000
@@ -1,12 +1,71 @@
+// uLCD-144-G2 demo program for uLCD-4GL LCD driver library
+//
+#include <cmath>
#include "mbed.h"
+#include "uLCD_4DGL.h"
+#include "LSM9DS1.h"
+#define PI 3.14159
+
+uLCD_4DGL uLCD(p9,p10,p30);
+LSM9DS1 imu(p28, p27, 0xD6, 0x3C);
+Serial pc(USBTX, USBRX);
-DigitalOut myled(LED1);
+void getAttitude(LSM9DS1& imu, float& roll, float& pitch, float& yaw)
+{
+ float ax = imu.calcAccel(imu.ax),
+ ay = imu.calcAccel(imu.ay),
+ az = imu.calcAccel(imu.az),
+ mx = -imu.calcMag(imu.mx),
+ my = imu.calcMag(imu.my),
+ mz = imu.calcMag(imu.mz);
+
+ pitch = atan2(-ax, sqrt(ay * ay + az * az));
+
+ if (az == 0.0) roll = (ay < 0.0) ? 180 : 0.0;
+ else roll = atan2(ay, az);
+
+ if (my == 0.0) yaw = (mx < 0.0) ? 180.0 : 0.0;
+ else yaw = atan2(mx, my);
+
+ if (yaw > 180.0) yaw -=PI;
+ else if (yaw < -180.0) yaw += PI;
+
+}
-int main() {
- while(1) {
- myled = 1;
- wait(0.2);
- myled = 0;
- wait(0.2);
+int main()
+{
+ imu.begin();
+ if (!imu.begin()) {
+ pc.printf("Failed to communicate with LSM9DS1.\n");
+ }
+ imu.calibrate(1);
+
+
+ while (true) {
+ // Read IMU
+ while(!imu.accelAvailable());
+ imu.readAccel();
+
+ while (!imu.magAvailable());
+ imu.readMag();
+
+
+
+ float roll, pitch, yaw;
+ getAttitude(imu, roll, pitch, yaw);
+
+ pc.printf("%7f %7f %7f\r\n", roll, pitch, yaw);
+
+
+ uLCD.cls();
+
+ float x = 64 + roll * 60;
+ float y = 64 + pitch * 60;
+ float dx = 12 * sin(yaw);
+ float dy = 12 * cos(yaw);
+
+ uLCD.circle(x, y, 2, GREEN);
+ uLCD.line(x-dx, y-dy, x+dx, y+dy, GREEN);
+ wait(.05);
}
}