Diff: main.cpp

Revision:

0:d884c7453c85

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue May 21 13:50:20 2013 +0000
@@ -0,0 +1,43 @@
+#include "mbed.h"
+#include "ITG3205.h"
+#include "Gyroscope.h"
+
+#define SDA      p9
+#define SCL      p10
+
+ITG3205 *itg3205;
+Gyroscope *gyroscope;
+Serial pc(USBTX, USBRX);
+
+float gyroX, gyroY, AngleX, AngleY;
+Ticker updater;
+
+void update()
+{
+    pc.printf("x: %f \t\t y: %f \t\t angle x: %f \t\t angle y: %f  \r\n", gyroX, gyroY, AngleX, AngleY);
+}
+int main()
+{
+    itg3205 = new ITG3205(SDA, SCL);
+    gyroscope = new Gyroscope(itg3205, 14.375, 0.005);
+    wait(1);
+    gyroscope->updateZeroRates();
+    pc.baud(115200);
+    updater.attach(&update, 0.2);
+    while(1) 
+    {
+
+        wait_ms(5);
+        gyroscope->update();
+        
+        gyroX = gyroscope->getDegreesX();
+        gyroY = gyroscope->getDegreesY() * -1;
+        AngleX = gyroscope->getAngleX();
+        AngleY = gyroscope->getAngleY();
+
+        //printf("x: %f \t\t y: %f \t\t angle x: %f \t\t angle y: %f  \r\n", gyroX, gyroY, AngleX, AngleY);
+        //printf("%f,%f,%f,%f\n", gyroX, gyroY, AngleX, AngleY);
+        
+    }
+
+}