Diff: main.cpp

Revision:

11:d14a1f7f1297

Parent:

10:e5463c11e0a0

Child:

12:921488918749

--- a/main.cpp	Mon Jul 23 20:17:37 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,129 +0,0 @@
-#include "wheelchair.h"
-
-AnalogIn x(A0);
-AnalogIn y(A1);
-
-DigitalOut off(D0);
-DigitalOut on(D1);
-DigitalOut up(D2);
-DigitalOut down(D3);
-
-bool manual = false;
-
-Serial pc(USBTX, USBRX, 57600);
-Timer t;
-
-MPU9250 imu(D14, D15);
-//Wheelchair smart(xDir,yDir, &pc, &t);
-
-int main(void)
-{
-
-    uint8_t whoami = imu.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);  // Read WHO_AM_I register for MPU-9250
-    pc.printf("I AM 0x%x\n\r", whoami);
-    pc.printf("I SHOULD BE 0x71\n\r");
-
-    if (whoami == 0x71) { // WHO_AM_I should always be 0x68
-        pc.printf("MPU9250 is online...\n\r");
-
-        wait(1);
-
-        imu.resetMPU9250(); // Reset registers to default in preparation for device calibration
-        imu.calibrateMPU9250(imu.gyroBias, imu.accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
-        imu.initMPU9250();
-        imu.initAK8963(imu.magCalibration);
-        wait(2);
-
-    } else {
-        pc.printf("Could not connect to MPU9250: \n\r");
-        pc.printf("%#x \n",  whoami);
-
-        while(1) ; // Loop forever if communication doesn't happen
-    }
-
-    imu.getAres(); // Get accelerometer sensitivity
-    imu.getGres(); // Get gyro sensitivity
-    imu.getMres(); // Get magnetometer sensitivity
-    pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/imu.aRes);
-    pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/imu.gRes);
-    pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/imu.mRes);
-    imu.magbias[0] = +470.;  // User environmental x-axis correction in milliGauss, should be automatically calculated
-    imu.magbias[1] = +120.;  // User environmental x-axis correction in milliGauss
-    imu.magbias[2] = +125.;  // User environmental x-axis correction in milliGauss
-
-
-    Wheelchair smart(xDir,yDir, &pc, &t);
-
-    while(1) {
-        if( pc.readable()) {
-            char c = pc.getc();
-
-            if( c == 'w') {
-                pc.printf("up \n");
-                smart.forward();
-            }
-
-            else if( c == 'd') {
-                pc.printf("left \n");
-                smart.left();
-            }
-
-            else if( c == 'a') {
-                pc.printf("right \n");
-                smart.right();
-            }
-
-            else if( c == 's') {
-                pc.printf("down \n");
-                smart.backward();
-            }
-
-            else if( c == 'r') {
-                smart.turn_right();
-            }
-
-            else if( c == 'l') {
-                smart.turn_left();
-            }
-
-            else if( c == 'm' || manual) {
-                pc.printf("turning on joystick\n");
-                manual = true;
-                while(manual) {
-                    smart.move(x,y);
-                    if( pc.readable()) {
-                        char d = pc.getc();
-                        if( d == 'm') {
-                            pc.printf("turning off joystick\n");
-                            manual = false;
-                        }
-                    }
-                }
-            }
-
-            else {
-                pc.printf("none \n");
-                smart.stop();
-            }
-        }
-
-        else {
-            //        pc.printf("Nothing pressed \n");
-            smart.stop();
-        }
-        /*
-        smart.move(x,y);
-        if( pc.readable()) {
-            char c = pc.getc();
-            if( c == 'r') {
-                smart.turn_right();
-            }
-            if( c == 'l') {
-                smart.turn_left();
-            }
-        }*/
-        wait(process);
-    }
-
-}
-