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Calibrates the accelorometer and then spits out data
Diff: main.cpp
- Revision:
- 0:2b2172edbc90
- Child:
- 1:cc13fddeedc0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Mon Dec 05 18:08:44 2011 +0000 @@ -0,0 +1,53 @@ +#include "mbed.h" + +DigitalOut myled(LED1); +AnalogIn ainAccX(p20); +AnalogIn ainAccY(p19); +AnalogIn ainAccZ(p18); +Serial pc(USBTX, USBRX); +Ticker ticker; + +int calibacc3ax[3] = {0,0,0}; +float grav; + +float a = 0; +double v = 0; +double x = 0; + +unsigned int normalacc() { + int x = ainAccX.read_u16() - calibacc3ax[0]; + int y = ainAccY.read_u16() - calibacc3ax[1]; + int z = ainAccZ.read_u16() - calibacc3ax[2]; + return (sqrt(float(x*x + y*y + z*z))); +} + +void tick(){ + a = normalacc() * 3.3 * 32.27 * 0.001 * (1.0 / 0x10000); + v += a; + x += v * 0.001; +} + +int main() { + pc.baud(115200); + + for (int i = 0; i < 10000; i++) { + calibacc3ax[0] += ainAccX.read_u16(); + calibacc3ax[1] += ainAccY.read_u16(); + calibacc3ax[2] += ainAccZ.read_u16(); + + wait_us(1000); + } + + calibacc3ax[0] /= 10000; + calibacc3ax[1] /= 10000; + calibacc3ax[2] /= 10000; + + grav = //TODO: Make calibration for both +z and -z + + ticker.attach_us(&tick, 1000); + + while (1) { + pc.printf("%f %f %f\r\n", a * 1000, v, x); + wait(0.2); + } +}