Masahiro Furukawa
2Chx3dof Magnetrometer supported M-Series Random Sequence Generator Servo Control
Sampling Frequency
Sampling Frequency in main.cpp
#define SampleFreq 200 // [Hz]
Auto Stop Setting
Auto-stop Timer 15sec after
// auto-stop when 15sec after
if(smpl_cnt>3000){stop_dump();}
The number of 3000 means Sample Count. The number is given by SampleFreq[Hz] * Auto-Stop Time [sec].
M-Series Random Sequence
M-series Random Update Term in main.cpp
// M-series update flag #define M_TERM 200;
Unit is sample count.
cf.) 200 equals to 200 [samples] which equals to 1 [second] where SampleFreq = 200 [Hz}.
See above.
M-Series Random Servo Control
Diff: main.cpp
- Branch:
- MPU-9250-MagSensServo
- Revision:
- 1:3bcd844dd707
- Parent:
- 0:4656a133ed1a
- Child:
- 2:3470f2c07582
--- a/main.cpp Mon Feb 01 17:11:03 2021 +0000
+++ b/main.cpp Tue Feb 02 13:43:21 2021 +0000
@@ -37,6 +37,8 @@
#include "mbed.h"
#include "MPU9250.h"
+#include "KST_Servo.h"
+#include "M-Series.h"
/* MPU9250 Library
*
@@ -64,11 +66,20 @@
int errFlag = 0;
//define the mpu9250 object
-mpu9250_spi *imu[nCh];
+mpu9250_spi *imu[nCh];
// define SPI object for imu objects
-SPI spi1(p5, p6, p7);
-SPI spi2(p11, p12, p13);
+SPI spi1(p5, p6, p7);
+SPI spi2(p11, p12, p13);
+// pins already used for SPI Chip selector pin
+// p21, p23, p29, p30
+
+// Servo Motor Control
+PwmOut pwm_(p22);
+
+// M-Series Random Sequence
+Mseries m;
+
void init(void)
{
@@ -124,9 +135,21 @@
wait_ms(100);
printf("Calibrated Magnetrometer\n");
}
-
+
+
+ printf("\nHit Key [s] to start. Hit Key [r] to finish.\n");
+
+
- printf("\nHit Key [s] to start. Hit Key [r] to finish.\n");
+ pwm_.period_ms(20); // servo requires a 20ms period
+ pwm_.pulsewidth_us(KST_SERVO_USEC_MIN);
+ wait(.5);
+
+ pwm_.period_ms(20); // servo requires a 20ms period
+ pwm_.pulsewidth_us(KST_SERVO_USEC_90);
+ wait(.5);
+
+
}
void eventFunc(void)