Steven Mitchell
/
HelloWorld_IKS01A2
afdfdf
main.cpp@19:29d3c7caea66, 2019-11-19 (annotated)
- Committer:
- mitch092
- Date:
- Tue Nov 19 03:14:08 2019 +0000
- Revision:
- 19:29d3c7caea66
- Parent:
- 18:9b9ec0b35b45
- Child:
- 20:babcf777607b
Removed whitespace and commented out tilt.x, tilt.z and the rest of the serial io print statements.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cparata | 0:69566eea0fba | 1 | /** |
cparata | 0:69566eea0fba | 2 | ****************************************************************************** |
cparata | 0:69566eea0fba | 3 | * @file main.cpp |
cparata | 8:8f495e604424 | 4 | * @author CLab |
cparata | 8:8f495e604424 | 5 | * @version V1.0.0 |
cparata | 8:8f495e604424 | 6 | * @date 2-December-2016 |
mitch092 | 18:9b9ec0b35b45 | 7 | * @brief Simple Example application for using the X_NUCLEO_IKS01A1 |
cparata | 0:69566eea0fba | 8 | * MEMS Inertial & Environmental Sensor Nucleo expansion board. |
cparata | 0:69566eea0fba | 9 | ****************************************************************************** |
cparata | 0:69566eea0fba | 10 | * @attention |
cparata | 0:69566eea0fba | 11 | * |
cparata | 0:69566eea0fba | 12 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
cparata | 0:69566eea0fba | 13 | * |
cparata | 0:69566eea0fba | 14 | * Redistribution and use in source and binary forms, with or without modification, |
cparata | 0:69566eea0fba | 15 | * are permitted provided that the following conditions are met: |
cparata | 0:69566eea0fba | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
cparata | 0:69566eea0fba | 17 | * this list of conditions and the following disclaimer. |
cparata | 0:69566eea0fba | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
cparata | 0:69566eea0fba | 19 | * this list of conditions and the following disclaimer in the documentation |
cparata | 0:69566eea0fba | 20 | * and/or other materials provided with the distribution. |
cparata | 0:69566eea0fba | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
cparata | 0:69566eea0fba | 22 | * may be used to endorse or promote products derived from this software |
cparata | 0:69566eea0fba | 23 | * without specific prior written permission. |
cparata | 0:69566eea0fba | 24 | * |
cparata | 0:69566eea0fba | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
cparata | 0:69566eea0fba | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
cparata | 0:69566eea0fba | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
cparata | 0:69566eea0fba | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
cparata | 0:69566eea0fba | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
cparata | 0:69566eea0fba | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
cparata | 0:69566eea0fba | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
cparata | 0:69566eea0fba | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
cparata | 0:69566eea0fba | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
cparata | 0:69566eea0fba | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
cparata | 0:69566eea0fba | 35 | * |
cparata | 0:69566eea0fba | 36 | ****************************************************************************** |
mitch092 | 18:9b9ec0b35b45 | 37 | */ |
cparata | 0:69566eea0fba | 38 | |
cparata | 0:69566eea0fba | 39 | /* Includes */ |
cparata | 0:69566eea0fba | 40 | #include "mbed.h" |
davide.aliprandi@st.com | 13:fc873da5b445 | 41 | #include "XNucleoIKS01A2.h" |
mitch092 | 18:9b9ec0b35b45 | 42 | #include <iostream> |
mitch092 | 18:9b9ec0b35b45 | 43 | #include <cmath> |
cparata | 0:69566eea0fba | 44 | |
mitch092 | 19:29d3c7caea66 | 45 | |
mitch092 | 19:29d3c7caea66 | 46 | |
mitch092 | 19:29d3c7caea66 | 47 | struct Vec3 { |
mitch092 | 19:29d3c7caea66 | 48 | float x, y, z; |
mitch092 | 19:29d3c7caea66 | 49 | }; |
mitch092 | 19:29d3c7caea66 | 50 | |
cparata | 0:69566eea0fba | 51 | /* Instantiate the expansion board */ |
davide.aliprandi@st.com | 13:fc873da5b445 | 52 | static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5); |
cparata | 0:69566eea0fba | 53 | |
cparata | 0:69566eea0fba | 54 | /* Retrieve the composing elements of the expansion board */ |
davide.aliprandi@st.com | 13:fc873da5b445 | 55 | static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer; |
cparata | 0:69566eea0fba | 56 | static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro; |
davide.aliprandi@st.com | 13:fc873da5b445 | 57 | static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer; |
cparata | 0:69566eea0fba | 58 | |
mitch092 | 18:9b9ec0b35b45 | 59 | |
mitch092 | 18:9b9ec0b35b45 | 60 | |
mitch092 | 18:9b9ec0b35b45 | 61 | |
mitch092 | 19:29d3c7caea66 | 62 | DigitalOut M1_step(D3); |
mitch092 | 19:29d3c7caea66 | 63 | DigitalOut M1_dir(D2); |
mitch092 | 18:9b9ec0b35b45 | 64 | |
mitch092 | 19:29d3c7caea66 | 65 | DigitalOut M2_step(D5); |
mitch092 | 19:29d3c7caea66 | 66 | DigitalOut M2_dir(D4); |
mitch092 | 18:9b9ec0b35b45 | 67 | |
mitch092 | 19:29d3c7caea66 | 68 | DigitalIn button1(D6); |
mitch092 | 19:29d3c7caea66 | 69 | DigitalIn button2(D7); |
cparata | 0:69566eea0fba | 70 | |
mitch092 | 19:29d3c7caea66 | 71 | void delay(float time) //delay function debounce buttons |
mitch092 | 18:9b9ec0b35b45 | 72 | { |
mitch092 | 19:29d3c7caea66 | 73 | volatile int i; |
mitch092 | 19:29d3c7caea66 | 74 | for(i=0; i<1000000*time; i++); |
mitch092 | 19:29d3c7caea66 | 75 | } |
cparata | 0:69566eea0fba | 76 | |
mitch092 | 18:9b9ec0b35b45 | 77 | |
mitch092 | 18:9b9ec0b35b45 | 78 | Vec3 get_accel() |
mitch092 | 18:9b9ec0b35b45 | 79 | { |
mitch092 | 18:9b9ec0b35b45 | 80 | Vec3 vec3; |
mitch092 | 18:9b9ec0b35b45 | 81 | int32_t axes[3]; |
mitch092 | 18:9b9ec0b35b45 | 82 | acc_gyro->get_x_axes(axes); |
cparata | 0:69566eea0fba | 83 | |
mitch092 | 18:9b9ec0b35b45 | 84 | vec3.x = axes[0]/1000.0f + 0.013f; |
mitch092 | 18:9b9ec0b35b45 | 85 | vec3.y = axes[1]/1000.0f + 0.004f; |
mitch092 | 18:9b9ec0b35b45 | 86 | vec3.z = axes[2]/1000.0f - 0.032f; |
mitch092 | 18:9b9ec0b35b45 | 87 | |
mitch092 | 18:9b9ec0b35b45 | 88 | return vec3; |
mitch092 | 18:9b9ec0b35b45 | 89 | } |
cparata | 0:69566eea0fba | 90 | |
mitch092 | 18:9b9ec0b35b45 | 91 | void print_vec3(const char* str, const Vec3& vec3) |
mitch092 | 18:9b9ec0b35b45 | 92 | { |
mitch092 | 18:9b9ec0b35b45 | 93 | std::cout << str << vec3.x << " " << vec3.y << " " << vec3.z << "\r\n"; |
cparata | 0:69566eea0fba | 94 | } |
cparata | 0:69566eea0fba | 95 | |
mitch092 | 18:9b9ec0b35b45 | 96 | |
mitch092 | 19:29d3c7caea66 | 97 | |
mitch092 | 19:29d3c7caea66 | 98 | |
mitch092 | 19:29d3c7caea66 | 99 | |
mitch092 | 19:29d3c7caea66 | 100 | |
mitch092 | 18:9b9ec0b35b45 | 101 | int main() |
mitch092 | 18:9b9ec0b35b45 | 102 | { |
mitch092 | 18:9b9ec0b35b45 | 103 | /* Enable all sensors */ |
mitch092 | 18:9b9ec0b35b45 | 104 | magnetometer->enable(); |
mitch092 | 18:9b9ec0b35b45 | 105 | accelerometer->enable(); |
mitch092 | 18:9b9ec0b35b45 | 106 | acc_gyro->enable_x(); |
mitch092 | 18:9b9ec0b35b45 | 107 | acc_gyro->enable_g(); |
mitch092 | 18:9b9ec0b35b45 | 108 | |
mitch092 | 18:9b9ec0b35b45 | 109 | //Timer t; |
mitch092 | 18:9b9ec0b35b45 | 110 | //float dt = 0.02f; |
mitch092 | 18:9b9ec0b35b45 | 111 | |
mitch092 | 19:29d3c7caea66 | 112 | //std::cout << "\r\n--- Starting new run ---\r\n"; |
mitch092 | 18:9b9ec0b35b45 | 113 | |
mitch092 | 18:9b9ec0b35b45 | 114 | //Vec3 orientation = {}; |
mitch092 | 18:9b9ec0b35b45 | 115 | |
mitch092 | 18:9b9ec0b35b45 | 116 | //float sens = 0.488f; |
mitch092 | 19:29d3c7caea66 | 117 | |
mitch092 | 18:9b9ec0b35b45 | 118 | Vec3 vec3, tilt; |
mitch092 | 19:29d3c7caea66 | 119 | |
mitch092 | 18:9b9ec0b35b45 | 120 | // 180/pi -> converts radians to degrees. |
mitch092 | 18:9b9ec0b35b45 | 121 | float rad_to_deg = 57.2957795131f; |
mitch092 | 18:9b9ec0b35b45 | 122 | |
mitch092 | 19:29d3c7caea66 | 123 | M1_dir = 1; |
mitch092 | 19:29d3c7caea66 | 124 | M2_dir = 0; |
mitch092 | 19:29d3c7caea66 | 125 | |
mitch092 | 18:9b9ec0b35b45 | 126 | |
mitch092 | 18:9b9ec0b35b45 | 127 | for(;;) { |
mitch092 | 19:29d3c7caea66 | 128 | vec3 = get_accel(); |
mitch092 | 19:29d3c7caea66 | 129 | |
mitch092 | 19:29d3c7caea66 | 130 | // We only need x or y; I left the others here for documentation. |
mitch092 | 19:29d3c7caea66 | 131 | //tilt.x = atan(vec3.x / sqrtf(vec3.y*vec3.y + vec3.z*vec3.z)) * rad_to_deg; |
mitch092 | 19:29d3c7caea66 | 132 | tilt.y = atan(vec3.y / sqrtf(vec3.x*vec3.x + vec3.z*vec3.z)) * rad_to_deg; |
mitch092 | 19:29d3c7caea66 | 133 | //tilt.z = atan(sqrtf(vec3.y*vec3.y + vec3.x*vec3.x) / vec3.z) * rad_to_deg; |
mitch092 | 19:29d3c7caea66 | 134 | |
mitch092 | 19:29d3c7caea66 | 135 | //control stepper motor 1 |
mitch092 | 19:29d3c7caea66 | 136 | |
mitch092 | 19:29d3c7caea66 | 137 | float degree = std::abs(tilt.y); |
mitch092 | 19:29d3c7caea66 | 138 | |
mitch092 | 19:29d3c7caea66 | 139 | //print_vec3("acceleration: ", tilt); |
mitch092 | 19:29d3c7caea66 | 140 | //std::cout << "\r\n" << std::flush; |
mitch092 | 18:9b9ec0b35b45 | 141 | |
mitch092 | 18:9b9ec0b35b45 | 142 | |
mitch092 | 19:29d3c7caea66 | 143 | int numOfSteps = degree / 0.45; |
mitch092 | 18:9b9ec0b35b45 | 144 | |
mitch092 | 19:29d3c7caea66 | 145 | if(tilt.y > 0) { |
mitch092 | 19:29d3c7caea66 | 146 | M1_dir = 0; |
mitch092 | 19:29d3c7caea66 | 147 | M2_dir = 1; |
mitch092 | 19:29d3c7caea66 | 148 | } else { |
mitch092 | 19:29d3c7caea66 | 149 | M1_dir = 1; |
mitch092 | 19:29d3c7caea66 | 150 | M2_dir = 0; |
mitch092 | 19:29d3c7caea66 | 151 | } |
mitch092 | 18:9b9ec0b35b45 | 152 | |
mitch092 | 19:29d3c7caea66 | 153 | for(int i = 0; i < numOfSteps; i++) { |
mitch092 | 19:29d3c7caea66 | 154 | M2_step = 1; |
mitch092 | 19:29d3c7caea66 | 155 | M1_step = 1; |
mitch092 | 19:29d3c7caea66 | 156 | delay(0.005); |
mitch092 | 19:29d3c7caea66 | 157 | M1_step = 0; |
mitch092 | 19:29d3c7caea66 | 158 | M2_step = 0; |
mitch092 | 19:29d3c7caea66 | 159 | delay(0.005); |
mitch092 | 19:29d3c7caea66 | 160 | } |
mitch092 | 19:29d3c7caea66 | 161 | } |
mitch092 | 19:29d3c7caea66 | 162 | |
mitch092 | 19:29d3c7caea66 | 163 | } |
mitch092 | 19:29d3c7caea66 | 164 | |
mitch092 | 18:9b9ec0b35b45 | 165 | |
mitch092 | 18:9b9ec0b35b45 | 166 | |
cparata | 0:69566eea0fba | 167 | |
mitch092 | 18:9b9ec0b35b45 | 168 | |
mitch092 | 19:29d3c7caea66 | 169 | |
mitch092 | 19:29d3c7caea66 | 170 | |
mitch092 | 19:29d3c7caea66 | 171 | |
mitch092 | 19:29d3c7caea66 | 172 | |
mitch092 | 19:29d3c7caea66 | 173 | |
mitch092 | 19:29d3c7caea66 | 174 | |
mitch092 | 19:29d3c7caea66 | 175 | |
mitch092 | 19:29d3c7caea66 | 176 | |
mitch092 | 19:29d3c7caea66 | 177 | |
mitch092 | 19:29d3c7caea66 | 178 | |
mitch092 | 19:29d3c7caea66 | 179 | |
mitch092 | 19:29d3c7caea66 | 180 | |
mitch092 | 18:9b9ec0b35b45 | 181 | |
mitch092 | 19:29d3c7caea66 | 182 | |
mitch092 | 19:29d3c7caea66 | 183 | |
mitch092 | 19:29d3c7caea66 | 184 | |
mitch092 | 19:29d3c7caea66 | 185 | |
mitch092 | 19:29d3c7caea66 | 186 | |
mitch092 | 19:29d3c7caea66 | 187 | |
mitch092 | 19:29d3c7caea66 | 188 | |
mitch092 | 19:29d3c7caea66 | 189 | |
mitch092 | 19:29d3c7caea66 | 190 | |
mitch092 | 19:29d3c7caea66 | 191 | |
mitch092 | 19:29d3c7caea66 | 192 | |
mitch092 | 19:29d3c7caea66 | 193 | |
mitch092 | 18:9b9ec0b35b45 | 194 | |
mitch092 | 19:29d3c7caea66 | 195 | |
mitch092 | 19:29d3c7caea66 | 196 | |
mitch092 | 19:29d3c7caea66 | 197 | |
mitch092 | 19:29d3c7caea66 | 198 | |
mitch092 | 19:29d3c7caea66 | 199 | |
mitch092 | 19:29d3c7caea66 | 200 | |
mitch092 | 19:29d3c7caea66 | 201 | |
mitch092 | 19:29d3c7caea66 | 202 | |
mitch092 | 19:29d3c7caea66 | 203 | |
mitch092 | 19:29d3c7caea66 | 204 | |
mitch092 | 19:29d3c7caea66 | 205 | |
mitch092 | 19:29d3c7caea66 | 206 | |
mitch092 | 19:29d3c7caea66 | 207 | |
mitch092 | 19:29d3c7caea66 | 208 | |
mitch092 | 19:29d3c7caea66 | 209 | |
mitch092 | 19:29d3c7caea66 | 210 | |
mitch092 | 19:29d3c7caea66 | 211 | |
mitch092 | 19:29d3c7caea66 | 212 | |
mitch092 | 19:29d3c7caea66 | 213 | |
mitch092 | 19:29d3c7caea66 | 214 | |
mitch092 | 19:29d3c7caea66 | 215 | |
mitch092 | 19:29d3c7caea66 | 216 | |
mitch092 | 19:29d3c7caea66 | 217 | |
mitch092 | 19:29d3c7caea66 | 218 | |
mitch092 | 19:29d3c7caea66 | 219 | |
mitch092 | 18:9b9ec0b35b45 | 220 | |
mitch092 | 18:9b9ec0b35b45 | 221 | |
mitch092 | 18:9b9ec0b35b45 | 222 | |
mitch092 | 18:9b9ec0b35b45 | 223 | |
mitch092 | 18:9b9ec0b35b45 | 224 | |
mitch092 | 18:9b9ec0b35b45 | 225 | |
mitch092 | 18:9b9ec0b35b45 | 226 | |
mitch092 | 18:9b9ec0b35b45 | 227 | |
mitch092 | 18:9b9ec0b35b45 | 228 | |
mitch092 | 19:29d3c7caea66 | 229 | |
mitch092 | 19:29d3c7caea66 | 230 | |
mitch092 | 19:29d3c7caea66 | 231 | |
mitch092 | 19:29d3c7caea66 | 232 | |
mitch092 | 19:29d3c7caea66 | 233 | |
mitch092 | 19:29d3c7caea66 | 234 | |
mitch092 | 19:29d3c7caea66 | 235 | |
cparata | 0:69566eea0fba | 236 | |
mitch092 | 19:29d3c7caea66 | 237 | |
mitch092 | 19:29d3c7caea66 | 238 | |
mitch092 | 19:29d3c7caea66 | 239 | |
mitch092 | 19:29d3c7caea66 | 240 | |
mitch092 | 19:29d3c7caea66 | 241 | |
mitch092 | 19:29d3c7caea66 | 242 | |
mitch092 | 19:29d3c7caea66 | 243 | |
mitch092 | 19:29d3c7caea66 | 244 | |
mitch092 | 18:9b9ec0b35b45 | 245 | |
cparata | 0:69566eea0fba | 246 | |
mitch092 | 19:29d3c7caea66 | 247 | //static const Vec3 gyro_calibrate = {-0.42f, -1.61f, 1.05f}; |
mitch092 | 19:29d3c7caea66 | 248 | |
mitch092 | 19:29d3c7caea66 | 249 | //Vec3 get_gyro() |
mitch092 | 19:29d3c7caea66 | 250 | //{ |
mitch092 | 19:29d3c7caea66 | 251 | // Vec3 vec3; |
mitch092 | 19:29d3c7caea66 | 252 | |
mitch092 | 19:29d3c7caea66 | 253 | // int32_t axes[3]; |
mitch092 | 19:29d3c7caea66 | 254 | // acc_gyro->get_g_axes(axes); |
mitch092 | 19:29d3c7caea66 | 255 | |
mitch092 | 19:29d3c7caea66 | 256 | // vec3.x = axes[0]/1000.0f - gyro_calibrate.x; |
mitch092 | 19:29d3c7caea66 | 257 | // vec3.y = axes[1]/1000.0f - gyro_calibrate.y; |
mitch092 | 19:29d3c7caea66 | 258 | // vec3.z = axes[2]/1000.0f - gyro_calibrate.z; |
mitch092 | 19:29d3c7caea66 | 259 | |
mitch092 | 19:29d3c7caea66 | 260 | // return vec3; |
mitch092 | 19:29d3c7caea66 | 261 | //} |
mitch092 | 18:9b9ec0b35b45 | 262 | |
mitch092 | 18:9b9ec0b35b45 | 263 | |
mitch092 | 19:29d3c7caea66 | 264 | |
cparata | 0:69566eea0fba | 265 | |
mitch092 | 18:9b9ec0b35b45 | 266 | |
mitch092 | 18:9b9ec0b35b45 | 267 | |
mitch092 | 18:9b9ec0b35b45 | 268 | |
cparata | 0:69566eea0fba | 269 | |
mitch092 | 19:29d3c7caea66 | 270 | /* Simple main function */ |
mitch092 | 19:29d3c7caea66 | 271 | //int main() |
mitch092 | 19:29d3c7caea66 | 272 | //{ |
mitch092 | 19:29d3c7caea66 | 273 | |
mitch092 | 19:29d3c7caea66 | 274 | |
mitch092 | 19:29d3c7caea66 | 275 | |
mitch092 | 19:29d3c7caea66 | 276 | |
mitch092 | 19:29d3c7caea66 | 277 | //for(;;) { |
mitch092 | 19:29d3c7caea66 | 278 | //t.start(); |
mitch092 | 19:29d3c7caea66 | 279 | |
mitch092 | 19:29d3c7caea66 | 280 | |
mitch092 | 19:29d3c7caea66 | 281 | //Vec3 gyro_reading = get_gyro(); |
mitch092 | 19:29d3c7caea66 | 282 | |
mitch092 | 19:29d3c7caea66 | 283 | //orientation.x += (gyro_reading.x * dt * sens); |
mitch092 | 19:29d3c7caea66 | 284 | //orientation.y += (gyro_reading.y * dt * sens); |
mitch092 | 19:29d3c7caea66 | 285 | //orientation.z += (gyro_reading.z * dt * sens); |
mitch092 | 19:29d3c7caea66 | 286 | |
mitch092 | 19:29d3c7caea66 | 287 | //print_vec3("orientation: ", orientation); |
mitch092 | 19:29d3c7caea66 | 288 | |
mitch092 | 19:29d3c7caea66 | 289 | |
mitch092 | 19:29d3c7caea66 | 290 | |
mitch092 | 19:29d3c7caea66 | 291 | |
mitch092 | 19:29d3c7caea66 | 292 | |
mitch092 | 19:29d3c7caea66 | 293 | |
mitch092 | 19:29d3c7caea66 | 294 | |
mitch092 | 19:29d3c7caea66 | 295 | |
mitch092 | 19:29d3c7caea66 | 296 | |
mitch092 | 19:29d3c7caea66 | 297 | |
mitch092 | 19:29d3c7caea66 | 298 | |
mitch092 | 19:29d3c7caea66 | 299 | //tilt.x |
mitch092 | 19:29d3c7caea66 | 300 | |
mitch092 | 19:29d3c7caea66 | 301 | |
mitch092 | 18:9b9ec0b35b45 | 302 | |
cparata | 0:69566eea0fba | 303 | |
mitch092 | 19:29d3c7caea66 | 304 | //std::cout << "\r\n" << std::flush; |
mitch092 | 19:29d3c7caea66 | 305 | |
mitch092 | 19:29d3c7caea66 | 306 | //t.stop(); |
mitch092 | 19:29d3c7caea66 | 307 | //if (dt - t.read() > 0) wait(dt - t.read()); |
mitch092 | 19:29d3c7caea66 | 308 | //dt = t.read(); |
mitch092 | 19:29d3c7caea66 | 309 | //} |
mitch092 | 19:29d3c7caea66 | 310 | |
mitch092 | 19:29d3c7caea66 | 311 | |
mitch092 | 19:29d3c7caea66 | 312 | |
mitch092 | 19:29d3c7caea66 | 313 | |
mitch092 | 19:29d3c7caea66 | 314 | |
mitch092 | 19:29d3c7caea66 | 315 | |
mitch092 | 19:29d3c7caea66 | 316 | |
mitch092 | 19:29d3c7caea66 | 317 | |
mitch092 | 19:29d3c7caea66 | 318 | |
mitch092 | 19:29d3c7caea66 | 319 | //for(;;) { |
mitch092 | 19:29d3c7caea66 | 320 | //-0.42 -1.61 1.05 |
mitch092 | 19:29d3c7caea66 | 321 | //magnetometer->get_m_axes(axes); |
mitch092 | 19:29d3c7caea66 | 322 | //std::cout << "LSM303AGR [mag/gauss]: " << axes[0]/1000.0f << " " << axes[1]/1000.0f << " " << axes[2]/1000.0f << "\r\n"; |
mitch092 | 19:29d3c7caea66 | 323 | |
mitch092 | 19:29d3c7caea66 | 324 | //accelerometer->get_x_axes(axes); |
mitch092 | 19:29d3c7caea66 | 325 | //std::cout << "LSM303AGR [acc/g]: " << axes[0]/1000.0f << " " << axes[1]/1000.0f << " " << axes[2]/1000.0f << "\r\n"; |
mitch092 | 19:29d3c7caea66 | 326 | |
mitch092 | 19:29d3c7caea66 | 327 | |
mitch092 | 19:29d3c7caea66 | 328 | //acc_gyro->get_x_axes(axes); |
mitch092 | 19:29d3c7caea66 | 329 | //std::cout << "LSM6DSL [acc/g]: " << axes[0]/1000.0f << " " << axes[1]/1000.0f << " " << axes[2]/1000.0f << "\r\n"; |
mitch092 | 19:29d3c7caea66 | 330 | |
mitch092 | 19:29d3c7caea66 | 331 | |
mitch092 | 19:29d3c7caea66 | 332 | //acc_gyro->get_g_axes(axes); |
mitch092 | 19:29d3c7caea66 | 333 | //std::cout << "LSM6DSL [gyro/dps]: " << axes[0]/1000.0f + 0.42f << " " << axes[1]/1000.0f + 1.61f << " " << axes[2]/1000.0f-1.05f << "\r\n"; |
mitch092 | 19:29d3c7caea66 | 334 | |
mitch092 | 19:29d3c7caea66 | 335 | |
mitch092 | 19:29d3c7caea66 | 336 | |
mitch092 | 19:29d3c7caea66 | 337 | |
mitch092 | 19:29d3c7caea66 | 338 | |
mitch092 | 19:29d3c7caea66 | 339 | //print_vec3("gyro/dps: ", get_gyro()); |
mitch092 | 19:29d3c7caea66 | 340 | // |
mitch092 | 19:29d3c7caea66 | 341 | |
mitch092 | 19:29d3c7caea66 | 342 | |
mitch092 | 19:29d3c7caea66 | 343 | //wait(1.5); |
mitch092 | 19:29d3c7caea66 | 344 | //} |
mitch092 | 19:29d3c7caea66 | 345 | //} |