Diff: main.cpp

Revision:

3:f707552ec50a

Parent:

2:3c406d25860e

Child:

4:53eceb750885

diff -r 3c406d25860e -r f707552ec50a main.cpp
--- a/main.cpp	Fri Feb 20 00:07:48 2015 +0000
+++ b/main.cpp	Sun Jun 03 07:04:34 2018 +0000
@@ -2,10 +2,14 @@
 #include "BLEDevice.h"
 #include "RCBController.h"
 #include "TB6612.h"
+#include "MPU6050.h"
 
 #define DBG 0
 
 BLEDevice  ble;
+
+MPU6050 mpu(I2C_SDA, I2C_SCL);
+
 #if DBG
 Serial  pc(USBTX, USBRX);
 #endif
@@ -19,7 +23,7 @@
 AnalogIn fsen2(P0_3);
 AnalogIn fsen3(P0_4);
 AnalogIn fsen4(P0_5);
-#if 0
+#if 1
 TB6612 left(P0_29,P0_23,P0_24);
 TB6612 right(P0_28,P0_30,P0_0);
 #else
@@ -404,6 +408,11 @@
         }
     }
 
+    // MPU6050 Initialize
+    mpu.initialize();
+    mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_8G);
+    mpu.setGyroRange(MPU6050_GYRO_RANGE_1000);
+
     ble.init(); 
     ble.onConnection(onConnected);
     ble.onDisconnection(onDisconnected);