Revision 2:03af85477e12, committed 2017-11-26

Comitter:

mozhdehshahbazi

Date:

Sun Nov 26 04:16:25 2017 +0000

Parent:

1:64f1aefe1842

Commit message:

Tiltmeter (designed for course ENGO 333 at UofC)

Changed in this revision

--- a/Tiltmeter.cpp	Fri Nov 25 15:18:28 2016 +0000
+++ b/Tiltmeter.cpp	Sun Nov 26 04:16:25 2017 +0000
@@ -5,3 +5,44 @@
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 // Paste your code from the pre-lab assignment here
 
+const float PI = atan(1.0) * 4.0;
+const float Rad2Deg = 180.0 / PI;
+
+Tiltmeter::Tiltmeter()
+{
+   // initialize the roll and pitch angles
+   RollAngle = 0.0;
+   PitchAngle = 0.0;
+}
+
+
+void Tiltmeter::ComputeTiltAngles()
+{
+   // read the acceleometers and store them
+   ReadAccelerometers();
+   float a_x = GetAccelX();
+   float a_y = GetAccelY();
+   float a_z = GetAccelZ();
+
+   // normalize the measurements
+   float a = sqrt( a_x * a_x + a_y * a_y + a_z * a_z );
+   a_x /= a;
+   a_y /= a;
+   a_z /= a;
+
+   // compute roll and pitch
+   RollAngle = atan2( -a_x, a_z ) * Rad2Deg;
+   PitchAngle = atan2( a_y, sqrt( a_x * a_x + a_z * a_z ) ) * Rad2Deg;
+}
+
+
+float Tiltmeter::GetRoll() const
+{
+   return RollAngle;
+}
+
+
+float Tiltmeter::GetPitch() const
+{
+   return PitchAngle;
+}
\ No newline at end of file

--- a/main.cpp	Fri Nov 25 15:18:28 2016 +0000
+++ b/main.cpp	Sun Nov 26 04:16:25 2017 +0000
@@ -37,14 +37,14 @@
     C12832 lcd(p5, p7, p6, p8, p11);
 
     // Create digital outputs for LED1 and LED2 that will be used to indicate
-    // if things are working properly -- both values are to LOW (off)
+    // if things are working properly -- both values are now set to LOW (0 / off)
     DigitalOut led1(LED1);
     DigitalOut led2(LED2);
     led1 = 0;
     led2 = 0;
 
     // Create bus input for joystick
-    BusIn joystick(p13, p16, p14);     // Binary [ Centre | Right | Left ] joystick
+    BusIn joystick(p13, p16, p14);     // Binary [ Left |  Right |  Center ] joystick
     
     
     // END: Setup/variable declaration
@@ -65,7 +65,7 @@
     else 
     {
         lcd.locate(1, 11);
-        lcd.printf("ERROR: Unknown sensor");
+        lcd.printf("ERROR: Unknown sensor"); //printing an error message to the lcl
         return 1;
     }
 
@@ -105,7 +105,7 @@
             
             
             // Short delay to avoid multiple measurements being displayed
-            wait_ms(250);
+            wait_ms(250); //this wait() function receives time to wait in milliseconds
 
 
             // Turn off second LED to indicate a measurement is complete