Final project for CS335 By Maxwell Poster and Jeffrey Resnik
Dependencies: mbed MPU6050_template ledControl2 USBDevice
main.cpp
- Committer:
- BaserK
- Date:
- 2015-07-16
- Revision:
- 4:33fef1998fc8
- Parent:
- 3:88737ad5c803
- Child:
- 5:a6a235d5442d
File content as of revision 4:33fef1998fc8:
/* Getting Pitch and Roll Angles from MPU6050 * * @author: Baser Kandehir * @date: July 16, 2015 * @license: Use this code however you'd like * * @description of the program: * * First of all most of the credit goes to Kris Winer for his useful MPU6050 code. * I rewrite the code in my way using class prototypes and my comments. This program * can be a starter point for more advanced projects including quadcopters, balancing * robots etc. Program takes accelerometer and gyroscope data from the MPU6050 registers * and calibrates them for better results. Then uses this data is to obtain pitch and roll * angles and writes these angles to the terminal which mbed is connected to. * * @connections: *-------------------------------------------------------------- * |LPC1768| |Peripherals| * Pin 9 ---------> SDA of MPU6050 * Pin 10 --------> SCL of MPU6050 * GND -----------> GND of MPU6050 * VOUT (3.3 V) --> VCC of MPU6050 *--------------------------------------------------------------- * Note: For any mistakes or comments, please contact me. */ #include "mbed.h" #include "MPU6050.h" #include "ledControl.h" /* */ /* Defined in the MPU6050.cpp file */ // I2C i2c(p9,p10); // setup i2c (SDA,SCL) Serial pc(USBTX,USBRX); // default baud rate: 9600 MPU6050 mpu6050; // class: MPU6050, object: mpu6050 Ticker toggler1; Ticker filter; void toggle_led1(); void toggle_led2(); void compFilter(); float pitchAngle = 0; float rollAngle = 0; int main() { pc.baud(9600); // baud rate: 9600 i2c.frequency(400000); // fast i2c: 400 kHz mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading wait(1); mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers pc.printf("Calibration is completed. \r\n"); wait(0.5); mpu6050.init(); // Initialize the sensor wait(1); pc.printf("MPU6050 is initialized for operation.. \r\n\r\n"); wait_ms(500); while(1) { /* Uncomment below if you want to see accel and gyro data */ // pc.printf(" _____________________________________________________________ \r\n"); // pc.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az); // pc.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz); // pc.printf("|_____________________________________________________________ \r\n\r\n"); // // wait(2.5); filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period) pc.printf(" _______________\r\n"); pc.printf("| Pitch: %.3f \r\n",pitchAngle); pc.printf("| Roll: %.3f \r\n",rollAngle); pc.printf("|_______________\r\n\r\n"); wait(1); } } void toggle_led1() {ledToggle(1);} void toggle_led2() {ledToggle(2);} /* This function is created to avoid address error that caused from Ticker.attach func */ void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);}