Diff: main.cpp

Revision:

8:7b491d7b6d9d

Parent:

7:3e1e78b34e1a

Child:

10:72bbd203b210

diff -r 3e1e78b34e1a -r 7b491d7b6d9d main.cpp
--- a/main.cpp	Wed Aug 05 13:15:31 2015 +0000
+++ b/main.cpp	Wed Oct 21 08:22:49 2020 +0000
@@ -57,13 +57,22 @@
 #include "MPU6050.h"
 #include "ledControl.h"
 
+//! Variable debug
+#define DEBUG
 /* */
 
 /* Defined in the MPU6050.cpp file  */
 // I2C i2c(p9,p10);         // setup i2c (SDA,SCL)  
 
+//! Instance pc de classe Serial
 Serial pc(USBTX,USBRX);    // default baud rate: 9600
+//! Instance mpu6050 de classe MPU6050
 MPU6050 mpu6050;           // class: MPU6050, object: mpu6050 
+//! instance toggler1 de classe Ticker
+//! instance filer de classe Ticker
+// Ticker 
+// A Ticker is used to call a function at a recurring interval.
+// You can use as many separate Ticker objects as you require.
 Ticker toggler1;
 Ticker filter;           
 
@@ -92,15 +101,19 @@
      
      /* 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");
+        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);
+        wait(2.5);
                 
-        filter.attach(&compFilter, 0.005);    // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
+        //filter.attach(&compFilter, 0.005);    // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
         
+        #ifdef DEBUG
+        pc.printf(" [Debug On]  \r\n");
+        mpu6050.complementaryFilter(&pitchAngle, &rollAngle);
+        #endif
         pc.printf(" _______________\r\n");
         pc.printf("| Pitch: %.3f   \r\n",pitchAngle);
         pc.printf("| Roll:  %.3f   \r\n",rollAngle);