Diff: main.cpp

Revision:

10:c2cfa1a07fc4

Parent:

8:7b491d7b6d9d

Child:

11:e0274f816403

--- a/main.cpp	Wed Oct 21 08:36:43 2020 +0000
+++ b/main.cpp	Sat Nov 28 05:25:08 2020 +0000
@@ -60,7 +60,11 @@
 //! Variable debug
 #define DEBUG
 /* */
+#include "mbed.h"
+#include "USBMouse.h"
 
+//create mouse object
+USBMouse mouse;
 /* Defined in the MPU6050.cpp file  */
 // I2C i2c(p9,p10);         // setup i2c (SDA,SCL)  
 
@@ -96,6 +100,24 @@
     pc.printf("MPU6050 is initialized for operation.. \r\n\r\n");
     wait_ms(500);
     
+    gxDelta = 0
+    gyDelta = 0
+    gzDelta = 0
+    
+    axDelta = 0
+    ayDelta = 0
+    azDelta = 0
+    
+    prevgx = gx
+    prevgy = gy
+    prevgz = gz
+    
+    prevax = ax
+    prevay = ay
+    prevaz = az
+    
+    deltaThreshold = 0.2
+    
     while(1) 
     {
      
@@ -106,7 +128,7 @@
         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(0.1);
                 
         //filter.attach(&compFilter, 0.005);    // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
         
@@ -114,13 +136,25 @@
         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);
-        pc.printf("|_______________\r\n\r\n");
+        
+        
+        //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(1.1);
         
-        wait(1);
-     
+        gxDelta = gx - prevgx;
+        gyDelta = gy - prevgy;
+        gzDelta = gz - prevgz;
+        
+        axDelta = ax - prevax;
+        ayDelta = ay - prevay;
+        azDelta = az - prevaz;
+        
+        
+        
     }
 }