intergration2
Dependencies: mbed airMouseWorkingLib ledControl2 USBDevice
Diff: main.cpp
- Revision:
- 10:c2cfa1a07fc4
- Parent:
- 8:7b491d7b6d9d
- Child:
- 11:e0274f816403
diff -r 369106aa267a -r c2cfa1a07fc4 main.cpp --- 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; + + + } }