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version2
Fork of LSM9DS1_project by
Diff: main.cpp
- Revision:
- 2:c889fecf9afe
- Parent:
- 1:b1562831bbaf
- Child:
- 3:2c6b1c213ce0
--- a/main.cpp Wed Dec 20 15:45:02 2017 +0000 +++ b/main.cpp Tue Apr 24 15:13:58 2018 +0000 @@ -2,13 +2,13 @@ #include "LSM9DS1.h" #include "AS5145.h" -LSM9DS1 imu3(D5, D7); -LSM9DS1 imu2(D3, D6); +LSM9DS1 imu2(D5, D7); +LSM9DS1 imu3(D3, D6); LSM9DS1 imu(D14, D15); -AnalogIn sEMG(PB_0); -AnalogIn sEMG2(PC_0); -AnalogIn sEMG3(PC_2); -AnalogIn sEMG4(PC_3); +AnalogIn sEMG(D13); +AnalogIn sEMG2(D1); +AnalogIn sEMG3(D0); +AnalogIn sEMG4(PC_4); Serial pc(USBTX, USBRX); Ticker timer1; Ticker timer2; @@ -83,10 +83,10 @@ init_TIMER(); while (1) { - pc.printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%d,%d\n",pitch_angle[0],pitch_dot[0],pitch_angle[1],pitch_dot[1],pitch_angle[2],pitch_dot[2],emg_value[0],emg_value[1],emg_value[2],emg_value[3],position[0]*360/4096, position[1]*360/4096); - wait(0.1); + //pc.printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%d,%d\n",pitch_angle[0],pitch_dot[0],pitch_angle[1],pitch_dot[1],pitch_angle[2],pitch_dot[2],emg_value[0],emg_value[1],emg_value[2],emg_value[3],position[1]*360/4096, position[0]*360/4096); + wait(0.05); //pc.printf("%f,%f,%f,%f\n",emg_value[0],emg_value[1],emg_value[2],emg_value[3]); - //pc.printf("%f,%f,%f,%f,%f,%d,%d\n", pitch_angle[0], pitch_angle[1], roll_angle[1], pitch_angle[2], roll_angle[2], position[0]*360/4096, position[1]*360/4096); + pc.printf("%f,%f,%f,%f,%f,%d,%d\n", pitch_angle[0], pitch_angle[1], roll_angle[1], pitch_angle[2], roll_angle[2], position[1]*360/4096, position[0]*360/4096); //pc.printf("IMU: %2f,%2f\r\n", pitch_angle[0], roll_angle[0]); //pc.printf("IMU2: %2f,%2f\r\n", pitch_angle[1], roll_angle[1]); //pc.printf("IMU3: %2f,%2f\r\n", pitch_angle[2], roll_angle[2]); @@ -170,7 +170,7 @@ w3[2] = Gyro_axis_data_f[8]; - estimator(axm,aym,azm,w3,w2,w1,20); + estimator(axm,aym,azm,w3,w2,w1,120); angle_fn(x1_hat,x2_hat); pitch_dot_fn(w3,w2,w1,sinroll,cosroll); pitch_double_dot_fn(pitch_dot,pitch_dot_old);