AHRS MPU6050
Dependencies: MPU6050_tmp mbed
main.cpp@0:470f01cb2094, 2013-06-22 (annotated)
- Committer:
- pommzorz
- Date:
- Sat Jun 22 11:24:07 2013 +0000
- Revision:
- 0:470f01cb2094
COmmit;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pommzorz | 0:470f01cb2094 | 1 | #include "mbed.h" |
pommzorz | 0:470f01cb2094 | 2 | #include "MPU6050.h" |
pommzorz | 0:470f01cb2094 | 3 | #include "GurvIMU.h" |
pommzorz | 0:470f01cb2094 | 4 | |
pommzorz | 0:470f01cb2094 | 5 | |
pommzorz | 0:470f01cb2094 | 6 | //#define PI 3.1415926535897932384626433832795 |
pommzorz | 0:470f01cb2094 | 7 | GurvIMU imu; |
pommzorz | 0:470f01cb2094 | 8 | |
pommzorz | 0:470f01cb2094 | 9 | DigitalOut myled(LED1); |
pommzorz | 0:470f01cb2094 | 10 | Serial pc(USBTX, USBRX); |
pommzorz | 0:470f01cb2094 | 11 | float euler[3]; |
pommzorz | 0:470f01cb2094 | 12 | float av[4]; |
pommzorz | 0:470f01cb2094 | 13 | |
pommzorz | 0:470f01cb2094 | 14 | int main() { |
pommzorz | 0:470f01cb2094 | 15 | pc.baud(921600);//init la liaison série a la vitesse max |
pommzorz | 0:470f01cb2094 | 16 | pc.printf("Init\r\n"); |
pommzorz | 0:470f01cb2094 | 17 | imu.init(); |
pommzorz | 0:470f01cb2094 | 18 | while(1) { |
pommzorz | 0:470f01cb2094 | 19 | //imu.getYawPitchRollRad(euler); |
pommzorz | 0:470f01cb2094 | 20 | //pc.printf("Yaw : %f , Pitch : %f , Roll : %f \r\n" , euler[0], euler[1], euler[2]); |
pommzorz | 0:470f01cb2094 | 21 | imu.getVerticalAcceleration(av); |
pommzorz | 0:470f01cb2094 | 22 | pc.printf("%f\r\n",av[3]); |
pommzorz | 0:470f01cb2094 | 23 | wait_ms(10); |
pommzorz | 0:470f01cb2094 | 24 | } |
pommzorz | 0:470f01cb2094 | 25 | } |