Aloïs Wolff / Mbed 2 deprecated gurvanAHRS

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Dependencies:   MPU6050_tmp mbed

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Show/hide line numbers main.cpp Source File

main.cpp

00001 #include "mbed.h"
00002 #include "MPU6050.h"
00003 #include "GurvIMU.h"
00004 
00005 
00006 //#define     PI 3.1415926535897932384626433832795
00007 GurvIMU imu;
00008 
00009 DigitalOut myled(LED1);
00010 Serial pc(USBTX, USBRX);
00011 float euler[3];
00012 float av[4];
00013     
00014 int main() {
00015     pc.baud(921600);//init la liaison série a la vitesse max
00016     pc.printf("Init\r\n");
00017     imu.init();
00018     while(1) {
00019         //imu.getYawPitchRollRad(euler);
00020         //pc.printf("Yaw : %f , Pitch : %f , Roll : %f \r\n" , euler[0], euler[1], euler[2]);
00021         imu.getVerticalAcceleration(av);
00022         pc.printf("%f\r\n",av[3]);
00023         wait_ms(10);
00024     }
00025 }
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