Aloïs Wolff
/
testHK10DOF
test program for the HK10DOF library
main.cpp@0:06ada7a91fa1, 2013-07-17 (annotated)
- Committer:
- pommzorz
- Date:
- Wed Jul 17 18:54:46 2013 +0000
- Revision:
- 0:06ada7a91fa1
test program for the HK10DOF library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pommzorz | 0:06ada7a91fa1 | 1 | |
pommzorz | 0:06ada7a91fa1 | 2 | #include "mbed.h" |
pommzorz | 0:06ada7a91fa1 | 3 | #include "math.h" |
pommzorz | 0:06ada7a91fa1 | 4 | |
pommzorz | 0:06ada7a91fa1 | 5 | #include "HMC5883L.h" |
pommzorz | 0:06ada7a91fa1 | 6 | #include "ADXL345_I2C.h" |
pommzorz | 0:06ada7a91fa1 | 7 | #include "L3G4200D.h" |
pommzorz | 0:06ada7a91fa1 | 8 | #include "BMP085.h" |
pommzorz | 0:06ada7a91fa1 | 9 | #include "HK10DOF.h" |
pommzorz | 0:06ada7a91fa1 | 10 | |
pommzorz | 0:06ada7a91fa1 | 11 | //#include "PwmIn.h" |
pommzorz | 0:06ada7a91fa1 | 12 | |
pommzorz | 0:06ada7a91fa1 | 13 | |
pommzorz | 0:06ada7a91fa1 | 14 | PwmOut rled(LED_RED); |
pommzorz | 0:06ada7a91fa1 | 15 | PwmOut gled(LED_GREEN); |
pommzorz | 0:06ada7a91fa1 | 16 | PwmOut bled(LED_BLUE); |
pommzorz | 0:06ada7a91fa1 | 17 | |
pommzorz | 0:06ada7a91fa1 | 18 | HK10DOF imu(PTE0,PTE1); |
pommzorz | 0:06ada7a91fa1 | 19 | float ypr[3]; |
pommzorz | 0:06ada7a91fa1 | 20 | float values[9]; |
pommzorz | 0:06ada7a91fa1 | 21 | |
pommzorz | 0:06ada7a91fa1 | 22 | int main() |
pommzorz | 0:06ada7a91fa1 | 23 | { |
pommzorz | 0:06ada7a91fa1 | 24 | rled=1; |
pommzorz | 0:06ada7a91fa1 | 25 | gled=1; |
pommzorz | 0:06ada7a91fa1 | 26 | |
pommzorz | 0:06ada7a91fa1 | 27 | imu.pc.printf("Ceci est un Test\r\n"); |
pommzorz | 0:06ada7a91fa1 | 28 | imu.init(true); |
pommzorz | 0:06ada7a91fa1 | 29 | imu.pc.printf("Test passe\r\n"); |
pommzorz | 0:06ada7a91fa1 | 30 | float alt=0; |
pommzorz | 0:06ada7a91fa1 | 31 | |
pommzorz | 0:06ada7a91fa1 | 32 | |
pommzorz | 0:06ada7a91fa1 | 33 | while(1) { |
pommzorz | 0:06ada7a91fa1 | 34 | //imu.getValues(values); |
pommzorz | 0:06ada7a91fa1 | 35 | imu.getYawPitchRoll(ypr); |
pommzorz | 0:06ada7a91fa1 | 36 | imu.pc.printf("YAW: %03.0f PITCH: %03.0f ROLL: %03.0f \n\r",ypr[0],ypr[1],ypr[2]); |
pommzorz | 0:06ada7a91fa1 | 37 | alt=imu.getBaroAlt(); |
pommzorz | 0:06ada7a91fa1 | 38 | //imu.pc.printf("ALT : %03.0f",alt); |
pommzorz | 0:06ada7a91fa1 | 39 | |
pommzorz | 0:06ada7a91fa1 | 40 | //imu.pc.printf("ACC: %04.0f %04.0f %04.0f GYR: %04.0f %04.0f %04.0f MAG: %04.0f %04.0f %04.0f \n\r",values[0], values[1], values[2], values[3], values[4], values[5], values[6], values[7], values[8] ); |
pommzorz | 0:06ada7a91fa1 | 41 | wait_ms(1); |
pommzorz | 0:06ada7a91fa1 | 42 | bled=!bled; |
pommzorz | 0:06ada7a91fa1 | 43 | |
pommzorz | 0:06ada7a91fa1 | 44 | |
pommzorz | 0:06ada7a91fa1 | 45 | |
pommzorz | 0:06ada7a91fa1 | 46 | } |
pommzorz | 0:06ada7a91fa1 | 47 | |
pommzorz | 0:06ada7a91fa1 | 48 | |
pommzorz | 0:06ada7a91fa1 | 49 | |
pommzorz | 0:06ada7a91fa1 | 50 | |
pommzorz | 0:06ada7a91fa1 | 51 | |
pommzorz | 0:06ada7a91fa1 | 52 | } |