Rolf Rahm
Using LSM303DLM Kompass-Module and Library for m3pi-Robot.
Dependencies: LSM303DLM m3pi mbed
Revision 0:ccf3df1312aa, committed 2014-11-25
- Comitter:
- rahm
- Date:
- Tue Nov 25 13:52:55 2014 +0000
- Commit message:
- Digital Kompass with LSM303DLM and m3pi-Robot.
;
Changed in this revision
diff -r 000000000000 -r ccf3df1312aa LSM303DLM.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM303DLM.lib Tue Nov 25 13:52:55 2014 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/shimniok/code/LSM303DLM/#0fcea8569714
diff -r 000000000000 -r ccf3df1312aa m3pi.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/m3pi.lib Tue Nov 25 13:52:55 2014 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/chris/code/m3pi/#4b7d6ea9b35b
diff -r 000000000000 -r ccf3df1312aa main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Nov 25 13:52:55 2014 +0000
@@ -0,0 +1,63 @@
+#include "mbed.h"
+#include <math.h>
+#include "LSM303DLM.h"
+#include "m3pi.h"
+
+#define YOFF 100.0 // Y-Offset
+#define XOFF 2.0 // X-Offset
+#define WOFF 12.0 // Winkel-Offset
+
+//Konstruktoren
+//Serial pc(USBTX,USBRX); // Für Testausgabe auf PC
+LSM303DLM compass(p28, p27);
+m3pi robo;
+
+// Funktionsprototyp calcHeading
+double calcHeading(int *mag);
+
+// Funktion main
+int main()
+{
+ double hdg;
+ int mag[3];
+
+ //pc.printf("LSM303DLH Test \n\r");
+ robo.locate(0,0);
+ robo.print("LSM303DL",8);
+ while(1)
+ {
+ compass.readMag(mag);
+ hdg = calcHeading(mag);
+
+ //pc.printf(" %.1f ", hdg);
+ robo.locate(0,1);
+ robo.printf(" %.1f\xdf ", hdg); // \xdf = °-Symbol im Display-Zeichensatz
+ wait(0.4);
+ }
+}
+
+double calcHeading(int *mag)
+{
+ double x,y;
+ double hdg;
+
+ x = mag[0] + XOFF; // X-Achsen Ausgleich
+ y = mag[1] + YOFF; // Y-Achsen Ausgleich
+
+ hdg = atan(y/x);
+ hdg *= 57.2958; // Umrechnung von Bogen- nach Winkelmass
+ if (x > 0)
+ {
+ if(y>0) hdg = hdg; // Korrektur 1. Quadrant
+ else hdg = 360.0 + hdg; // Korrektur 4. Quadrant
+ }
+ else
+ {
+ if(y>0) hdg = 180.0 + hdg; // Korrektur 2. Quadrant
+ else hdg = 180.0 + hdg; // Korrektur 3. Quadrant
+ }
+
+ hdg -= WOFF; // Korrektur Winkel (Vorsicht: Bei Winkeln < WOFF wird hdg negativ!)
+ if (hdg <0) hdg = 360 + hdg; // Winkel soll nicht negativ werden! (Bsp.: -5° => 355°)
+ return (hdg);
+}
\ No newline at end of file
diff -r 000000000000 -r ccf3df1312aa mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Nov 25 13:52:55 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/49a220cc26e0