Satoshi Iyobe / Mbed 2 deprecated measure_1_DDD

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Dependencies:   mbed QEI MPU6050 TB6612FNG

Diff: main.cpp

Revision:
4:341ad97bf8a6
Parent:
3:94b960cbb1bd
--- a/main.cpp	Fri May 14 00:48:28 2021 +0000
+++ b/main.cpp	Fri May 14 01:29:56 2021 +0000
@@ -12,8 +12,8 @@
 #define TYP2 8192.0 //
 #define TYP3 4096.0 //
 #define TYP4 2048.0 //
-#define period 100000
-#define rate 32
+#define period 4000
+#define rate 128
 int t_1, t_2, t_3, t_4;
 int t_21, t_22, t_23;
 int t_11, t_12, t_13;
@@ -49,33 +49,22 @@
 void flip() {
         t_1 = t.read_us();
         pc.printf("%d\n", t_1 - t_2);
-        if (mpu1.read_data(mpu1.ADDRESS, MPU6050_ACCEL_XOUT_H, data2, 6)) {
-            pc.printf("%d\n", int(data2[0] << 8 | data2[1]));
-            t_11 = t.read_us();
-            pc.printf("%d\n", t_11 - t_2);
-            pc.printf("%d\n", int(data2[2] << 8 | data2[3]));
-            t_12 = t.read_us();
-            pc.printf("%d\n", t_12 - t_2);
-            pc.printf("%d\n", int(data2[4] << 8 | data2[5]));
+        if (mpu1.read_data(mpu1.ADDRESS, MPU6050_ACCEL_XOUT_H, data2, 6)){
+            t_3 = t.read_us();
+            pc.printf("%d\n", t_3 - t_2);
+            if (mpu2.read_data(mpu2.ADDRESS, MPU6050_ACCEL_XOUT_H, data3, 6)) {
+                t_4 = t.read_us();
+                pc.printf("%d\n", t_4 - t_2);
+                pc.printf("%d\n", int(data2[0] << 8 | data2[1]));
+                pc.printf("%d\n", int(data2[2] << 8 | data2[3]));
+                pc.printf("%d\n", int(data2[4] << 8 | data2[5]));
+                pc.printf("%d\n", int(data3[0] << 8 | data3[1]));
+                pc.printf("%d\n", int(data3[2] << 8 | data3[3]));
+                pc.printf("%d\n", int(data3[4] << 8 | data3[5]));
+                t_2 = t_1;
+                i--;
+            }
         }
-        //pc.printf("0\n1\n2\n");
-        t_3 = t.read_us();
-        pc.printf("%d\n", t_3 - t_2);
-        if (mpu2.read_data(mpu2.ADDRESS, MPU6050_ACCEL_XOUT_H, data2, 6)) {
-            pc.printf("%d\n", int(data2[0] << 8 | data2[1]));
-            t_21 = t.read_us();
-            pc.printf("%d\n", t_21 - t_2);
-            pc.printf("%d\n", int(data2[2] << 8 | data2[3]));
-            t_22 = t.read_us();
-            pc.printf("%d\n", t_22 - t_2);
-            pc.printf("%d\n", int(data2[4] << 8 | data2[5]));
-        }
-        //pc.printf("%d\n%d\n%d\n",ax,ay,az);
-        //pc.printf("0\n1\n2\n");
-        t_4 = t.read_us();
-        pc.printf("%d\n", t_4 - t_2);
-        t_2 = t_1;
-        i--;
         if(!i){
             flipper.detach();
             t_1 = t.read_us();