Diff: main.cpp

Revision:

14:365c1c1bf6ee

Parent:

13:d66766523196

--- a/main.cpp	Wed Jul 03 22:09:33 2019 +0000
+++ b/main.cpp	Thu Jul 04 18:25:35 2019 +0000
@@ -1,24 +1,30 @@
 #include <MPU6050.h>
 #include "IMUWheelchair.h"
-MPU6050 IMU(D14, D15);
+//MPU6050 IMU(D14, D15);
 Serial pc(USBTX, USBRX, 57600);                                     //Serial Monitor
 float dataGyro[3];
 float *dataG = dataGyro;
-
+Timer t;
 float dataYaw[3];
 float *dataY = dataYaw;
+IMUWheelchair IMU(&pc,&t);
 
 int main()
 {
-    IMU.setGyroRange(MPU6050_GYRO_RANGE_500);
-    pc.printf("Imu test connections %d\r\n", IMU.testConnection());
+    t.start();
+    //pc.printf("Imu test connections %d\r\n", IMU.testConnection());
     while(1){
         
-        IMU.getGyro(dataG);
+        //IMU.getGyro(dataG);
        // pc.printf("x: %f, y: %f, z: %f\r\n", dataGyro[0]*180/3.14, dataGyro[1]*180/3.14, dataGyro[2]*180/3.14);
         wait(.2);
-        
-        IMU.getAcceleroAngle(dataY);
-        pc.printf("x: %f, y: %f, z: %f\r\n", dataG[0], dataG[1], dataG[2]);
+         //IMU.gyro_x();
+       // IMU.getAcceleroAngle(dataY);
+       // pc.printf("x: %f, y: %f, z: %f\r\n", dataG[0]*180/3.1415926 + .79, dataG[1], dataG[2]);
+       // printf("%f, %f, %f\n", IMU.gyro_x(), IMU.gyro_y(), IMU.gyro_z()); 
+       // printf("%f\r\n ", IMU.accel_x());
+      
+       IMU.yaw();
+       // printf("%f\r\n ", IMU.yaw());
     }
 }