Diff: main.cpp

Revision:

13:d66766523196

Parent:

12:6efce6d008f8

Child:

14:365c1c1bf6ee

--- a/main.cpp	Wed Jul 03 17:56:22 2019 +0000
+++ b/main.cpp	Wed Jul 03 22:09:33 2019 +0000
@@ -1,17 +1,24 @@
 #include <MPU6050.h>
-#include "IMU6050.h"
+#include "IMUWheelchair.h"
 MPU6050 IMU(D14, D15);
 Serial pc(USBTX, USBRX, 57600);                                     //Serial Monitor
-float dataA[3];
-float* data = dataA;
+float dataGyro[3];
+float *dataG = dataGyro;
+
+float dataYaw[3];
+float *dataY = dataYaw;
+
 int main()
 {
     IMU.setGyroRange(MPU6050_GYRO_RANGE_500);
     pc.printf("Imu test connections %d\r\n", IMU.testConnection());
     while(1){
         
-        IMU.getGyro(data);
-        pc.printf("x: %f, y: %f, z: %f\r\n", dataA[0]*180/3.14, dataA[1]*180/3.14, dataA[2]*180/3.14);
+        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]);
     }
 }