2018 revision to classic DataBus AVC code.
Dependencies: LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell
Diff: main.cpp
- Revision:
- 32:eb673f6f5734
- Parent:
- 31:20a95043adb0
- Child:
- 33:74c514aea0a1
diff -r 20a95043adb0 -r eb673f6f5734 main.cpp --- a/main.cpp Thu Dec 27 00:42:35 2018 +0000 +++ b/main.cpp Thu Dec 27 15:46:57 2018 +0000 @@ -62,7 +62,7 @@ led1 = !led1; d.timestamp = Kernel::get_ms_count(); d.encoder = u->encoder(); - u->gyro(d.gyro, dt); + u->imu(d.gyro, d.accel, d.mag, dt); logQueue.call(&logger, &Logger::log_sensors, d); } @@ -141,16 +141,21 @@ printf("%d %f\n", svcount, hdop); } -void read_gyro(int argc, char **argv) +void read_imu(int argc, char **argv) { int g[3]; + int a[3]; + int m[3]; float dt; Updater *u = Updater::instance(); - u->gyro(g, dt); - - printf("Gyro: %d, %d, %d - dt: %f\n", g[0], g[1], g[2], dt); + u->imu(g, a, m, dt); + + printf(" Gyro: %d, %d, %d\n", g[0], g[1], g[2]); + printf(" Accel: %d, %d, %d\n", a[0], a[1], a[2]); + printf(" Mag: %d, %d, %d\n", m[0], m[1], m[2]); + printf(" dt: %f\n", dt); } void read_enc(int argc, char **argv) @@ -263,7 +268,7 @@ printf("Starting shell...\n"); sh.command(test, "test"); - sh.command(read_gyro, "gyro"); + sh.command(read_imu, "imu"); sh.command(read_enc, "enc"); sh.command(read_gps, "gps"); sh.command(reset, "reset");