Sooner Competitive Robotics / Mbed 2 deprecated IEEE_14_Freescale

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

Diff: gyroReader.cpp

Revision:
3:a223b0bf8256
Parent:
1:c28fac16a109
Child:
4:adc885f4ab75
--- a/gyroReader.cpp	Sun Nov 17 03:17:09 2013 +0000
+++ b/gyroReader.cpp	Sun Nov 17 04:15:18 2013 +0000
@@ -13,7 +13,7 @@
 int gyroReader::startAccel(){
     char cmd[4];
     char addr=0x30;//0b0011000;
-    char gyroaddr=0xD2;
+    char gyroaddr=0xD6;
     char magaddr=0x3C;
     cmd[0]=0x20;
     cmd[1]=0x2f;//0b00101111;
@@ -77,7 +77,7 @@
 int gyroReader::checkGyro(int& xacc, int& yacc, int& zacc){
     char com[1];
     char cmd[6]={0,0,0,0,0,0};
-    char addr=0xD2;//0b0011000;
+    char addr=0xD6;//0b0011000;
     com[0]=0x28|0x80;
     accel.write(addr, com, 1,true);
     accel.read(addr, cmd, 6);
@@ -109,8 +109,8 @@
 gyroReader::gyroReader(PinName pinA, PinName pinB) : accel(pinA,pinB)/*, upkeepTimer(gyroReader::gyroUpkeep, osTimerPeriodic, (void *)0), testPin(test)*/{
     gyroZcount=0;
     gyroXcount=0;
-    zcal=42;
-    xcal=16;
+    zcal=-54;
+    xcal=120;
     polls=0;
     startAccel();
     //testPin=0;
@@ -138,5 +138,5 @@
 void gyroReader::calibrate(){
     zcal=-(gyroZcount/polls)+zcal;
     xcal=-(gyroXcount/polls)+xcal;
-    DBGPRINT("cal: %d, %d\r\n",zcal,xcal);
+    DBGPRINT("cal: %d, %d (%d)\r\n",zcal,xcal,polls);
 }
\ No newline at end of file