main.cpp

00001 #include "mbed.h"
00002 #include "xbee.h"
00003 #include "LSM9DS1.h"
00004 xbee xbee1(p13,p14,p5); //Initalise xbee_lib
00005 
00006 DigitalOut led1(LED1);
00007 DigitalOut led2(LED2);
00008 
00009 DigitalOut led3(LED3);
00010 Serial pc(USBTX, USBRX); //Initalise PC serial comms
00011     char read_data1[202]; //Xbee buffer size is 202 bytes
00012         char send_data[202]; //Xbee buffer size is 202 bytes
00013         char read_data[202]; //Xbee buffer size is 202 bytes
00014         
00015  
00016 //also setting unused analog input pins to digital outputs reduces A/D noise a bit
00017 //see http://mbed.org/users/chris/notebook/Getting-best-ADC-performance/
00018 DigitalOut P16(p16);
00019 DigitalOut P17(p17);
00020 DigitalOut P18(p18);
00021 DigitalOut P19(p19);
00022 DigitalOut P20(p20);
00023 int main()
00024 {       
00025         LSM9DS1 imu(p9, p10, 0xD6, 0x3C);
00026         imu.begin();
00027 
00028 
00029         //pc.baud(9600);
00030 
00031          //Thread thread(led2_thread);
00032         imu.readAccel();
00033       double t=imu.az;    
00034       while(1) {
00035                 led1=0;
00036         led2=0;
00037         imu.readAccel();
00038         t=imu.az;
00039         
00040         while(abs(t-imu.az)<4000){
00041             
00042             imu.readAccel();
00043             t=imu.az;
00044              pc.printf("gyro: %d %d %d\n\r", imu.ax, imu.ay, imu.az);
00045              wait(.5);
00046              imu.readAccel();
00047         }
00048         //pc.scanf("%s",send_data); //Read data from serial console
00049         led1=1;
00050         xbee1.SendData("hey"); //Send data to XBee
00051         led2=1;
00052        // xbee1.RecieveData(read_data1,0); //Read data from the XBee
00053         //led1=0;
00054         wait(5);
00055     }
00056 }