File content as of revision 0:c7160959f043:

#include "mbed.h"
#include "MPU6050.h"
#include "Adafruit_SSD1306.h"
#include "Adafruit_GFX_Config.h"
#include <string>

#define NUM 10

DigitalOut myled(LED1);
Serial pc(USBTX, USBRX,115200);

MPU6050 mpu;

DigitalIn  Slides[]  = {
    DigitalIn( D1 ),
    DigitalIn( D0 ),
    DigitalIn( D3 ),
    DigitalIn( D6 )
};

DigitalIn  Tacts[]  = {
    DigitalIn( D8 ),
    DigitalIn( D9 ),
    DigitalIn( D11 ),
    DigitalIn( D12 )
};

DigitalOut  leds[]  = {
    DigitalOut( A3 ),
    DigitalOut( A0 ),
    DigitalOut( D13 ),
    DigitalOut( A2 )
};

// OLEDとの通信に使用するI2Cオブジェクトを生成
I2C i2c(PB_7,PB_6);
// OLED制御クラスのインスタンス化
uint8_t i2cAddress = SSD_I2C_ADDRESS;
int rawHeight = 32;
int rawWidth = 128;
Adafruit_SSD1306_I2c oled(i2c, D10, i2cAddress);

void print(std::string str);

int16_t ax, ay, az;
int16_t gx, gy, gz;

int sum_ax,sum_ay,sum_az;
int sum_gx,sum_gy,sum_gz;
char str_ax[15],str_ay[15],str_az[15];
char str_gx[15],str_gy[15],str_gz[15];

int main()
{
//    char a[]= {"HELLO"};
//    char b[]= {" WORLD"};
//    char c[]= {"\n"};
    char title1[] = {"AC[m/ss]"};
    char title2[] = {"GY[rad/s]"};
    char but=0x00;
    for(int i=0; i<4; i++) {
        Slides[i].mode(PullUp);
        Tacts[i].mode(PullUp);
    }
    pc.printf("\033[2J");
    pc.printf("MPU6050 test\n\n");
    pc.printf("MPU6050 initialize \n");

    mpu.initialize();
    pc.printf("MPU6050 testConnection \n");

    bool mpu6050TestResult = mpu.testConnection();
    if(mpu6050TestResult) {
        pc.printf("MPU6050 test passed \n");
    } else {
        pc.printf("MPU6050 test failed \n");
    }

    pc.printf("\033[2J");
    pc.printf("\033[1;1HACCEL_x:    0.0000[m/s^2]");
    pc.printf("\033[2;1HACCEL_y:    0.0000[m/s^2]");
    pc.printf("\033[3;1HACCEL_z:    0.0000[m/s^2]");

    pc.printf("\033[5;1HGYRO_x :    0.0000[rad/s]");
    pc.printf("\033[6;1HGYRO_y :    0.0000[rad/s]");
    pc.printf("\033[7;1HGYRO_z :    0.0000[rad/s]");
    oled.clearDisplay();
    oled.setTextCursor(0,0);
    print(title1);
    oled.setTextCursor(64,0);
    print(title2);
    while(1) {
        myled = !myled;
        for(int i=0; i < NUM; i++) {
            mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
            sum_ax += ax;
            sum_ay += ay;
            sum_az += az;

            sum_gx += gx;
            sum_gy += gy;
            sum_gz += gz;
        }
        
        for(int i=0; i<4; i++) {
            if ( !(Slides[i]) ) but |= (0x01<<i);
            if ( !(Tacts[i]) )  but |= (0x10<<i);
            if( Slides[i] ^ Tacts[i] ) leds[i] = 0;
            else leds[i] = 1;
        }

        sprintf(str_ax, "%+08.5g", float(sum_ax)/(2048*NUM));
        sprintf(str_ay, "%+08.5g", float(sum_ay)/(2048*NUM));
        sprintf(str_az, "%+08.5g", float(sum_az)/(2048*NUM));

        sprintf(str_gx, "%+08.5g", float(sum_gx)/(16.4*NUM));
        sprintf(str_gy, "%+08.5g", float(sum_gy)/(16.4*NUM));
        sprintf(str_gz, "%+08.5g", float(sum_gz)/(16.4*NUM));

        oled.setTextCursor(0,8);
        print(str_ax);
        oled.setTextCursor(0,16);
        print(str_ay);
        oled.setTextCursor(0,24);
        print(str_az);

        oled.setTextCursor(64,8);
        print(str_gx);
        oled.setTextCursor(64,16);
        print(str_gy);
        oled.setTextCursor(64,24);
        print(str_gz);

//        pc.printf("\033[1;10H%s",str_ax);
//        pc.printf("\033[2;10H%s",str_ay);
//        pc.printf("\033[3;10H%s",str_az);
//
//        pc.printf("\033[5;9H%s",str_gx);
//        pc.printf("\033[6;9H%s",str_gy);
//        pc.printf("\033[7;9H%s",str_gz);
//        pc.printf("\033[8;1Hbut:0x%x",but);

        sum_ax = 0;
        sum_ay = 0;
        sum_az = 0;

        sum_gx = 0;
        sum_gy = 0;
        sum_gz = 0;

        but=0x00;
    }
}

void print(std::string str)
{
    for(size_t i=0; i<str.size() ; i++) {
        oled._putc(str[i]);
    }
    // 表示を更新
    oled.display();
}