Diff: main.cpp

Revision:

0:33cfed47c1a3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 12 15:28:37 2020 +0000
@@ -0,0 +1,64 @@
+#include "mbed.h"
+#include "MPU6050.h"
+#include <string>
+
+#define NUM 10
+
+DigitalOut myled(LED1);
+Serial pc(USBTX, USBRX);
+MPU6050 mpu;
+
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+int sum_ax,sum_ay,sum_az;
+int sum_gx,sum_gy,sum_gz;
+
+int main()
+{
+    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");
+    while(1) {
+//        mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+//        pc.printf("fa,%d:fg,%d",mpu.getFullScaleAccelRange(),mpu.getFullScaleGyroRange());
+        //writing current accelerometer and gyro position
+
+        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;
+        }
+        pc.printf("\033[1;1HACCEL_x:%11fm/s^2",float(sum_ax)/(2048*NUM));
+        pc.printf("\033[1;1HACCEL_x:%11fm/s^2",float(sum_ax)/(2048*NUM));
+        pc.printf("\033[2;1HACCEL_y:%11fm/s^2",float(sum_ay)/(2048*NUM));
+        pc.printf("\033[3;1HACCEL_z:%11fm/s^2",float(sum_az)/(2048*NUM));
+
+        pc.printf("\033[5;1HGYRO_x:%12frad/s",float(sum_gx)/(16.4*NUM));
+        pc.printf("\033[6;1HGYRO_y:%12frad/s",float(sum_gy)/(16.4*NUM));
+        pc.printf("\033[7;1HGYRO_z:%12frad/s",float(sum_gz)/(16.4*NUM));
+
+        sum_ax = 0;
+        sum_ay = 0;
+        sum_az = 0;
+
+        sum_gx = 0;
+        sum_gy = 0;
+        sum_gz = 0;
+    }
+}