Revision 25:1ab0189cdaaf, committed 2022-09-22

Comitter:

suriyon

Date:

Thu Sep 22 23:04:14 2022 +0000

Parent:

24:7f14b70fc9ef

Commit message:

sssssssssssssssss

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BM1422AGMV.lib	Thu Sep 22 23:04:14 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/Rohm/code/BM1422AGMV/#203311da9813

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/KX224-1053.lib	Thu Sep 22 23:04:14 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/Rohm/code/KX224-1053/#b226b04d2c21

--- a/main.cpp	Mon Apr 08 11:03:25 2019 +0100
+++ b/main.cpp	Thu Sep 22 23:04:14 2022 +0000
@@ -1,12 +1,82 @@
 #include "mbed.h"
+#include "BM1422AGMV.h"
+#include "KX224.h"
+//#include "wire.h"
 
 DigitalOut myled(LED1);
 
+//https://www.google.com/search?q=bm1422agmv+arduino&rlz=1C1SQJL_enTH863TH863&oq=BM1422&aqs=chrome.5.69i57j0i19j69i59l2j0i19l2j69i60l2.3962j0j7&sourceid=chrome&ie=UTF-8#imgrc=llWSwJWhYP3wyM
+
+I2C i2c(I2C_SDA, I2C_SCL);         // setup i2c (SDA,SCL)  
+
+BM1422AGMV bm1422(I2C_SDA, I2C_SCL);
+KX224 accelerometer(I2C_SDA, I2C_SCL);
+
+//BM1422AGMV bm1422(i2c,0x0E);
+Serial pc(USBTX, USBRX);
+
+int _px  = 6.3;//-44.5; //中点x
+int _py  = -24.8;//-38.5; //中点y
+
+/** 角度を求める **/
+double getDirection(double x, double y){
+  double dir  = 0;
+  dir = atan((y - _py)/(x - _px));
+  return dir;
+}
+
 int main() {
+    //bm1422.initialize();
+    pc.baud(115200);                              // baud rate: 9600
+    pc.printf("test\n");
+  float mag[3];
+  float acc[3];
+  int ret;
+
+  double rd;
+  int x = mag[0];
+  int y = mag[1];
+  int z = mag[2];
+  
+    //Initialize KX224-1053
+    ret = accelerometer.initialize();
+    if (ret != 0) {
+        printf("\r\nKX224-1053  :   Failed initialization \n");
+    }
+        
     while(1) {
-        myled = 1;
-        wait(0.2);
-        myled = 0;
-        wait(0.2);
+      accelerometer.get_val(&acc[0]);
+             bm1422.get_val(mag);
+      rd = getDirection(mag[0],mag[1]);
+      x = mag[0];
+      y = mag[1];
+      z = mag[2];
+      
+      printf("%7.2f       %7.2f       %7.2f       %7.2f       %7.2f       %7.2f\r\n", mag[0], mag[1], mag[2],acc[0], acc[1], acc[2]);
+
+  //磁北ではないときステッピングモーターを回転させる
+  //ステッピングモーターの回転数に応じてrdに余裕を持たせています
+  if(rd <= 0.3 && rd >= -0.3 && x > _px){
+    //磁北の状態//Serial.println("North!");//https://deviceplus.jp/arduino/entry041/
+  pc.printf("%f     %d      %d      %d      North!  \n",rd,x,y,z);
+  myled = 1;
+
+  }else{
+  pc.printf("%f     %d      %d      %d       -      \n",rd,x,y,z);
+  myled = 0;
+  }
+/*
+  else if(rd > 0){
+    moveStepper(2,-1);
+  }
+  else{
+    moveStepper(2);
+  }  
+*/  
+  
+        //myled = 1;
+        //wait(.1);
+        //myled = 0;
+        //wait(.1);
     }
 }