Diff: main.cpp

Revision:

5:5d34a8feffe2

Parent:

4:86927e61e1e3

Child:

6:9f698d1b2996

--- a/main.cpp	Tue May 09 01:08:59 2017 +0000
+++ b/main.cpp	Tue May 09 01:21:47 2017 +0000
@@ -17,6 +17,9 @@
  DigitalOut testLed3(PB_14);
  DigitalOut testLed4(PB_15);
  AnalogIn Ain(PA_3);
+ AnalogIn gyro(PC_1);
+ DigitalOut gyro_sleep(PC_2);
+ 
 //Motor leftMotor(PB_7, PB_6);
 //Motor rightMotor(PB_9, PB_8);
 // pwm
@@ -49,7 +52,7 @@
 //         motor_pwm_left_sig = 0;
          
 
-     
+     //double angle 
      
      while (1)
      {
@@ -67,22 +70,17 @@
 //         serial.printf("Right Diagnal %f\r\n", testIR_DIAG_RIGHT.readIR());
 //         serial.printf("Right sensor: %f\r\n", testIR_RIGHT.readIR());
          wait(1);
-         
-//         leftMotor.speed(0.4f);
-//         rightMotor.speed(-0.3f);
-
-        //serial.printf("start");
+         //______________TEST GYRO
+        double offset = .4451;
+         gyro_sleep = 1;
+        double gyro_value = (gyro.read() - offset) * .67 / offset * 600;  // Offset of .4455 measured experimentally
+     //   angle += gyro_value * .01;
+        wait(.01);
+       
+        serial.printf("Gyro value: %f\r\n", gyro_value);
          
-        // for (int i = 0; i < 3; i++) {
- //           leftMotor.speed(0.15f);
- //           rightMotor.speed(0.15f);
-//            rightMotor.dir
-            
-       //     leftMotor.stop();
-        //    rightMotor.stop();
- //           serial.printf("Left Motor speed is at: %f \n", leftMotor.read());    
- //           serial.printf("Right Motor speed is at: %f \n", rightMotor.read());
-         //}
+         
+         //______________
          
          
          //serial.printf("voltage value is: %3.3f%%\r\n", Ain.read()*100.0f);