Lab5
Dependencies: mbed HeptaBattery SDFileSystem HeptaCamera_GPS Hepta9axis HeptaTemp HeptaXbee
main.cpp
- Committer:
- HEPTA
- Date:
- 2018-12-18
- Revision:
- 17:994a95b50791
- Parent:
- 14:bf2ca1f15a76
File content as of revision 17:994a95b50791:
#include "mbed.h" #include "SDFileSystem.h" #include "HeptaXbee.h" #include "HeptaCamera_GPS.h" #include "Hepta9axis.h" #include "HeptaTemp.h" #include "HeptaBattery.h" Serial pc(USBTX,USBRX); SDFileSystem sd(p5, p6, p7, p8, "sd"); HeptaXbee xbee(p9,p10); HeptaCamera_GPS cam_gps(p13, p14,p25,p24); Hepta9axis n_axis(p28,p27,0xD0,0x18); HeptaTemp temp(p17); HeptaBattery battery(p16,p26); int main() { int rcmd=0,cmdflag=0; while(1) { wait(1.0); xbee.xbee_receive(&rcmd,&cmdflag); pc.printf("rcmd=%d, cmdflag=%d\r\n",rcmd, cmdflag); if (cmdflag == 1) { pc.printf("Command Get %d\r\n",rcmd); if(rcmd == 'h') { cam_gps.gps_setting(); char gx[4],gy[4],gz[4],ax[4],ay[4],az[4],mx[4],my[4],mz[4],lad[8],log[8],height[4],bt[4],temper[4]; float gx1,gy1,gz1; for(int i = 0; i < 1000000; i++) { n_axis.sen_gyro_u16(gx,gy,gz); n_axis.sen_gyro(&gx1,&gy1,&gz1); n_axis.sen_acc_u16(ax,ay,az); n_axis.sen_mag_u16(mx,my,mz); battery.vol_u16(bt); temp.temp_sense_u16(temper); cam_gps.lat_log_sensing_u16(lad,log,height); xbee.putc('H'); pc.printf("gx=%f,gx16=%c%c%c%c\r\n",gx1,gx[0],gx[1],gx[2],gx[3]); xbee.xbee_transmit(gx,gy,gz,ax,ay,az,mx,my,mz,lad,log,height,bt,temper); } xbee.initialize(); } } } }