Ted Parrott
NA
Dependencies: BMA180_1 L3G4200D mbed
Revision 0:51b08ae8fc55, committed 2017-11-16
- Comitter:
- tedparrott6
- Date:
- Thu Nov 16 14:58:51 2017 +0000
- Commit message:
- NA
Changed in this revision
diff -r 000000000000 -r 51b08ae8fc55 BMA180.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BMA180.lib Thu Nov 16 14:58:51 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/tedparrott6/code/BMA180_1/#333b3cfb4b89
diff -r 000000000000 -r 51b08ae8fc55 L3G4200D.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/L3G4200D.lib Thu Nov 16 14:58:51 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/tedparrott6/code/L3G4200D/#d99fca91fe6f
diff -r 000000000000 -r 51b08ae8fc55 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Nov 16 14:58:51 2017 +0000
@@ -0,0 +1,89 @@
+#include "mbed.h"
+#include "BMA180.h"
+#include "math.h"
+#include "L3G4200D.h"
+
+Serial pc(USBTX, USBRX);
+L3G4200D gyro(p9,p10);
+BMA180 my_BMA180(p5,p6,p7,p15,p16);
+
+float data_x[2];
+float data_y[2];
+float angle_x;
+float angle_x_a;
+float angle_y;
+float angle_y_a;
+float r1;
+float r2;
+float pi = 3.14159;
+float speed_x;
+float speed_y;
+float g[3];
+float output_angle_x;
+float output_angle_y;
+int output_angle_d_x;
+int output_angle_d_y;
+float force_mag;
+Timer t;
+float dt;
+
+int main()
+{
+
+ angle_x = 0;
+ angle_y = 0;
+ t.start();
+ while(1) {
+ gyro.read(g); // Read and Interpret Gyro Data
+ speed_x = ((g[1])*0.07) - 1.12;
+ speed_y = ((g[0])*0.07) - 0.595;
+
+ int x_msb, y_msb, z_msb;
+ char x_lsb, y_lsb, z_lsb;
+ short ax, ay, az;
+ float afx, afy, afz;
+
+ x_lsb = my_BMA180.readReg(ACCXLSB); // Read X LSB register
+ x_msb = my_BMA180.readReg(ACCXMSB); // Read X MSB register
+ ax = (x_msb << 8) | x_lsb; // Concatinate X MSB and LSB
+ ax = ax >> 2; // Remove unused first 2 LSB (16 bits to 14 bits)
+ afx = (float)ax*3/16384;
+
+ y_lsb = my_BMA180.readReg(ACCYLSB); // Read Y LSB register
+ y_msb = my_BMA180.readReg(ACCYMSB); // Read Y MSB register
+ ay = (y_msb << 8) | y_lsb; // Concatinate Y MSB and LSB
+ ay = ay >> 2; // Remove unused first 2 LSB
+ afy = (float)ay*3/16384;
+
+ z_lsb = my_BMA180.readReg(ACCZLSB); // Read Z LSB register
+ z_msb = my_BMA180.readReg(ACCZMSB); // Read Z MSB register
+ az = (z_msb << 8) | z_lsb; // Concatinate Z MSB and LSB
+ az = az >> 2; // Remove unused first 2 LSB
+ afz = (float)az*3/16384;
+
+ r1 = afx / (sqrt(pow(afy,2) + pow(afz,2))); // Determine X component of gravity force
+ r2 = afy / (sqrt(pow(afx,2) + pow(afz,2))); // Determine Y component of gravity force
+ angle_x_a = atan(r1)*180/pi; // Determine X, Y angles
+ angle_y_a = atan(r2)*180/pi;
+
+ force_mag = abs(az) + abs(ay) + abs(ax); // Check force magnitude to reduce effects of shocks/vibration
+
+
+ angle_x = 0.98*(angle_x + speed_x*0.005) + 0.02*angle_x_a;
+ output_angle_x = angle_x;
+ output_angle_d_x = output_angle_x;
+
+ angle_y = 0.98*(angle_y + speed_y*0.005) + 0.02*angle_y_a;
+ output_angle_y = angle_y;
+ output_angle_d_y = output_angle_y;
+
+ dt = t.read_us(); // timer to determine dt
+ //pc.printf("\n\rTime: %05f", dt);
+ t.reset();
+
+ //pc.printf("$%i %i;", output_angle_d_x, output_angle_d_y); //Print values for serial reader app
+ pc.printf("%d\n", output_angle_d_x); //Print values for MATLAB
+ //pc.printf("\n\rSpeed: %05f",speed);
+
+ }
+}
diff -r 000000000000 -r 51b08ae8fc55 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Nov 16 14:58:51 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7c328cabac7e \ No newline at end of file