a
Dependencies: BOARDC_BNO055 mbed
Revision 0:45e93cf5e710, committed 2018-12-12
- Comitter:
- teppei
- Date:
- Wed Dec 12 08:09:22 2018 +0000
- Commit message:
- test
Changed in this revision
diff -r 000000000000 -r 45e93cf5e710 BOARDC_BNO055.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BOARDC_BNO055.lib Wed Dec 12 08:09:22 2018 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/Yajirushi/code/BOARDC_BNO055/#3807ce385b2a
diff -r 000000000000 -r 45e93cf5e710 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed Dec 12 08:09:22 2018 +0000 @@ -0,0 +1,180 @@ +#include "mbed.h" +#include "BNO055.h" + +#define del_t 0.005 + +AnalogIn pos[] = { + p19, //pitch,yellow + p20 //roll,green +}; + +Serial pc(USBTX, USBRX); +I2C ifaceI2C(I2C_SDA, I2C_SCL); //センサー用のI2C +BOARDC_BNO055 sensor1(&ifaceI2C);//センサーで使うI2Cの定義 + +Ticker fripper; + +void frip(); +void setup(); +void debug(); + +float ScEUL; +float phi[4]; +float stroke[4]; +int num[4]; + +const float func[101][101]={ +0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 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+void frip() +{ + short dataBox[12]; + int c_f; + + + sensor1.get9AxisAndEUL(dataBox); + phi[0]=(float)dataBox[11]*ScEUL;//roll + phi[1]=(float)dataBox[10]*ScEUL;//pitsh + phi[2]=(pos[0].read()*300) - 150; + phi[3]=(pos[1].read()*300) - 150; + + for(c_f=0;c_f<4;c_f++) + { + + if(phi[c_f]>50.0) num[c_f]=100; + else if(phi[c_f]<-50.0) num[c_f]=0; + else num[c_f]=(int)(phi[c_f]+50); + + } + + stroke[0]=func[num[0]][num[1]]; + stroke[1]=func[num[0]][100 - num[1]]; + stroke[2]=func[num[2]][num[3]]; + stroke[3]=func[num[2]][100 - num[3]]; + +} + +void setup() +{ + ifaceI2C.frequency(100000); + sensor1.initialize(false); + ScEUL = sensor1.getEulerScale(); +} + +int main() +{ + setup(); + wait(0.1); + fripper.attach(&frip,del_t); + while(1) + { + debug(); + } +} + +void debug() +{ + pc.printf("%f\t%f\t%d\t%d\n",stroke[0],stroke[1],num[2],num[3]); +} \ No newline at end of file
diff -r 000000000000 -r 45e93cf5e710 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Dec 12 08:09:22 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e95d10626187 \ No newline at end of file