Dave Lu / Mbed 2 deprecated FYDP

IMU and knee angle. No servo yet

Dependencies:   mbed

Fork of FYDP_Final2 by Dave Lu

robot.cpp@11:425dff6a4af9, 2015-03-25 (annotated)

Committer:
tntmarket
Date:
Wed Mar 25 18:11:09 2015 +0000
Revision:
11:425dff6a4af9
Parent:
6:b3baf0fe5b73 
Working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tntmarket 6:b3baf0fe5b73 1 #include "robot.h"
tntmarket 6:b3baf0fe5b73 2
tntmarket 6:b3baf0fe5b73 3 DigitalOut led(LED_PIN);
tntmarket 6:b3baf0fe5b73 4
tntmarket 6:b3baf0fe5b73 5 MPU6050 mpu;
tntmarket 6:b3baf0fe5b73 6 MPU6051 mpu2;
tntmarket 6:b3baf0fe5b73 7 DigitalOut imuSwitch(IMU_POWER_PIN);
tntmarket 6:b3baf0fe5b73 8 DigitalOut imu2Switch(IMU2_POWER_PIN);
tntmarket 6:b3baf0fe5b73 9 IMU_DATA imu_data;
tntmarket 6:b3baf0fe5b73 10 IMU_DATA imu2_data;
tntmarket 6:b3baf0fe5b73 11
tntmarket 6:b3baf0fe5b73 12 Timer t;
tntmarket 6:b3baf0fe5b73 13
tntmarket 6:b3baf0fe5b73 14 float getTime() { return (float)(t.read_us())/1000000; }