Diff: main.cpp

Revision:

7:1be7e6735fe2

Parent:

6:f2c930a90873

Child:

8:1011786787a4

--- a/main.cpp	Sun Apr 09 16:28:10 2017 +0000
+++ b/main.cpp	Sun Apr 09 18:37:31 2017 +0000
@@ -14,14 +14,17 @@
 InterruptIn button(USER_BUTTON);
 
 PwmOut P1(PE_9);
-PwmOut P2(PE_11);
-PwmOut P3(PE_13);
+//PwmOut P2(PE_11);     1D FOCUS FOR NOW
+//PwmOut P3(PE_13);
 
     I2C    i2c(PB_9, PB_8);         // SDA, SCL
     BNO055 imu(i2c, PA_8);          // Reset
  
     BNO055_ID_INF_TypeDef bno055_id_inf;
     BNO055_EULER_TypeDef  euler_angles;
+    
+    
+    //BNO055_EULER_TypeDef  velocity;  IN PROGESS
 
 int i = 180;
 int isPressed;
@@ -32,17 +35,22 @@
     
     
     P1 = (euler_angles.h/360.0);
-    P2 = (euler_angles.r/360.0);
-    P3 = (euler_angles.p/360.0);
+    //P2 = (euler_angles.r/360.0);
+    //P3 = (euler_angles.p/360.0);
     
     }
     
     void eventFunction() {
+        
     if(!isPressed) {
-        pwmint.attach(&pwmupdate, .005);   
+        pwmint.attach(&pwmupdate, .5);   
         isPressed=1;
+        
     } else {
         pwmint.detach();
+        P1 = 0;
+        //P2 = 0;
+        //P3 = 0;
         isPressed=0;   
     }
 }
@@ -57,13 +65,13 @@
     
     imu.read_id_inf(&bno055_id_inf);
     
-    pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n",
-               bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
-               bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
+    //pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n",
+    //           bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
+    //           bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
                
-               
+    P1.period(0.0002);      
+        
     isPressed=0;
-
     button.rise(&eventFunction);
     
     
@@ -73,6 +81,7 @@
         
         pc.printf("Heading:%+6.4f [deg], Roll:%+6.4f [deg], Pitch:%+6.4f [deg]\r\n",
                     euler_angles.h, euler_angles.r, euler_angles.p);
+        
         imu.get_Euler_Angles(&euler_angles);