Diff: main.cpp

Revision:

3:cc1415081d36

Parent:

2:ba8ce2dbc778

Child:

4:145d1eb8a15d

--- a/main.cpp	Mon Dec 23 09:42:23 2013 +0000
+++ b/main.cpp	Fri Jan 10 05:52:20 2014 +0000
@@ -80,7 +80,7 @@
     while(true) {
         int16_t raw_values[9];
 
-        Thread::wait(10);
+        Thread::wait(5);
         char cmd = 'q';
 #ifndef AUTO_OUTPUT
         cmd = pc.getc();
@@ -90,7 +90,7 @@
             char str[256];
             sprintf(str, "FreeIMU library by %s, FREQ:%s, LIB_VERSION: %s, IMU: %s", FREEIMU_DEVELOPER, 0x10000000, FREEIMU_LIB_VERSION, 0);
             pc.printf("%s", str);
-            pc.printf("\n");
+            pc.printf("\r\n");
         }
 
         if (cmd=='q') {
@@ -109,6 +109,20 @@
                 Thread::yield();
             }
         }
+        
+        if(cmd=='o') {
+            uint8_t count = pc.getc();
+            float raw_valuesf[9];
+            for(uint8_t i=0; i<count; i++) {
+
+                imu.getValues(raw_valuesf);
+
+                pc.printf("%f, %f, %f", raw_valuesf[3], raw_valuesf[4], raw_valuesf[5]);
+
+                pc.printf("\r\n");
+                Thread::wait(4);
+            }
+        }
 
         if(cmd=='b') {
             uint8_t count = pc.getc();
@@ -122,7 +136,7 @@
                 writeArr(raw_values, 3, sizeof(int16_t));
 
                 pc.printf("\r\n");
-                wait_us(4000);
+                Thread::wait(4);
             }
         }
     }