cube
Dependencies: BNO055_fusion_tom FastPWM mbed
Diff: main.cpp
- Revision:
- 8:1011786787a4
- Parent:
- 7:1be7e6735fe2
- Child:
- 9:6a83e2777d24
--- a/main.cpp Sun Apr 09 18:37:31 2017 +0000 +++ b/main.cpp Sun Apr 09 19:28:56 2017 +0000 @@ -24,17 +24,22 @@ BNO055_EULER_TypeDef euler_angles; - //BNO055_EULER_TypeDef velocity; IN PROGESS + //BNO055_EULER_TypeDef velocity; IN PROGRESS -int i = 180; +double Kbt = 0.003; +double Kbv = 0.23; +double Kwv = 0.124; +double r1; + int isPressed; void pwmupdate() { myled = !myled; - - P1 = (euler_angles.h/360.0); + r1 = (Kbt*euler_angles.h); + r1 = (r1 + 6.0)/12.0 ; //Normalize for PWM output + P1 = r1; //P2 = (euler_angles.r/360.0); //P3 = (euler_angles.p/360.0); @@ -43,12 +48,13 @@ void eventFunction() { if(!isPressed) { - pwmint.attach(&pwmupdate, .5); + pwmint.attach(&pwmupdate, .005); isPressed=1; } else { pwmint.detach(); P1 = 0; + myled = 0; //P2 = 0; //P3 = 0; isPressed=0; @@ -85,6 +91,6 @@ imu.get_Euler_Angles(&euler_angles); - wait(0.2); + //wait(0.2); } }