cube
Dependencies: BNO055_fusion_tom FastPWM mbed
Diff: main.cpp
- Revision:
- 20:79c99bbf6dd7
- Parent:
- 19:3118e8e60182
- Child:
- 21:4f60d60b2e5a
--- a/main.cpp Tue Apr 11 02:23:17 2017 +0000 +++ b/main.cpp Tue Apr 11 05:28:54 2017 +0000 @@ -60,13 +60,22 @@ if (r1 < -6.0) { r1 = -6.0; } - - r1 = (r1 + 6.0)/12.0 ; //Normalize for PWM output + + r1 = ((.4*(r1/6.0)) + 0.5) ; //Normalize for PWM output P1 = r1; //P2 = (euler_angles.r/360.0); //P3 = (euler_angles.p/360.0); - + if (bt > (pi/8)){ + EN1 = 0; + pwmint.detach(); + } + + else if (bt< -(pi/8)){ + EN1 = 0; + pwmint.detach(); + } + } void eventFunction() @@ -80,7 +89,7 @@ } else { pwmint.detach(); - P1 = 0.0; + P1 = 0.5; bt = 0.0; myled = 0; EN1 = 0; @@ -99,7 +108,7 @@ } imu.read_id_inf(&bno055_id_inf); - + P1 = .5; //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);