cube
Dependencies: BNO055_fusion_tom FastPWM mbed
main.cpp
- Committer:
- wchurch
- Date:
- 2017-04-10
- Revision:
- 15:1d21cf90cd47
- Parent:
- 14:90ac96893fcd
- Child:
- 16:27069802baae
File content as of revision 15:1d21cf90cd47:
#include "mbed.h" #include "BNO055.h" //------------------------------------ // Hyperterminal configuration // 9600 bauds, 8-bit data, no parity //------------------------------------ Serial pc(SERIAL_TX, SERIAL_RX); Ticker pwmint; DigitalOut myled(LED1); InterruptIn button(USER_BUTTON); PwmOut P1(PE_9); DigitalOut EN1(D0); AnalogIn I1(A0); //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_VEL_TypeDef velocity; //IN PROGRESS double Kbt = 5.4; double Kbv = 0.33; double Kwv = 0.124; double cur1; double r1; int isPressed; void pwmupdate() { myled = !myled; cur1 = I1.read(); // Converts and read the analog input value (value from 0.0 to 1.0) cur1 = (cur1-2.0)*5000.0; // Change the value to be in the 0 to 3300 range r1 = (Kbt*euler_angles.h); r1 = (r1 + 6.0)/12.0 ; //Normalize for PWM output //Limit PWM range if (r1 > 1.0){ r1 = 1.0; } if (r1 < 0.0){ r1 = 0.0; } P1 = r1; //P2 = (euler_angles.r/360.0); //P3 = (euler_angles.p/360.0); } void eventFunction() { if(!isPressed) { pwmint.attach(&pwmupdate, .005); EN1 = 1; isPressed=1; } else { pwmint.detach(); P1 = 0.0; r1 = -1.0; myled = 0; EN1 = 0; //P2 = 0; //P3 = 0; isPressed=0; } } int main() { pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n"); if (imu.chip_ready() == 0){ pc.printf("Bosch BNO055 is NOT available!!\r\n"); } 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); P1.period(0.0002); //Set PWM frequency isPressed=0; button.rise(&eventFunction); //Enable Closed Loop while(1) { pc.printf("Heading:%+6.4f [rad], R1%+6.4f [PWM], Pitch:%+6.4f [rad/s]\r\n", euler_angles.h, r1, velocity.z); imu.get_Euler_Angles(&euler_angles); imu.get_velocities(&velocity); //wait(0.2); } }