calculate
Dependencies: mbed X_NUCLEO_IKS01A3 Mahony_Algorithm
Diff: main.cpp
- Revision:
- 1:48e219526d0f
- Parent:
- 0:313fbc3a198a
- Child:
- 2:4cccdc792719
--- a/main.cpp Wed Apr 01 16:47:06 2020 +0000 +++ b/main.cpp Mon Apr 13 09:37:17 2020 +0000 @@ -28,22 +28,31 @@ //initialise DigitalIO DigitalOut myled(LED1); -DigitalOut enable(PB_15); -DigitalIn leftsensor(PA_0); DigitalIn user_button(USER_BUTTON); //Generate object CalculateData calculate(D14, D15, D4, D5, A3, D6, A4); +int pos[3]; +int speed[3]; +int acc[3]; int main(){ - wait(4); calculate.enable(); - wait(8); - calculate.disable(); - - + while(1){ + calculate.run(); + calculate.getAccelerometer(acc); + calculate.getSpeed(speed); + calculate.getPosition(pos); + + printf("\r\n----------\r\n\n"); + printf("Accelerometer: \t%5.2f\t%5.2f\t%5.2f\r\n",(double)acc[0], (double)acc[1], (double)acc[2]); + printf("Speed: \t%5.2f\t%5.2f\t%5.2f\r\n",(speed[0]*9.81)/1000, (speed[1]*9.81)/1000, (speed[2]*9.81)/1000); + printf("pos: \t%5.2f\t%5.2f\t%5.2f\r\n",(pos[0]*9.81)/1000, (pos[1]*9.81)/1000, (pos[2]*9.81)/1000); + printf("\r\n----------\r\n\n"); + wait_ms(500); + } }