jetfishteam / Mbed 2 deprecated sparkfun6dof

for interfacing the sparkfun boards

Dependencies:   ADXL345_I2C HMC5883L IMUfilter ITG3200_HelloWorld mbed

main.cpp@0:441caaf895d8, 2014-04-29 (annotated)

Committer:
sandwich
Date:
Tue Apr 29 00:04:48 2014 +0000
Revision:
0:441caaf895d8
imufilter works. 6dof

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sandwich 0:441caaf895d8 1 #include "ADXL345_I2C.h"
sandwich 0:441caaf895d8 2 #include "ADXL345HL.h"
sandwich 0:441caaf895d8 3 #include "ITG3200HL.h"
sandwich 0:441caaf895d8 4
sandwich 0:441caaf895d8 5 #include "IMUfilter.h"
sandwich 0:441caaf895d8 6
sandwich 0:441caaf895d8 7
sandwich 0:441caaf895d8 8 //ADXL345_I2C accelerometer(p28, p27);
sandwich 0:441caaf895d8 9 ADXL345HL accel;
sandwich 0:441caaf895d8 10 ITG3200HL gyro;
sandwich 0:441caaf895d8 11 //ITG3200 gyro(p28, p27);
sandwich 0:441caaf895d8 12 Serial pc(USBTX, USBRX);
sandwich 0:441caaf895d8 13 IMUfilter imuFilter(0.1, 10);
sandwich 0:441caaf895d8 14
sandwich 0:441caaf895d8 15 int main()
sandwich 0:441caaf895d8 16 {
sandwich 0:441caaf895d8 17 accel.init(20,4,0.004);
sandwich 0:441caaf895d8 18 accel.calibrateAccelerometer();
sandwich 0:441caaf895d8 19 gyro.init(20,4,0.004);
sandwich 0:441caaf895d8 20 gyro.calibrate();
sandwich 0:441caaf895d8 21 while (1) {
sandwich 0:441caaf895d8 22
sandwich 0:441caaf895d8 23 wait(0.1);
sandwich 0:441caaf895d8 24 double* accelreadings=accel.sampleAccelerometer();
sandwich 0:441caaf895d8 25 double* gyroreadings=gyro.sample();
sandwich 0:441caaf895d8 26 imuFilter.updateFilter(gyroreadings[0],gyroreadings[1],gyroreadings[2],accelreadings[0],accelreadings[1],accelreadings[2]);
sandwich 0:441caaf895d8 27 imuFilter.computeEuler();
sandwich 0:441caaf895d8 28 pc.printf("roll: %f, pitch: %f, yaw: %f\n", imuFilter.getRoll(), imuFilter.getPitch(), imuFilter.getYaw());
sandwich 0:441caaf895d8 29 //pc.printf("aceelerometer: %f, %f, %f\n", readings[0], readings[1], readings[2]);
sandwich 0:441caaf895d8 30 //pc.printf("gyro: %i, %i, %i\n", gyros[0],gyros[1],gyros[2]);
sandwich 0:441caaf895d8 31 }
sandwich 0:441caaf895d8 32
sandwich 0:441caaf895d8 33 }