Diff: main.cpp

Revision:

0:441caaf895d8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Apr 29 00:04:48 2014 +0000
@@ -0,0 +1,33 @@
+#include "ADXL345_I2C.h"
+#include "ADXL345HL.h"
+#include "ITG3200HL.h"
+
+#include "IMUfilter.h"
+
+
+//ADXL345_I2C accelerometer(p28, p27);
+ADXL345HL accel;
+ITG3200HL gyro;
+//ITG3200 gyro(p28, p27);
+Serial pc(USBTX, USBRX);
+IMUfilter imuFilter(0.1, 10);
+
+int main()
+{
+    accel.init(20,4,0.004);
+    accel.calibrateAccelerometer();
+    gyro.init(20,4,0.004);
+    gyro.calibrate();
+    while (1) {
+
+        wait(0.1);
+        double* accelreadings=accel.sampleAccelerometer();
+        double* gyroreadings=gyro.sample();
+        imuFilter.updateFilter(gyroreadings[0],gyroreadings[1],gyroreadings[2],accelreadings[0],accelreadings[1],accelreadings[2]);
+        imuFilter.computeEuler();
+        pc.printf("roll: %f, pitch: %f, yaw: %f\n", imuFilter.getRoll(), imuFilter.getPitch(), imuFilter.getYaw());
+        //pc.printf("aceelerometer: %f, %f, %f\n", readings[0], readings[1], readings[2]);
+        //pc.printf("gyro: %i, %i, %i\n", gyros[0],gyros[1],gyros[2]);
+    }
+
+}
\ No newline at end of file