LORDTEK LORDTEK / Mbed 2 deprecated MPU6050_Balancing_by_LEDs

Balancimg MPU6050 by LEDs on PWM

Dependencies:   mbed

It is possible to observe the MPU6050 data on serial. If serial termimal is not started then still LED application runs.

There are 4 LEDs on LPC1768. So the first 3 LEDs are assign to accelerometer X, Y and Z. The last LED can drive by user. Default it lights a bit. If you want to turn it off then change the value as "190" to "180" on this line: myled4 = cos(190*2.0*3.13/360) * 0.5 + 0.5; If you want to turn it on (full) then change the value as "190" to "0" on above code line.

main.cpp@0:9a1aae56ed19, 2013-10-13 (annotated)

Committer:
LORDTEK
Date:
Sun Oct 13 12:01:33 2013 +0000
Revision:
0:9a1aae56ed19
Balancing MPU6050 by LEDs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LORDTEK 0:9a1aae56ed19 1 #include "mbed.h"
LORDTEK 0:9a1aae56ed19 2 #include "math.h" // to use cos() function for LED4
LORDTEK 0:9a1aae56ed19 3 #include "MPU6050.h"
LORDTEK 0:9a1aae56ed19 4
LORDTEK 0:9a1aae56ed19 5 PwmOut myled1(LED1);
LORDTEK 0:9a1aae56ed19 6 PwmOut myled2(LED2);
LORDTEK 0:9a1aae56ed19 7 PwmOut myled3(LED3);
LORDTEK 0:9a1aae56ed19 8 PwmOut myled4(LED4);
LORDTEK 0:9a1aae56ed19 9
LORDTEK 0:9a1aae56ed19 10 // to see 6050 data on Serial terminal
LORDTEK 0:9a1aae56ed19 11 Serial pc(USBTX, USBRX);
LORDTEK 0:9a1aae56ed19 12 MPU6050 mpu;
LORDTEK 0:9a1aae56ed19 13
LORDTEK 0:9a1aae56ed19 14 int16_t ax, ay, az;
LORDTEK 0:9a1aae56ed19 15 int16_t gx, gy, gz;
LORDTEK 0:9a1aae56ed19 16
LORDTEK 0:9a1aae56ed19 17 int main(){
LORDTEK 0:9a1aae56ed19 18 myled1.period_ms(1);
LORDTEK 0:9a1aae56ed19 19 myled2.period_ms(1);
LORDTEK 0:9a1aae56ed19 20 myled3.period_ms(1);
LORDTEK 0:9a1aae56ed19 21 myled4.period_ms(1);
LORDTEK 0:9a1aae56ed19 22
LORDTEK 0:9a1aae56ed19 23 pc.printf("MPU6050 test\n\n");
LORDTEK 0:9a1aae56ed19 24 pc.printf("MPU6050 initialize \n");
LORDTEK 0:9a1aae56ed19 25
LORDTEK 0:9a1aae56ed19 26 mpu.initialize();
LORDTEK 0:9a1aae56ed19 27 pc.printf("MPU6050 testConnection \n");
LORDTEK 0:9a1aae56ed19 28
LORDTEK 0:9a1aae56ed19 29 bool mpu6050TestResult = mpu.testConnection();
LORDTEK 0:9a1aae56ed19 30 if(mpu6050TestResult){
LORDTEK 0:9a1aae56ed19 31 pc.printf("MPU6050 test passed \n");
LORDTEK 0:9a1aae56ed19 32 } else{
LORDTEK 0:9a1aae56ed19 33 pc.printf("MPU6050 test failed \n");
LORDTEK 0:9a1aae56ed19 34 }
LORDTEK 0:9a1aae56ed19 35 while(1){
LORDTEK 0:9a1aae56ed19 36 wait(0.2);
LORDTEK 0:9a1aae56ed19 37 mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
LORDTEK 0:9a1aae56ed19 38 pc.printf("%d\t%d\t%d\t%d\t%d\t%d\n",ax,ay,az,gx,gy,gz);
LORDTEK 0:9a1aae56ed19 39
LORDTEK 0:9a1aae56ed19 40 myled1 = abs(ax) / 16384.0;
LORDTEK 0:9a1aae56ed19 41 myled2 = abs(ay) / 16384.0;
LORDTEK 0:9a1aae56ed19 42 myled3 = abs(az) / 16384.0;
LORDTEK 0:9a1aae56ed19 43 myled4 = cos(190*2.0*3.13/360) * 0.5 + 0.5; // to see efect of the value which is 0,0076 on LED4
LORDTEK 0:9a1aae56ed19 44 }
LORDTEK 0:9a1aae56ed19 45 }