Revision 5:d85bac38cdff, committed 2013-11-26

Comitter:

team10

Date:

Tue Nov 26 20:29:54 2013 +0000

Parent:

4:44a5b1e8fd27

Commit message:

imu rev1

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMUfilter.lib	Tue Nov 26 20:29:54 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/aberk/code/IMUfilter/#8a920397b510

--- a/control.cpp	Sat Nov 02 08:47:14 2013 +0000
+++ b/control.cpp	Tue Nov 26 20:29:54 2013 +0000
@@ -2,18 +2,47 @@
 #include "sensor.h"
 #include "steps.h"
 #include "mbed.h"
+#include "IMUfilter.h"
 
 #define MAXPROC 15
+IMUfilter imuFilter(0.1, 10);
+
 
 process procs[MAXPROC] = {0};
-
+Serial pc3(USBTX, USBRX);
+LocalFileSystem local("local");
 int main()
 {
+
     init();
+    pc3.baud(115200);
+    accelerometer_measure();
+    gyro_turnon();
+    sensor ter;
+    int a;
     while (true)
     {
         schedule();
+        a =  read_accelerometer(&ter);
+        a = read_gyro(&ter);
+        
+          wait(1);
+        //Gyro and accelerometer values must be converted to rad/s and m/s/s
+        //before being passed to the filter.
+     /* imuFilter.updateFilter(ter.gx,
+                               ter.gy,
+                               ter.gz,
+                               ter.ax,
+                               ter.ay,
+                               ter.az);
+        imuFilter.computeEuler();
+        printf("%f, %f, %f\n", imuFilter.getRoll(), imuFilter.getPitch(), imuFilter.getYaw());
+    
+    */
+    
+       
     }
+;
 }
 
 void init()

--- a/sensor.cpp	Sat Nov 02 08:47:14 2013 +0000
+++ b/sensor.cpp	Tue Nov 26 20:29:54 2013 +0000
@@ -2,7 +2,7 @@
 
 
 extern Serial pc;
-I2C i2c(p9, p10);
+I2C i2c(p28, p27);
 
 char set_i2c_pointer(char addr, char reg)
 {

--- a/steps.cpp	Sat Nov 02 08:47:14 2013 +0000
+++ b/steps.cpp	Tue Nov 26 20:29:54 2013 +0000
@@ -35,8 +35,14 @@
             pc.printf("Error in get_sensor_data while reading from gyro!\r\n");
         return 1;
     }
+    // updated output format for matlab 
     if (USBDEBUG)
-        pc.printf("Ax: %i Ay: %i Az: %i Gx: %i Gy: %i Gz: %i\r\n", s.ax, s.ay, s.az, s.gx, s.gy, s.gz);
+        //pc.printf("%i,%i,%i\r\n", s.ax, s.ay, s.az);
+        pc.printf("%i,%i,%i,%i,%i,%i\r\n", s.ax, s.ay, s.az, s.gx, s.gy, s.gz);
+
+     
+    //if (USBDEBUG)
+     //   pc.printf("Ax: %i Ay: %i Az: %i Gx: %i Gy: %i Gz: %i\r\n", s.ax, s.ay, s.az, s.gx, s.gy, s.gz);
     return 1;
 }