code for the speed robot
Dependencies: MPU6050-DMP mbed PololuQTRSensors vl53l0x
_var.h
- Committer:
- deepanaishtaweera174
- Date:
- 2019-10-01
- Revision:
- 8:d7941bcd9981
- Parent:
- 7:fd80a0d11658
File content as of revision 8:d7941bcd9981:
I2C i2c(PB_9,PB_8); Timer t; VL53L0X Sensor3(&i2c,&t); //Right Sensor VL53L0X Sensor2(&i2c,&t); //Left Sensor VL53L0X Sensor1(&i2c,&t); //Front Sensor int right_Distance; int left_Distance; int front_Distance; // Gyro Variables MPU6050 mpu; volatile bool mpuInterrupt = false; unsigned long savedMillis; bool gyroTurnMode = false; int zAngle = 0; int xAngle = 0; int preZAngle = 0; int preXAngle = 0; int startAngle = 0; unsigned long preGyroMillis = 0; // MPU control/status vars bool dmpReady = false; // set true if DMP init was successful uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU uint8_t devStatus; uint16_t packetSize; // expected DMP packet size (default is 42 bytes) uint16_t fifoCount; uint8_t fifoBuffer[64]; // orientation/motion vars Quaternion q; // [w, x, y, z] quaternion container VectorInt16 aa; // [x, y, z] accel sensor measurements VectorInt16 aaReal; // [x, y, z] VectorInt16 aaWorld; // [x, y, z] VectorFloat gravity; // [x, y, z] gravity vector float euler[3]; // [psi, theta, phi] Euler angle container float ypr[3]; // [yaw, pitch, roll]