Diff: main.cpp

Revision:

0:8c0d8dc9eeac

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Nov 28 05:04:30 2018 +0000
@@ -0,0 +1,80 @@
+#include "mbed.h"
+#include "BNO055.h"
+#include "BME280.h"
+
+DigitalOut m1_dir(p23);
+PwmOut m1_duty(p24);
+DigitalOut m2_dir(p21);
+PwmOut m2_duty(p22);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+Serial pc(USBTX, USBRX);
+I2C ifaceI2C(I2C_SDA, I2C_SCL);  //センサー用のI2C
+BOARDC_BNO055 sensor1(&ifaceI2C);//センサーで使うI2Cの定義
+
+float pitch, roll;
+int i = 1.0;
+int k = 0.0;
+float p;
+
+int main() 
+{    
+    char co;
+    ifaceI2C.frequency(200000);
+    sensor1.initialize(false);
+    short dataBox[12];
+    float scEUL;
+    scEUL = sensor1.getEulerScale();
+    
+    pc.printf("Chaek Driver.\n");
+    
+    while(1)
+    {
+        wait(0.1);
+        co=pc.getc();
+        pc.putc(co);
+        sensor1.get9AxisAndEUL(dataBox);
+        roll = (float)dataBox[10] * scEUL;
+        pitch = (float)dataBox[11] * scEUL;
+
+        m1_duty.write(p);
+        m2_duty.write(p);        
+        
+    switch(co)
+    {
+        case'w':
+        m1_dir = i;
+        m2_dir =1.0 - i ;
+        p = 0.95;
+        break;
+        
+        case'd':
+        m1_dir = i;
+        m2_dir = i;
+        p = 0.95;
+        break;
+        
+        case's':
+        m1_dir = 1.0 - i;
+        m2_dir = i;
+        p = 0.95;
+        break;
+        
+        case'a':
+        m1_dir = 1.0 - i;
+        m2_dir = 1.0 - i;
+        p = 0.95;
+        break;
+        
+        case'e':
+        p = 0.0;
+        break;
+        
+        case'c':
+        pc.printf("%05.4f,%05.4f\n", pitch,roll);
+        break;
+    }    
+}
+}
\ No newline at end of file