Diff: main.cpp

Revision:

2:f17a67920767

Parent:

1:6c4ba07e0c77

--- a/main.cpp	Thu Feb 11 22:46:43 2016 +0000
+++ b/main.cpp	Fri Feb 12 16:25:04 2016 +0000
@@ -1,6 +1,7 @@
 #include "mbed.h"
 #include "LSM9DS1.h"
 #include "uLCD_4DGL.h"
+#include "SDFileSystem.h"
 #define PI 3.14159
 // Earth's magnetic field varies by location. Add or subtract
 // a declination to get a more accurate heading. Calculate
@@ -13,6 +14,10 @@
 Serial pc(USBTX, USBRX);
 Serial device(p13, p14); 
 uLCD_4DGL uLCD(p27,p28,p30); // serial tx, serial rx, reset pin;
+SDFileSystem sd(p5, p6, p7, p8, "sd");
+//Global variables. Whatever. Sue me. 
+float oldx = 0;
+float oldy = 0;
 
 
 // Calculate pitch, roll, and heading.
@@ -54,10 +59,10 @@
 }
 
 void bubLev(float ax, float ay, float az, float oldx, float oldy){
-    
-    uLCD.filled_circle(63, 63, 40, 0x0000FF);
-    uLCD.filled_circle(ax/az*40+63, ay/az*40+63, 5, 0xFF00FF);    
-    
+    uLCD.filled_circle(oldx, oldy, 5, BLACK);   
+    uLCD.filled_circle(floor(-ax/az*40.0)+63, floor(-ay/az*40.0)+63, 5, 0xFF00FF);    
+    oldx = floor(ax/az*40)+63;
+    oldy = floor(ay/az*40)+63;
 }
 
 
@@ -67,6 +72,24 @@
 {
     //device.baud(19200);
     //device.format(8N1);
+    
+    mkdir("/sd/mydir", 0777);
+    FILE *fp = fopen("/sd/mydir/sdtest.txt", "w");
+    if(fp == NULL) {
+        error("Could not open file for write\n");
+    }
+    fprintf(fp, "Hello SD File World!\n Mike and Gedeon Lab 2.\n");
+    fclose(fp); 
+    
+    char myString [100];
+    
+    FILE *fr = fopen("/sd/mydir/sdtest.txt", "r");
+    if (fgets(myString, 100, fr) != NULL){
+        pc.printf("%s\n", myString);
+    }
+    fclose(fr);
+    wait(2);
+
     LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
     sel.mode(PullUp);
     uLCD.baudrate(3000000);
@@ -76,6 +99,7 @@
     }
     IMU.calibrate(1);
     IMU.calibrateMag(0);
+    uLCD.filled_circle(63, 63, 40, 0x0000FF);
     while(1) {
         while(!IMU.tempAvailable());
         IMU.readTemp();
@@ -103,6 +127,8 @@
             printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),
                         IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
         }
+        
+        bubLev(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), oldx, oldy);
         myled = 1;
         wait(0.5);
         myled = 0;