task main () {
int _x_accel = 0;
int _y_accel = 0;
int _z_accel = 0;
int angleI = 0;
float angleF = 0.0;
int rotI = 0;
float rotF = 0.0;
nxtDisplayCenteredTextLine(0, "MicroInfinity");
nxtDisplayTextLine(1, "CruizCore XG1300L");
nxtDisplayCenteredTextLine(3, "Test 1");
wait1Msec(2000);
eraseDisplay();
// There are 3 ranges the Cruizcore XG1300L can measure in
// up to 2G
// up to 4G
// up to 8G
MICCsetRange8G(MICC);
// Make sure you always reset the sensor at the beginning of your program
// The robot needs to be completely stationary or your heading and gyro
// data won't be accurate.
MICCreset(MICC);
while(bSoundActive) EndTimeSlice();
nxtDisplayTextLine(0, "CruizCore XG1300L");
while (true) {
// Read the relative heading from the sensor.
angleI = MICCreadRelativeHeading(MICC);
angleF = angleI / 100.0;
// Read the rate of turn
rotI = MICCreadTurnRate(MICC);
rotF = rotI / 100.0;
// Read the acceleration data from the sensor
if (!MICCreadAccel(MICC, _x_accel, _y_accel, _z_accel)) {
nxtDisplayTextLine(4, "ERROR!!");
wait1Msec(2000);
StopAllTasks();
}
nxtDisplayTextLine(2, "Heading: %4.2f", angleF);
nxtDisplayTextLine(3, "RoT: %4.2f", rotF);
nxtDisplayTextLine(5, "X: %5.2f", _x_accel/100.0);
nxtDisplayTextLine(6, "Y: %5.2f", _y_accel/100.0);
nxtDisplayTextLine(7, "Z: %5.2f", _z_accel/100.0);
wait1Msec(50);
}
}
task main () {
nxtDisplayCenteredTextLine(0, "MicroInfinity");
nxtDisplayTextLine(1, "CruizCore XG1300L");
nxtDisplayCenteredTextLine(3, "Test 2");
wait1Msec(2000);
eraseDisplay();
// There are 3 ranges the Cruizcore XG1300L can measure in
// up to 2G
// up to 4G
// up to 8G
MICCsetRange8G(MICC);
// Make sure you always reset the sensor at the beginning of your program
// The robot needs to be completely stationary or your heading and gyro
// data won't be accurate.
MICCreset(MICC);
// Start the task for displaying all the sensor data.
StartTask(updateHUD);
nxtDisplayTextLine(0, "CruizCore XG1300L");
while (true) {
// Read the relative heading from the sensor.
angleI = MICCreadRelativeHeading(MICC);
// Read the rate of turn
rotI = MICCreadTurnRate(MICC);
// Read the acceleration data from the sensor
if (!MICCreadAccel(MICC, x_accel, y_accel, z_accel)) {
StopTask(updateHUD);
wait1Msec(100);
eraseDisplay();
nxtDisplayTextLine(4, "ERROR!!");
wait1Msec(2000);
StopAllTasks();
}
wait1Msec(50);
}
}
