task main(){
int x_val, y_val, z_val; // axis values
nxtDisplayCenteredTextLine(0, "Mindsensors");
nxtDisplayCenteredBigTextLine(1, "IMU");
nxtDisplayCenteredTextLine(3, "Test 1");
nxtDisplayCenteredTextLine(5, "Connect sensor");
nxtDisplayCenteredTextLine(6, "to S1");
wait1Msec(2000);
eraseDisplay();
while (true){
// Read the GYROSCOPE
MSIMUreadGyroAxes(MSIMU, x_val, y_val, z_val);
nxtDisplayTextLine(1, "%d", x_val);
nxtDisplayTextLine(2, "%d", y_val);
nxtDisplayTextLine(3, "%d", z_val);
// Read the accelerometer
MSIMUreadAccelAxes(MSIMU, x_val, y_val, z_val);
nxtDisplayTextLine(5, "%d", x_val);
nxtDisplayTextLine(6, "%d", y_val);
nxtDisplayTextLine(7, "%d", z_val);
wait1Msec(50);
}
}
task main()
{
clearDebugStream();
writeDebugStreamLine("xbee5");
time1[T1] = 0;
nxtEnableHSPort(); //Enable High Speed Port #4
nxtSetHSBaudRate(115200); //Xbee Default Speed
nxtHS_Mode = hsRawMode; //Set to Raw Mode (vs. Master/Slave Mode)
while (true)
{
int t = time1[T1];
int ax, ay, az, tx, ty, tz, gx, gy, gz;
MSIMUreadAccelAxes(AIMU, ax, ay, az);
MSIMUreadTiltAxes(AIMU, tx, ty, tz);
MSIMUreadGyroAxes(AIMU, gx, gy, gz);
dataLog(7, t, (az / 100.0));
dataLog(8, t, (tz / 1000.0));
dataLog(9, t, gz);
wait1Msec(50);
}
}
task main(){
int x_val, y_val, z_val; // axis values
float x_fval, y_fval, z_fval; // axis values
nxtDisplayCenteredTextLine(0, "Mindsensors");
nxtDisplayCenteredBigTextLine(1, "IMU");
nxtDisplayCenteredTextLine(3, "Test 1");
nxtDisplayCenteredTextLine(5, "Connect sensor");
nxtDisplayCenteredTextLine(6, "to S1");
wait1Msec(2000);
eraseDisplay();
/*
* Range 1: Change Accelerometer Sensitivity to 2G and Gyro to 250 degrees/sec
* Range 2: Change Accelerometer Sensitivity to 4G and Gyro to 500 degrees/sec
* Range 3: Change Accelerometer Sensitivity to 8G and Gyro to 2000 degrees/sec
* Range 4: Change Accelerometer Sensitivity to 16G and Gyro to 2000 degrees/sec
*/
MSIMUsetRange(MSIMU, MSIMU_SENSITIVITY_RANGE_1);
while (true){
// Read the GYROSCOPE
MSIMUreadGyroAxes(MSIMU, x_fval, y_fval, z_fval);
nxtDisplayTextLine(1, "%.2f", x_fval);
nxtDisplayTextLine(2, "%.2f", y_fval);
nxtDisplayTextLine(3, "%.2f", z_fval);
// Read the accelerometer
MSIMUreadAccelAxes(MSIMU, x_val, y_val, z_val);
nxtDisplayTextLine(5, "%d", x_val);
nxtDisplayTextLine(6, "%d", y_val);
nxtDisplayTextLine(7, "%d", z_val);
wait1Msec(50);
}
}
