C++ (Cpp) MPU_init Examples

Example #1

File: TaskMgr.c Project: piterlca/MSP430_node

static void init_mpu(MPU_handle mpu)
{
	MPU_init_str mpu_init;

	mpu_init.acc_on = TRUE;
	mpu_init.gyro_on = TRUE;
	mpu_init.sample_rate_divider = 0x20;

	MPU_init(mpu, &mpu_init);
}

Example #2

File: PSensors.cpp Project: sooyewguan/RobotChipKit

bool initSensors() {
#if defined(TRACE)
    Serial.println(">Start initSensors");
#endif

    i2c_init();
    delay(100);

    if (!MPU_init()) return false;
    if (!Gyro_init()) return false ;
    if (!ACC_init()) return false;

    f.I2C_INIT_DONE = 1;

#if defined(TRACE)
    Serial.println("<End OK initSensors");
#endif
    return true;
}

Example #3

File: PSensors.cpp Project: dangeljs/RobotChipKit

bool initSensors() {
#if defined(TRACE)	
  Serial.println(">>Start initSensors"); 
#endif 

  i2c_init();
  delay(100);
  
  if (!MPU_init())
  {   
#if defined(TRACE)	  
   Serial.println("<<End KO MPU_init");
#endif    
    return false;
  }
  if (!Gyro_init())
  {   
#if defined(TRACE)	  
   Serial.println("<<End KO Gyro_init");
#endif    
    return false;
  }    
  if (!ACC_init())
      {   
#if defined(TRACE)	  
   Serial.println("<<End KO ACC_init");
#endif    
    return false;
  }

  i2c_getTemperature(MPU6050_ADDRESS, 0x41);  
  imu.temperature  = (rawTemp[0] << 8) | rawTemp[1];
    
#if defined(TRACE)	  
  Serial.print("Temperature: "); Serial.println(((double)imu.temperature + 12412.0) / 340.0);
  Serial.println("<<End OK initSensors");
#endif 
  return true;
}

Example #4

File: Gangenheten.cpp Project: samli177/S.M.A.U.G

int main(void)
{
	LED_INIT;
	//servoTx;
	sei();
	USART_init();
	MPU_init();
	SERVO_init();
	init_counters();
	
	initvar();
	
	SERVO_update_EEPROM(BROADCASTING_ID);
	
	wait(10);
	move_to_std();
	wait_until_gyro_stable();
	LED0_ON;
	USART_send_message("Gyro Stable");
	
	// ------ TESTCODE FOR READING SERVO -------
	
	//servoGoto(1, 3.14/3, 0x200);
	SERVO_update_EEPROM(BROADCASTING_ID); // NOTE: needs to run once for SERVO_get position to work	
	//----------------------------
	
	reset_counter_1();
	set_counter_1(3000);
	
	uint8_t readyCounter = 0;
	
    while(1)
    {
		MPU_update();
		
		if(USART_get_turn_flag())
		{
			turn_degrees(USART_get_turn_angle(), USART_get_turn_dir());
		}
		if(USART_get_climb_flag())
		{
			climb();
		}
		
		uint8_t r = USART_getRotation();
		uint8_t s = USART_getSpeed();
		uint8_t d = USART_getDirection();
		if(s != 0 || r != 50)
		{
			std_pos_flag = 0;
			reset_counter_1();
			readyCounter = 3;
		}
		
		move_robot(d, r, s);
		
		
		if(r == 50 && s == 0 && d == 0 && readyCounter)
		{
			cli();
			USART_send_ready();
			sei();
			readyCounter--;
		}
		
		
		
		if(move_to_std_flag == 1)
		{
			move_to_std_flag = 0;
			move_to_std();
		}
		
		
		/*climb();
		for(int i = 0; i < 10; ++i)
		{
			move_robot(0,50,100);
			//wait(2000);
		}
		*/
		/*
		
		change_z(-120);
		move_to_std();
		turn_degrees(180,1);
		
		
		// Takes a predecided number of steps forward
		// This is good when testing different things.
		wait(100);
		for(int i = 0; i < 10; ++i)
		{
			move_robot(0,50,100);
			//wait(2000);
		}
		*/
		
	USART_decode_rx_fifo();

	}
}