task main(){
short heading;
short x_val, y_val, z_val; // axis values
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "IMU");
displayCenteredTextLine(3, "Test 2");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
while (true){
// Read the Compass
heading = MSIMUreadHeading(MSIMU);
displayTextLine(1, "%d", heading);
// Read the tilt
MSIMUreadTiltAxes(MSIMU, x_val, y_val, z_val);
displayTextLine(5, "%d", x_val);
displayTextLine(6, "%d", y_val);
displayTextLine(7, "%d", z_val);
sleep(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);
}
}
