void loop() { int8_t x; int8_t y; int8_t z; float ax,ay,az; accelemeter.getXYZ(&x,&y,&z); Serial.print("x = "); Serial.println(x); Serial.print("y = "); Serial.println(y); Serial.print("z = "); Serial.println(z); accelemeter.getAcceleration(&ax,&ay,&az); Serial.println("accleration of X/Y/Z: "); Serial.print(ax); Serial.println(" g"); Serial.print(ay); Serial.println(" g"); Serial.print(az); Serial.println(" g"); Serial.println("*************"); delay(500); }
void setup() { debug("Starting setup"); Serial.begin(9600); mySerial.begin(9600); // Initialize classes escs.x = &esc_x; escs.nx = &esc_nx; escs.y = &esc_y; escs.ny = &esc_ny; quad.escs = &escs; quad.controller = &controller; quad.gyro = &gyro; quad.acc = &acc; quad.alt = &alt; Wire.begin(); acc.init(); gyro.init(); attachInterrupt(PING_INT, pingInterrupt, FALLING); pinMode(ESC_X_PIN, OUTPUT); pinMode(ESC_NX_PIN, OUTPUT); pinMode(ESC_Y_PIN, OUTPUT); pinMode(ESC_NY_PIN, OUTPUT); // Set all motor speeds to ESC min escs.write(OUTPUT_MIN); debug("Entering main loop"); }
void loop() { unsigned char data[8]; if (mySerial.available() > 0) { if (readFrame(&mySerial, data) == FRAME_COMPLETE) controller.updateFromDataArray(data); } acc.read(); gyro.read(); alt.start(); quad.computePIDs(); quad.setESCs(); }
void setup() { accelemeter.init(); Serial.begin(9600); }