int main(void) { // Initialize the UART,Timers, and I2C1v Board_init(); Serial_init(); I2C_init(MAGNETOMETER_I2C_ID, I2C_CLOCK_FREQ); Magnetometer_init(); while(1){ Magnetometer_runSM(); while(!Serial_isTransmitEmpty()); printf("Angle: %.1f\n", Magnetometer_getDegree()); } return (SUCCESS); }
/** * Function: runMasterSM * @return None. * @remark Executes one cycle of the command center's state machine. * @author David Goodman * @date 2013.03.09 */ void runMasterSM() { //Magnetometer_runSM(); // Record these button presses since we don't know // if they will be pressed after runSM lockPressed = isLockPressed(); zeroPressed = isZeroPressed(); if(lockPressed || zeroPressed){ #ifdef USE_ENCODERS Encoder_runSM(); #endif if(lockPressed) { printf("Lock was pressed.\n"); #ifdef USE_NAVIGATION #ifdef USE_ENCODERS Encoder_enableZeroAngle(); Encoder_runSM(); Coordinate ned; // = Coordinate_new(ned, 0, 0 ,0); if (Navigation_getProjectedCoordinate(&ned, Encoder_getYaw(), Encoder_getPitch(), height)) { printf("Desired coordinate -- N: %.6f, E: %.6f, D: %.2f (m)\n", ned.x, ned.y, ned.z); #ifdef USE_XBEE Mavlink_send_start_rescue(XBEE_UART_ID, TRUE, 0,ned.x, ned.y); #endif } else { printf("Failed to obtain desired NED coordinate.\n"); } Encoder_disableZeroAngle(); #else printf("Navigation module is disabled.\n"); #endif #endif } else if (zeroPressed) { // Zero was pressed #ifdef USE_ENCODERS Encoder_setZeroAngle(); #endif useLevel = TRUE; #ifdef USE_MAGNETOMETER Magnetometer_runSM(); heading = Magnetometer_getDegree(); updateHeading(); #endif //printf("Zeroing...\n"); } else { } } if (!zeroPressed) { if (useLevel) printf("Done zeroing.\n"); useLevel = FALSE; } #ifdef USE_ACCELEROMETER Accelerometer_runSM(); updateAccelerometerLEDs(); #endif #ifdef USE_NAVIGATION Navigation_runSM(); #endif #ifdef USE_XBEE Xbee_runSM(); #endif }