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uncrustify libraries/AP_IMU/examples/IMU_MPU6000_test/IMU_MPU6000_test.pde

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uncrustify 2012-08-16 23:19:49 -07:00 committed by Pat Hickey
parent f597b7101a
commit 0fce87c934
1 changed files with 16 additions and 16 deletions
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32
libraries/AP_IMU/examples/IMU_MPU6000_test/IMU_MPU6000_test.pde
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@ -16,7 +16,7 @@
FastSerialPort(Serial, 0); FastSerialPort(Serial, 0);
Arduino_Mega_ISR_Registry isr_registry; Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess mpu_scheduler; AP_TimerProcess mpu_scheduler;
AP_InertialSensor_MPU6000 mpu6000( 53 ); /* chip select is pin 53 */ AP_InertialSensor_MPU6000 mpu6000( 53 ); /* chip select is pin 53 */
AP_IMU_INS imu(&mpu6000, 0); /* second arg is for Parameters. Can we leave it null?*/ AP_IMU_INS imu(&mpu6000, 0); /* second arg is for Parameters. Can we leave it null?*/
@ -28,34 +28,34 @@ AP_IMU_INS imu(&mpu6000, 0); /* second arg is for Parameters. Can we leave it nu
static void flash_leds(bool on) static void flash_leds(bool on)
{ {
digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON); digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF); digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
} }
void setup(void) void setup(void)
{ {
pinMode(53, OUTPUT); pinMode(53, OUTPUT);
digitalWrite(53, HIGH); digitalWrite(53, HIGH);
Serial.begin(115200); Serial.begin(115200);
Serial.println("Doing IMU startup..."); Serial.println("Doing IMU startup...");
isr_registry.init(); isr_registry.init();
mpu_scheduler.init(&isr_registry); mpu_scheduler.init(&isr_registry);
imu.init(IMU::COLD_START, delay, flash_leds, &mpu_scheduler); imu.init(IMU::COLD_START, delay, flash_leds, &mpu_scheduler);
} }
void loop(void) void loop(void)
{ {
Vector3f accel; Vector3f accel;
Vector3f gyro; Vector3f gyro;
delay(1000); delay(1000);
imu.update(); imu.update();
accel = imu.get_accel(); accel = imu.get_accel();
gyro = imu.get_gyro(); gyro = imu.get_gyro();
Serial.printf("AX: 0x%4.4f AY: 0x%4.4f AZ: 0x%4.4f GX: 0x%4.4f GY: 0x%4.4f GZ: 0x%4.4f\n", Serial.printf("AX: 0x%4.4f AY: 0x%4.4f AZ: 0x%4.4f GX: 0x%4.4f GY: 0x%4.4f GZ: 0x%4.4f\n",
accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z); accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z);
} }