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uncrustify libraries/AP_IMU/examples/IMU_Oilpan_test/IMU_Oilpan_test.pde

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uncrustify 2012-08-16 23:19:49 -07:00 committed by Pat Hickey
parent 0fce87c934
commit c42f1260e0
1 changed files with 16 additions and 16 deletions
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32
libraries/AP_IMU/examples/IMU_Oilpan_test/IMU_Oilpan_test.pde
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@ -22,41 +22,41 @@
FastSerialPort(Serial, 0); FastSerialPort(Serial, 0);
Arduino_Mega_ISR_Registry isr_registry; Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess adc_scheduler; AP_TimerProcess adc_scheduler;
AP_ADC_ADS7844 adc; AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan oilpan_ins(&adc); AP_InertialSensor_Oilpan oilpan_ins(&adc);
AP_IMU_INS imu(&oilpan_ins,0); AP_IMU_INS imu(&oilpan_ins,0);
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)
{ {
Serial.begin(115200); Serial.begin(115200);
Serial.println("Doing IMU startup..."); Serial.println("Doing IMU startup...");
isr_registry.init(); isr_registry.init();
adc_scheduler.init(&isr_registry); adc_scheduler.init(&isr_registry);
/* Should also call ins.init and adc.init */ /* Should also call ins.init and adc.init */
imu.init(IMU::COLD_START, delay, flash_leds, &adc_scheduler); imu.init(IMU::COLD_START, delay, flash_leds, &adc_scheduler);
imu.init_accel(delay, flash_leds); imu.init_accel(delay, flash_leds);
} }
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: %4.4f AY: %4.4f AZ: %4.4f GX: %4.4f GY: %4.4f GZ: %4.4f\n", Serial.printf("AX: %4.4f AY: %4.4f AZ: %4.4f GX: %4.4f GY: %4.4f GZ: %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);
} }