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C++ LSM303类代码示例

本文整理汇总了C++中LSM303类的典型用法代码示例。如果您正苦于以下问题：C++ LSM303类的具体用法？C++ LSM303怎么用？C++ LSM303使用的例子？那么, 这里精选的类代码示例或许可以为您提供帮助。


在下文中一共展示了LSM303类的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: setup

void setup() {
  Serial.begin(9600);
  Wire.begin();
  compass.init();
  compass.enableDefault();
  compass.setMagGain(LSM303::magGain_47);
}
开发者ID:TerellNao，项目名称:arduino-gps-glasses，代码行数:7，代码来源:cal.cpp

示例2: setup

/**
 * @brief Initializes the gyro/accelerometer and the magnetometer unit of the imu.
 * 		As well as the arduino subsystem
 */
void setup() {
    Wire.begin();
    delay(1500);

    /********/
    /* GYRO */
    /********/
    gyro.init();
    gyro.writeReg(L3G_CTRL_REG4, 0x00); // 245 dps scale
    gyro.writeReg(L3G_CTRL_REG1, 0x0F); // normal power mode, all axes enabled, 100 Hz
    //8.75 mdps/LSB

    /****************/
    /* MAGNETOMETER */
    /****************/
    compass.init();
    compass.enableDefault();
    compass.writeReg(LSM303::CTRL2, 0x08); // 4 g scale: AFS = 001
    //0.122 mg/LSB
    compass.writeReg(LSM303::CTRL5, 0x10); // Magnetometer Low Resolution 50 Hz
    //Magnetometer 4 gauss scale : 0.16mgauss/LSB


    //ROS-TF base frame of the imu_data
    imu_msg.header.frame_id="base_imu_link";

    //Register ROS messages
    nh.initNode();
    nh.advertise(imu_pub);
    nh.advertise(mag_pub);

    //starting value for the timer
    timer=millis();
}
开发者ID:AR2A，项目名称:imu-minimu-arduino，代码行数:38，代码来源:avr_imu.cpp

示例3: Accel_Init

void Accel_Init()
{
  compass.init();
  if (compass.getDeviceType() == LSM303DLHC_DEVICE)
  {
    compass.writeAccReg(LSM303_CTRL_REG1_A, 0x47); // normal power mode, all axes enabled, 50 Hz
    compass.writeAccReg(LSM303_CTRL_REG4_A, 0x28); // 8 g full scale: FS = 10 on DLHC; high resolution output mode
  }
  else 
  {
    compass.writeAccReg(LSM303_CTRL_REG1_A, 0x27); // normal power mode, all axes enabled, 50 Hz
    compass.writeAccReg(LSM303_CTRL_REG4_A, 0x30); // 8 g full scale: FS = 11 on DLH, DLM
  }
}
开发者ID:atomicpunk，项目名称:openrov-software，代码行数:14，代码来源:MinIMU_I2C.cpp

示例4: Compass_Calibrate

void Compass_Calibrate() {
  long timer=millis();
  LSM303::vector running_min = {2047, 2047, 2047}, running_max = {-2048, -2048, -2048};   
  while((millis()-timer)<=60000){ //calibrate for 1 minutes
 
    compass.read();
    
    running_min.x = min(running_min.x, compass.m.x);
    running_min.y = min(running_min.y, compass.m.y);
    running_min.z = min(running_min.z, compass.m.z);
  
    running_max.x = max(running_max.x, compass.m.x);
    running_max.y = max(running_max.y, compass.m.y);
    running_max.z = max(running_max.z, compass.m.z);
    
    delay(100);
  }
  compass.m_max.x = running_max.x;
  compass.m_max.y = running_max.y;
  compass.m_max.z = running_max.z;
  compass.m_min.x = running_min.x;
  compass.m_min.y = running_min.y;
  compass.m_min.z = running_min.z;
  

}
开发者ID:atomicpunk，项目名称:openrov-software，代码行数:26，代码来源:MinIMU_I2C.cpp

示例5: setup

void setup(){
	
	Serial.begin(115200);
	Wire.begin(); //gyro code
	gyro.init();//gyro code
	gyro.enableDefault(); //gyro code
	ps.enableDefault(); //baro code
	
	 handshaken = 0;
		
		/*accelerometer code*/
		compass.init();
		compass.enableDefault();
		/*accelerometer code*/
		/*sonar code*/
		pinMode(TRIGGER_PIN, OUTPUT);
		pinMode(ECHO_PIN, INPUT);
		
		pinMode(TRIGGER_PIN2, OUTPUT);
		pinMode(ECHO_PIN2, INPUT);
		pinMode(TRIGGER_PIN3, OUTPUT);
		pinMode(ECHO_PIN3, INPUT);
		pinMode(TRIGGER_PIN4, OUTPUT);
		pinMode(ECHO_PIN4, INPUT);
		pinMode(TRIGGER_PIN5, OUTPUT);
		pinMode(ECHO_PIN5, INPUT);
		
		/*sonar code*/
		   pinMode(MOTOR, OUTPUT);
		   
		   
		   /*
  Calibration values; the default values of +/-32767 for each axis
  lead to an assumed magnetometer bias of 0. Use the ACCalibrate 
  program to determine appropriate values for your particular unit.
  */
  //compass.m_min = (LSM303::vector<int16_t>){-32767, -32767, -32767};
  //compass.m_max = (LSM303::vector<int16_t>){+32767, +32767, +32767};
  
  //LSM303::vector<int16_t> running_min = {-2872, -3215, -1742}, running_max = {+3019, +3108, +3570}; //calibration init data for compass 
  compass.m_min = (LSM303::vector<int16_t>){-2872, -3215, -1742};
  compass.m_max = (LSM303::vector<int16_t>) {+3019, +3108, +3570};
}
开发者ID:stanley92，项目名称:CG3002，代码行数:43，代码来源:FreeRTOS2560.cpp

示例6: abs

int8_t Hal::LSM303_Update()
{
  int offset = 700;
  compass.read();

  d_x = abs(compass.m.x - ax_o);
  d_y = abs(compass.m.y - ay_o);
  d_z = abs(compass.m.z - az_o);

  if ( d_x > offset || d_y > offset || d_z > offset) 
  {
    hasMoved = true;
  }
  ax_o = compass.m.x;
  ay_o = compass.m.y;
  az_o = compass.m.z;
}
开发者ID:marcelmaatkamp，项目名称:docker-applications，代码行数:17，代码来源:Hal.cpp

示例7: Accel_Init

void Accel_Init()
{
	compass.init();
	compass.enableDefault();
	switch (compass.getDeviceType())
	{
		case LSM303::device_D:
		compass.writeReg(LSM303::CTRL2, 0x18); // 8 g full scale: AFS = 011
		break;
		case LSM303::device_DLHC:
		compass.writeReg(LSM303::CTRL_REG4_A, 0x28); // 8 g full scale: FS = 10; high resolution output mode
		break;
		default: // DLM, DLH
		compass.writeReg(LSM303::CTRL_REG4_A, 0x30); // 8 g full scale: FS = 11
	}
	//compass.heading((LSM303::vector<int>){0, 0, -1});
	//compass.m_min = (LSM303::vector<int16_t>){-2304, -2194, -2156};
	//compass.m_max = (LSM303::vector<int16_t>){+2771, +2860, +2753};
}
开发者ID:kwa5566，项目名称:CG3002RTOS，代码行数:19，代码来源:imu_mis.c

示例8: loop

/**
 * @brief provides imu readings in a 50 Hz rate.
 *
 */
void loop() {
    if((millis()-timer)>=20) { // Main loop runs at 50Hz
        timer=millis();

        //Read data from the hardware

        gyro.read();
        compass.readAcc();
        compass.readMag();

        //Assign read data to the ros messages

        imu_msg.angular_velocity.x=gyro.g.x;
        imu_msg.angular_velocity.y=gyro.g.y;
        imu_msg.angular_velocity.z=gyro.g.z;

        imu_msg.linear_acceleration.x=compass.a.x;
        imu_msg.linear_acceleration.y=compass.a.y;
        imu_msg.linear_acceleration.z=compass.a.z;

        mag_msg.magnetic_field.x=compass.m.x;
        mag_msg.magnetic_field.y=compass.m.y;
        mag_msg.magnetic_field.z=compass.m.z;

        //Publish the data to the ros message system

        imu_pub.publish( &imu_msg );
        mag_pub.publish( &mag_msg);
        nh.spinOnce();
    }
    nh.spinOnce();
}
开发者ID:AR2A，项目名称:imu-minimu-arduino，代码行数:36，代码来源:avr_imu.cpp

示例9: setup

void Accelerometer::setup(){
	Wire.begin();
	compass.init();
	compass.enableDefault();

	memset(lastValuesX,0,sizeof(lastValuesX));
	memset(lastValuesY,0,sizeof(lastValuesY));
	memset(lastValuesZ,0,sizeof(lastValuesZ));
	index =0;

}
开发者ID:eclair4151，项目名称:Robotics-Club-Sumo-Arduino-2014，代码行数:11，代码来源:accelerometer.cpp

示例10: task_headingNdist

void task_headingNdist(void* p){
	while(1){
		//Serial.print("z");
		compass.read();
		//dprintf("%d mem",(int)freeRAM());
		//Serial.print("a");
		float heading = compass.heading();
		//Serial.print("b");
		//dprintf("%d mem2",(int)freeRAM());
		
		//dprintf("%d",(int)compass.a.x);
		float ZaVal,XaVal,YaVal,RZaVal;
		//ZaVal = compass.a.z/16.0;
		XaVal = compass.a.x/16.0;
		YaVal = compass.a.y/16.0;
		ZaVal = compass.a.z/16.0;
		RZaVal = sqrt( ((XaVal*XaVal)+(YaVal*YaVal))/4.0 + (ZaVal*ZaVal));
		
		//ZaVal = sqrt( ((compass.a.x*compass.a.x)+(compass.a.y*compass.a.y))/4.0 + (compass.a.z*compass.a.z));
		//ZaVal = ZaVal/16.0;
		// dprintf("%d", (int)compass.a.x);
		//dprintf("%d", (int)((compass.a.x*compass.a.x)/*+(compass.a.y*compass.a.y)/4.0*/));
		// dprintf("%d x %d y %d z", (int)compass.a.x, (int)compass.a.y,(int) compass.a.z);
		// dprintf("%d z val",(int) ZaVal);
	//	dprintf("%d",(int) ZaVal);
	//Serial.print("a");
	
	//dprintf("%d",(int)heading);
	//dprintf("%d",(int)compass.heading());
	//compass.heading();
	//Serial.print("b");
		//data[ID_DATA_HEADING] = (int) compass.heading();
	/*	if(ZaVal<-965){
			distFromStart+=33;  //1 step is 33 cm
			step++;
		}*/
	float currentTime = millis();
	if(RZaVal>1000 && (currentTime - prevTime) >= 600){
		distFromStart+=33;  //1 step is 33 cm
		step++;
		dprintf("%d_RZaval",(int)RZaVal);
			dprintf("%d ",(int)step);
			prevTime = currentTime;
		}
		data[ID_DATA_DIST] = (int) distFromStart;
		//dprintf("dist is %d",(int)data[ID_DATA_DIST]);
		//dprintf("a");
		//delay(100);*/
	delay(100);
		vTaskDelay(taskDelay);
	}
	
}
开发者ID:stanley92，项目名称:CG3002，代码行数:53，代码来源:FreeRTOS2560.cpp

示例11: initHal

bool Hal::initHal()
{
  debugPrintLn("Start init");
  // initialize all the hardware
  initLora();
  initSwitch();
  initLTC();
  compass.init();
  compass.enableDefault();
  htu.begin();
//  setAckOn();
  debugPrintLn("Einde init");
}
开发者ID:marcelmaatkamp，项目名称:docker-applications，代码行数:13，代码来源:Hal.cpp

示例12: Read_Compass

void Read_Compass()
{
  compass.readMag();
  magnetom_x = SENSOR_SIGN[6] * compass.m.x;
  magnetom_y = SENSOR_SIGN[7] * compass.m.y;
  magnetom_z = SENSOR_SIGN[8] * compass.m.z;
}
开发者ID:atomicpunk，项目名称:openrov-software，代码行数:7，代码来源:MinIMU_I2C.cpp

示例13: main

int main() {
    pc.printf("Starting \r\n");

    setup(); //initializes sensors

    t.start();
    timeLastPoll = t.read_ms();
    while(button){

        altitude = ps.pressureToAltitudeMeters(ps.readPressureMillibars());
        gyr.read();
        acc.read();

        fprintf(fp, "%f, %d, %d, %d \r\n",
            altitude,gyr.g.x,gyr.g.y,gyr.g.z);

        pc.printf("%d Att: %2.2f \tGyr: %d %d %d \tAcc: %d %d %d \tT: %d\r\n",
            iter,
            altitude,
            gyr.g.x,gyr.g.y,gyr.g.z,
            acc.a.x,acc.a.y,acc.a.z,
            t.read_ms()-timeLastPoll);

        while( (t.read_ms() - timeLastPoll) < MBED_POLLING_PERIOD){
        }
        // pc.printf("Loop Time: %d",t.read_ms()-timeLastPoll);
        timeLastPoll = t.read_ms();
        iter++;
    }
    fclose(fp);
    pc.printf("File successfully written! \r\n");
    printf("End of Program. \r\n");
}
开发者ID:cduck，项目名称:bikeOdometer，代码行数:33，代码来源:hello_world.cpp

示例14: update

void Accelerometer::update(){
	/*
  return
  */
	compass.read();

	lastValuesX[index] = compass.a.x;
	lastValuesY[index] = compass.a.y;
	lastValuesZ[index] = compass.a.z;

	long averagedX = averageArray(lastValuesX);
	long averagedY = averageArray(lastValuesY);
	long averagedZ = averageArray(lastValuesZ);

	index = index + 1;
	index = index % SENSITIVITY;

	long averageXY = sqrt(averagedX*averagedX + averagedY*averagedY);
	
       /*Serial.print(averagedX);
       Serial.print("      ");
       Serial.print(averagedY);
       Serial.print("      ");
       Serial.print(averageXY);
       Serial.print("      ");*/
	//int degree = atan2(averagedX, averagedY) * 180.0 / M_PI;
	//Serial.println(degree);

	if(averageXY > 3000)
	{
		Serial.println("SMASH!");
	}
}
开发者ID:eclair4151，项目名称:Robotics-Club-Sumo-Arduino-2014，代码行数:33，代码来源:accelerometer.cpp

示例15: loop

void loop() {  
  compass.read();
  
  running_min.x = min(running_min.x, compass.m.x);
  running_min.y = min(running_min.y, compass.m.y);
  running_min.z = min(running_min.z, compass.m.z);

  running_max.x = max(running_max.x, compass.m.x);
  running_max.y = max(running_max.y, compass.m.y);
  running_max.z = max(running_max.z, compass.m.z);
  
  Serial.print("M min ");
  Serial.print("X: ");
  Serial.print((int)running_min.x);
  Serial.print(" Y: ");
  Serial.print((int)running_min.y);
  Serial.print(" Z: ");
  Serial.print((int)running_min.z);

  Serial.print(" M max ");  
  Serial.print("X: ");
  Serial.print((int)running_max.x);
  Serial.print(" Y: ");
  Serial.print((int)running_max.y);
  Serial.print(" Z: ");
  Serial.println((int)running_max.z);
  
  delay(100);
}
开发者ID:TerellNao，项目名称:arduino-gps-glasses，代码行数:29，代码来源:cal.cpp


注：本文中的LSM303类示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。