49 lines
1.2 KiB
C++
49 lines
1.2 KiB
C++
/*
|
|
Provided to you by Emlid Ltd (c) 2014.
|
|
twitter.com/emlidtech || www.emlid.com || info@emlid.com
|
|
|
|
Example: Read accelerometer, gyroscope and magnetometer values from
|
|
MPU9250 inertial measurement unit over SPI on Raspberry Pi + Navio.
|
|
|
|
Navio's onboard MPU9250 is connected to the SPI bus on Raspberry Pi
|
|
and can be read through /dev/spidev0.1
|
|
|
|
To run this example navigate to the directory containing it and run following commands:
|
|
make
|
|
./AccelGyroMag
|
|
*/
|
|
|
|
#include "darkwater/DW640.h"
|
|
#include "darkwater/Util.h"
|
|
#include <stdlib.h>
|
|
//=============================================================================
|
|
|
|
int main()
|
|
{
|
|
if (check_apm()) {
|
|
return 1;
|
|
}
|
|
//-------------------------------------------------------------------------
|
|
DW640 dw;
|
|
dw.initialize();
|
|
|
|
dw.setMotorSpeed( 1, 1500 );
|
|
printf("forward\n");
|
|
dw.setMotorSpeed( 1, 2000 );
|
|
dw.setMotorSpeed( 1, 1800 );
|
|
dw.setMotorSpeed( 1, 1700 );
|
|
dw.setMotorSpeed( 1, 1600 );
|
|
dw.setMotorSpeed( 1, 1550 );
|
|
usleep(5000000);
|
|
printf("stop\n");
|
|
dw.setMotorSpeed( 1, 1500 );
|
|
usleep(5000000);
|
|
printf("reverse\n");
|
|
dw.setMotorSpeed( 1, 1250 );
|
|
usleep(5000000);
|
|
printf("stop\n");
|
|
dw.setMotorSpeed( 1, 1500 );
|
|
|
|
|
|
}
|