diff options
Diffstat (limited to 'main.cpp')
-rw-r--r-- | main.cpp | 21 |
1 files changed, 18 insertions, 3 deletions
@@ -57,11 +57,24 @@ class PID { } }; +I2C i2c; +ITG3200 gyro(i2c); + void threadmain() { while(1) { GPIOB.ODR ^= 1 << 1; - xbee_send(3, (uint8_t*)"hei"); + uint8_t buf[] = { + gyro.x & 0xff, + gyro.x >> 8, + gyro.y & 0xff, + gyro.y >> 8, + gyro.z & 0xff, + gyro.z >> 8, + }; + + xbee_send(6, buf); + Time::sleep(100); } } @@ -84,10 +97,12 @@ int main() { GPIOB.CRH = 0x44444444; GPIOB.ODR = 1 << 1; - I2C i2c; + Time::sleep(10); + + //I2C i2c; i2c.enable(); - ITG3200 gyro(i2c); + //ITG3200 gyro(i2c); gyro.init(); PPMSum ppmsum; |