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#include <ADXL345.h>
#include <HMC58X3.h>
#include <ITG3200.h>
//#define DEBUG
#include "DebugUtils.h"
#include "FreeIMU.h"
#include "CommunicationUtils.h"
#include <Wire.h>
int raw_values[9];
//char str[512];
float ypr[3]; // yaw pitch roll
float val[9];
// Set the FreeIMU object
FreeIMU my3IMU = FreeIMU();
void setup() {
Serial.begin(115200);
Wire.begin();
delay(5);
my3IMU.init(); // the parameter enable or disable fast mode
delay(5);
}
void loop() {
my3IMU.getYawPitchRoll(ypr);
Serial.print("Yaw: ");
Serial.print(ypr[0]);
Serial.print(" Pitch: ");
Serial.print(ypr[1]);
Serial.print(" Roll: ");
Serial.print(ypr[2]);
Serial.println("");
delay(10);
}