34 lines
1.0 KiB
C++
34 lines
1.0 KiB
C++
#include "SensorManager.h"
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SensorManager sensorManager;
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void setup() {
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Wire.setClockStretchLimit(150000L); // Default stretch limit 150mS
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Serial.begin(9600);
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Serial.println("startup");
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delay(10000);
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sensorManager.sensorSetup();
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}
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void loop() {
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SensorManager::Rotation rotation = sensorManager.readLoop();
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// Convert quaternion to Euler angles in radians
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float roll = atan2(2.0f * (rotation.w * rotation.i + rotation.j * rotation.k), 1.0f - 2.0f * (rotation.i * rotation.i + rotation.j * rotation.j));
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float pitch = asin(2.0f * (rotation.w * rotation.j - rotation.k * rotation.i));
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float yaw = atan2(2.0f * (rotation.w * rotation.k + rotation.i * rotation.j), 1.0f - 2.0f * (rotation.j * rotation.j + rotation.k * rotation.k));
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// Convert to degrees
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float rollDegrees = roll * 180.0f / PI;
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float pitchDegrees = pitch * 180.0f / PI;
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float yawDegrees = yaw * 180.0f / PI;
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Serial.print(roll);
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Serial.print(" ");
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Serial.print(pitch);
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Serial.print(" ");
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Serial.print(yaw);
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Serial.println();
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} |