Squirrels have fuzzy tails.
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// This is the main loopTICK_COUNT appControl( LOOP_COUNT loopCount, TICK_COUNT loopStart ) { // -------- Start Sparkfun Razor------- // Read the Sparkfun Razor and store results imuRead( razor_imu );/* razor_imu.imu.x_axis_degrees_per_second razor_imu.imu.y_axis_degrees_per_second razor_imu.imu.z_axis_degrees_per_second razor_imu.imu.x_axis_mG razor_imu.imu.y_axis_mG razor_imu.imu.z_axis_mG razor_imu.imu.bearingDegrees razor_imu.imu.pitchDegrees razor_imu.imu.rollDegrees*/ // -------- End Sparkfun Razor------- // -------- Start Sharp GP2------- // Read the Sharp GP2 and store the result in top.distance.cm distanceRead( top ); // -------- End Sharp GP2------- // -------- Start Maxbotix EZ1 sonar------- // Read the Maxbotix EZ1 sonar and store the result in sonar.distance.cm distanceRead( sonar ); // -------- End Maxbotix EZ1 sonar------- // -------- Start GPS NMEA------- // Process incoming messages gpsNMEAprocess( &gps_main ); // -------- End GPS NMEA------- /** Output every second **/ if( clockHasElapsed( lastOutputTime, outputWaitPeriod ) ) { USE_BLUETOOTH(); // JSON Formatted Output, semicolon signifies end of line if( gps_main.info.valid ) { rprintf( "{'imu': {'gyro': {'x': %d,'y': %d,'z': %d},'accel': {'x': %d,'y': %d,'z': %d},'yaw': %d,'pitch': %d,'roll': %d},'sharp': %u,'sonar': %d,'gps': {'satellites': %d,'longitude': %d,'latitude': %d,'altitude': %d,'speed': %d,'time': %d}};", razor_imu.imu.x_axis_degrees_per_second, razor_imu.imu.y_axis_degrees_per_second, razor_imu.imu.z_axis_degrees_per_second, razor_imu.imu.x_axis_mG, razor_imu.imu.y_axis_mG, razor_imu.imu.z_axis_mG, razor_imu.imu.bearingDegrees, razor_imu.imu.pitchDegrees, razor_imu.imu.rollDegrees, top.distance.cm, sonar.distance.cm, gps_main.info.numSatellites, ( gps_main.info.longitude * 180 / M_PI * 1000 ), ( gps_main.info.latitude * 180 / M_PI * 1000 ), ( gps_main.info.altitude * 1000 ), ( gps_main.info.speed * 1000 ), ( gps_main.info.fixTime * 1000 ) ); } else { rprintf( "{'imu': {'gyro': {'x': %d,'y': %d,'z': %d},'accel': {'x': %d,'y': %d,'z': %d},'yaw': %d,'pitch': %d,'roll': %d},'sharp': %u,'sonar': %d,'gps': {}};", razor_imu.imu.x_axis_degrees_per_second, razor_imu.imu.y_axis_degrees_per_second, razor_imu.imu.z_axis_degrees_per_second, razor_imu.imu.x_axis_mG, razor_imu.imu.y_axis_mG, razor_imu.imu.z_axis_mG, razor_imu.imu.bearingDegrees, razor_imu.imu.pitchDegrees, razor_imu.imu.rollDegrees, top.distance.cm, sonar.distance.cm ); } // Update last output time lastOutputTime = clockGetus(); } return 20;//us delay
(65535 cm)-165535{'imu': {'gyro': {'x': -1,'y': 0,'z': 0},'accel': {'x': 62,'y': -3,'z': 1009},'yaw': 198,'pitch': 20,'roll': 353},'sharp': 65535,'sonar': 108,'gps': {}};