Gabe/micro-bit-led-compass
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

hooked up the line drawing algorithm to the compass.

Browse source 
This entailed fixing a few bugs in it as well.
This commit is contained in:
Gabe Venberg 2023-10-29 20:27:26 -05:00
parent 3e29d8bc6a
commit 4e4b314ccd
5 changed files with 240 additions and 190 deletions
Download patch file Download diff file Expand all files Collapse all files

20
hardware_main/src/main.rs
View file

@ -6,6 +6,7 @@ use core::f32::consts::PI;
use calibration::Calibration;
use cortex_m_rt::entry;
use independent_logic::line_drawing::{FourQuadrantMatrix, UPoint};
use lsm303agr::interface::I2cInterface;
use lsm303agr::mode::MagContinuous;
use lsm303agr::{AccelOutputDataRate, Lsm303agr, MagOutputDataRate, Measurement};
@ -27,7 +28,7 @@ use microbit::{hal::twim, pac::twim0::frequency::FREQUENCY_A};
use crate::calibration::calc_calibration;
use independent_logic::{
led::{direction_to_led, theta_to_direction},
heading_drawing::draw_heading,
tilt_compensation::{
calc_attitude, calc_tilt_calibrated_measurement, heading_from_measurement, Heading,
NedMeasurement,
@ -74,10 +75,14 @@ fn main() -> ! {
let mut calibration = calc_calibration(&mut sensor, &mut display, &mut timer);
#[cfg(not(feature = "calibration"))]
let mut calibration = calibration::Calibration::default();
let mut current_display: FourQuadrantMatrix<5, 5, u8> =
FourQuadrantMatrix::new(UPoint { x: 2, y: 2 });
rprintln!("Calibration: {:?}", calibration);
let mut tilt_correction_enabled: bool = true;
// let mut heading = Heading(0.0);
loop {
if channel_button_b.is_event_triggered() {
calibration = calc_calibration(&mut sensor, &mut display, &mut timer);
@ -90,12 +95,15 @@ fn main() -> ! {
channel_button_a.reset_events()
}
current_display.reset_matrix();
// heading.0 = (heading.0+PI/16.0)%(2.0*PI);
// rprintln!("heading is {}PI", heading.0/PI);
let heading = calc_heading(&mut sensor, &calibration, &tilt_correction_enabled);
display.show(
&mut timer,
direction_to_led(theta_to_direction(heading)),
DELAY,
)
draw_heading::<5, 5>(heading.0, &mut current_display);
rprintln!("finished drawing");
display.show(&mut timer, current_display.into(), DELAY)
}
}