jakegoodwin
/
gy-521
1
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

removed print statments

This commit is contained in:
Jake Goodwin 2023-09-07 13:12:44 -07:00
parent 0c5fcf85ac
commit c389c998dd
1 changed files with 1 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/gy521_driver/gy521_driver.c
View File

@ -331,11 +331,7 @@ self_test_results gy521_self_test(struct gy521_module* m)
/*1. read the reg FT values*/ /*1. read the reg FT values*/
/*2. calulate the FT using the formula from the datasheet*/ /*2. calulate the FT using the formula from the datasheet*/
struct ft_vals factory_trim = self_test_ft_calculation(m); struct ft_vals factory_trim = self_test_ft_calculation(m);
printf("ft_vals: %.6f, %.6f, %.6f\n",
factory_trim.x,
factory_trim.y,
factory_trim.z);
/*3. Read the STR data from the gyro*/ /*3. Read the STR data from the gyro*/
gy521_update_gyro(m); gy521_update_gyro(m);
struct gyro_values STR = m->gyro; struct gyro_values STR = m->gyro;
@ -347,28 +343,22 @@ self_test_results gy521_self_test(struct gy521_module* m)
gy521_update_gyro(m); gy521_update_gyro(m);
/*6. Finish the STR calculation*/ /*6. Finish the STR calculation*/
printf("gy.x: %d, gy.y: %d, gy.z: %d\n", m->gyro.x, m->gyro.y, m->gyro.z);
STR.x -= m->gyro.x; STR.x -= m->gyro.x;
STR.y -= m->gyro.y; STR.y -= m->gyro.y;
STR.z -= m->gyro.z; STR.z -= m->gyro.z;
printf("str.x: %d, str.y: %d, str.z: %d\n", STR.x, STR.y, STR.z);
/*7. Now we calculate the change from the FT of the STR*/ /*7. Now we calculate the change from the FT of the STR*/
float testing_value = ( ((float)STR.x) - factory_trim.x) / factory_trim.x; float testing_value = ( ((float)STR.x) - factory_trim.x) / factory_trim.x;
printf("valuex: %.6f\n", testing_value);
if(testing_value > GYRO_MAX_ST || testing_value < GYRO_MIN_ST) { if(testing_value > GYRO_MAX_ST || testing_value < GYRO_MIN_ST) {
return gyro_failed; return gyro_failed;
} }
testing_value = ( ((float)STR.y) - factory_trim.y) / factory_trim.y; testing_value = ( ((float)STR.y) - factory_trim.y) / factory_trim.y;
printf("valuey: %.6f\n", testing_value);
if(testing_value > GYRO_MAX_ST || testing_value < GYRO_MIN_ST) { if(testing_value > GYRO_MAX_ST || testing_value < GYRO_MIN_ST) {
return gyro_failed; return gyro_failed;
} }
testing_value = ( ((float)STR.z) - factory_trim.z) / factory_trim.z; testing_value = ( ((float)STR.z) - factory_trim.z) / factory_trim.z;
printf("valuez: %.6f\n", testing_value);
if(testing_value > GYRO_MAX_ST || testing_value < GYRO_MIN_ST) { if(testing_value > GYRO_MAX_ST || testing_value < GYRO_MIN_ST) {
return gyro_failed; return gyro_failed;
} }