def __init__(self, tilt_angle):
''' Construct an IMU task function by initilizing any shared
variables and initialize the IMU object
@param tilt_angle The shared variable between tasks that contains the IMU title readings
'''
self.tilt_angle = tilt_angle
self.imu = BNO055.bno055 (pyb.I2C (1, pyb.I2C.MASTER, baudrate = 100000), micropython.const(0x28))
"""
#Yellow Encoder Cable: B7
#Gray Encoder Cable: B6
import pyb
import motor
import controller
import utime
import BNO055
import micropython
# Create all objects
DC_Motor_1 = motor.MotorDriver(5, pyb.Pin.board.PC1, pyb.Pin.board.PA0,
pyb.Pin.board.PA1)
IMU = BNO055.bno055(pyb.I2C(1, pyb.I2C.MASTER, baudrate=100000),
micropython.const(0x28))
Controller_1 = controller.Controller(1.35, 0.01) ####
# Setup/Initialization
def setup():
''' This initializes the encoder and motor to zero values. '''
IMU.zero_Euler_vals() #
DC_Motor_1.set_duty_cycle(0)
Controller_1.set_setpoint(10)
# Continuous loop
def loop():
''' This is the main loop that handles the DC Motor step response
functionality. '''