better examples for Rob

Author: oclyke

examples/Arduino/Example1_Basics/Example1_Basics.ino

@@ -50,17 +50,19 @@ void setup() {
 void loop() {
 
   if( myICM.dataReady() ){
-    myICM.getAGMT();
-//    printRawAGMT( myICM.agmt );
-    printScaledAGMT( myICM.agmt);
+    myICM.getAGMT();                // The values are only updated when you call 'getAGMT'
+//    printRawAGMT( myICM.agmt );     // Uncomment this to see the raw values, taken directly from the agmt structure
+    printScaledAGMT( myICM.agmt);   // This function takes into account the sclae settings from when the measurement was made to calculate the values with units
     delay(30);
   }else{
-    Serial.println("0");
+    Serial.println("Waiting for data");
+    delay(500);
   }
+  
 }
 
 
-
+// Below here are some helper functions to print the data nicely!
 
 void printPaddedInt16b( int16_t val ){
   if(val > 0){
@@ -104,61 +106,28 @@ void printRawAGMT( ICM_20948_AGMT_t agmt){
   SERIAL_PORT.println();
 }
 
-float getAccMG( int16_t raw, uint8_t fss ){
-  switch(fss){
-    case 0 : return (((float)raw)/16.384); break;
-    case 1 : return (((float)raw)/8.192); break;
-    case 2 : return (((float)raw)/4.096); break;
-    case 3 : return (((float)raw)/2.048); break;
-    default : return 0; break;
-  }
-}
-
-float getGyrDPS( int16_t raw, uint8_t fss ){
-  switch(fss){
-    case 0 : return (((float)raw)/131); break;
-    case 1 : return (((float)raw)/65.5); break;
-    case 2 : return (((float)raw)/32.8); break;
-    case 3 : return (((float)raw)/16.4); break;
-    default : return 0; break;
-  }
-}
-
-float getMagUT( int16_t raw ){
-  return (((float)raw)*0.15);
- //todo: this is a much more complicated formula, atually
-}
-
-float getTmpC( int16_t raw ){
-  return (((float)raw)/333.87) + 21;
-}
 
 void printFormattedFloat(float val, uint8_t leading, uint8_t decimals){
   float aval = abs(val);
-
   if(val < 0){
     SERIAL_PORT.print("-");
   }else{
     SERIAL_PORT.print(" ");
   }
-
   for( uint8_t indi = 0; indi < leading; indi++ ){
-
     uint32_t tenpow = 0;
     if( indi < (leading-1) ){
       tenpow = 1;
     }
     for(uint8_t c = 0; c < (leading-1-indi); c++){
       tenpow *= 10;
     }
-    
     if( aval < tenpow){
       SERIAL_PORT.print("0");
     }else{
       break;
     }
   }
-
   if(val < 0){
     SERIAL_PORT.print(-val, decimals);
   }else{
@@ -167,26 +136,26 @@ void printFormattedFloat(float val, uint8_t leading, uint8_t decimals){
 }
 
 void printScaledAGMT( ICM_20948_AGMT_t agmt){
-  Serial.print("Scaled. Acc (mg) [ ");
-  printFormattedFloat( getAccMG(agmt.acc.axes.x, agmt.fss.a ), 5, 2 );
-  Serial.print(", ");
-  printFormattedFloat( getAccMG(agmt.acc.axes.y, agmt.fss.a ), 5, 2 );
-  Serial.print(", ");
-  printFormattedFloat( getAccMG(agmt.acc.axes.z, agmt.fss.a ), 5, 2 );
-  Serial.print(" ], Gyr (DPS) [ ");
-  printFormattedFloat( getGyrDPS(agmt.gyr.axes.x, agmt.fss.g ), 5, 2 );
-  Serial.print(", ");
-  printFormattedFloat( getGyrDPS(agmt.gyr.axes.y, agmt.fss.g ), 5, 2 );
-  Serial.print(", ");
-  printFormattedFloat( getGyrDPS(agmt.gyr.axes.z, agmt.fss.g ), 5, 2 );
-  Serial.print(" ], Mag (uT) [ ");
-  printFormattedFloat( getMagUT(agmt.mag.axes.x), 5, 2 );
-  Serial.print(", ");
-  printFormattedFloat( getMagUT(agmt.mag.axes.y), 5, 2 );
-  Serial.print(", ");
-  printFormattedFloat( getMagUT(agmt.mag.axes.z), 5, 2 );
-  Serial.print(" ], Tmp (C) [ ");
-  printFormattedFloat( getTmpC(agmt.tmp.val), 5, 2 );
-  Serial.print(" ]");
-  Serial.println();
+  SERIAL_PORT.print("Scaled. Acc (mg) [ ");
+  printFormattedFloat( myICM.accX(), 5, 2 );
+  SERIAL_PORT.print(", ");
+  printFormattedFloat( myICM.accY(), 5, 2 );
+  SERIAL_PORT.print(", ");
+  printFormattedFloat( myICM.accZ(), 5, 2 );
+  SERIAL_PORT.print(" ], Gyr (DPS) [ ");
+  printFormattedFloat( myICM.gyrX(), 5, 2 );
+  SERIAL_PORT.print(", ");
+  printFormattedFloat( myICM.gyrY(), 5, 2 );
+  SERIAL_PORT.print(", ");
+  printFormattedFloat( myICM.gyrZ(), 5, 2 );
+  SERIAL_PORT.print(" ], Mag (uT) [ ");
+  printFormattedFloat( myICM.magX(), 5, 2 );
+  SERIAL_PORT.print(", ");
+  printFormattedFloat( myICM.magY(), 5, 2 );
+  SERIAL_PORT.print(", ");
+  printFormattedFloat( myICM.magZ(), 5, 2 );
+  SERIAL_PORT.print(" ], Tmp (C) [ ");
+  printFormattedFloat( myICM.temp(), 5, 2 );
+  SERIAL_PORT.print(" ]");
+  SERIAL_PORT.println();
 }