1 files changed, 91 insertions, 0 deletions
diff --git a/CODE/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino b/CODE/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino
new file mode 100644
index 0000000..f1f31e5
--- /dev/null
+++ b/CODE/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino
@@ -0,0 +1,91 @@
+/*
+
+MinIMU-9-Arduino-AHRS
+Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Copyright (c) 2011-2016 Pololu Corporation.
+http://www.pololu.com/
+
+MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+http://code.google.com/p/sf9domahrs/
+
+sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+Julio and Doug Weibel:
+http://code.google.com/p/ardu-imu/
+
+MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
+under the terms of the GNU Lesser General Public License as published by the
+Free Software Foundation, either version 3 of the License, or (at your option)
+any later version.
+
+MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+more details.
+
+You should have received a copy of the GNU Lesser General Public License along
+with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+void printdata(void)
+{   
+      Serial.print("!");
+
+      #if PRINT_EULER == 1
+      Serial.print("ANG:");
+      Serial.print(ToDeg(roll));
+      Serial.print(",");
+      Serial.print(ToDeg(pitch));
+      Serial.print(",");
+      Serial.print(ToDeg(yaw));
+      #endif      
+      #if PRINT_ANALOGS==1
+      Serial.print(",AN:");
+      Serial.print(AN[0]);  //(int)read_adc(0)
+      Serial.print(",");
+      Serial.print(AN[1]);
+      Serial.print(",");
+      Serial.print(AN[2]);  
+      Serial.print(",");
+      Serial.print(AN[3]);
+      Serial.print (",");
+      Serial.print(AN[4]);
+      Serial.print (",");
+      Serial.print(AN[5]);
+      Serial.print(",");
+      Serial.print(c_magnetom_x);
+      Serial.print (",");
+      Serial.print(c_magnetom_y);
+      Serial.print (",");
+      Serial.print(c_magnetom_z);
+      #endif
+      #if PRINT_DCM == 1
+      Serial.print (",DCM:");
+      Serial.print(DCM_Matrix[0][0]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[0][1]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[0][2]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[1][0]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[1][1]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[1][2]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[2][0]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[2][1]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[2][2]);
+      #endif
+      Serial.println();
+      
+}
+
+/*long convert_to_dec(float x)
+{
+  return x*10000000;
+}*/
+