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program dsMotion;
{$mode objfpc}
uses
ctypes, nds9;
//sets the offset of the x and y and gyro and the 1 G offset of z
//to callivrate other offsets you would have to instruct the user to orient
//the DS in various positions
procedure Calibrate();
begin
scanKeys();
consoleClear();
iprintf('Set the DS on a flat table...'#10'Press A'#10);
while ((not keysDown()) and KEY_A) <> 0 do
scanKeys();
//these set the zero points of the accelerometers and gryo
motion_set_offs_x();
motion_set_offs_y();
motion_set_offs_gyro();
//this should be set to the acceleration value at 1 z
motion_set_sens_z(motion_read_z());
end;
begin
consoleDemoInit();
motion_init();
while true do
begin
scanKeys();
if (keysDown() and KEY_A) <> 0 then
Calibrate();
consoleClear();
if motion_init() <> 0 then
iprintf('Nds is inserted'#10)
else
iprintf('Nds is not inserted'#10);
iprintf('X: raw %i miliG %i'#10, motion_read_x(), motion_acceleration_x());
iprintf('Y: raw %i miliG %i'#10, motion_read_y(), motion_acceleration_y());
iprintf('Z: raw %i miliG %i'#10, motion_read_z(), motion_acceleration_z());
iprintf('R: raw %i deg/sec %i'#10, motion_read_gyro(), motion_rotation());
iprintf('Press A to calibrate'#10);
swiWaitForVBlank();
end;
end.
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