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Waistarduino.ino
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Waistarduino.ino
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//Gyro - Arduino UNO R3
//VCC - 5V
//GND - GND
//SDA - A4
//SCL - A5
//INT - port-2
#include <Wire.h>
//Declaring some global variables
int gyro_x, gyro_y, gyro_z;
long gyro_x_cal, gyro_y_cal, gyro_z_cal;
boolean set_gyro_angles;
int redPin= 7;
int greenPin = 6;
int bluePin = 5;
float counter = 0;
int data;
long acc_x, acc_y, acc_z, acc_total_vector;
float angle_roll_acc, angle_pitch_acc;
float angle_pitch, angle_roll;
int angle_pitch_buffer, angle_roll_buffer;
float angle_pitch_output, angle_roll_output;
long loop_timer;
int temp;
int cal=0; // calibrating value
float angle;
void setup() {
Wire.begin(); //Start I2C as master
setup_mpu_6050_registers(); //Setup the registers of the MPU-6050
for (int cal_int = 0; cal_int < 1000 ; cal_int ++){ //Read the raw acc and gyro data from the MPU-6050 for 1000 times
read_mpu_6050_data();
gyro_x_cal += gyro_x; //Add the gyro x offset to the gyro_x_cal variable
gyro_y_cal += gyro_y; //Add the gyro y offset to the gyro_y_cal variable
gyro_z_cal += gyro_z; //Add the gyro z offset to the gyro_z_cal variable
delay(3); //Delay 3us to have 250Hz for-loop
}
pinMode(redPin, OUTPUT);
pinMode(greenPin, OUTPUT);
pinMode(bluePin, OUTPUT);
// divide by 1000 to get avarage offset
gyro_x_cal /= 1000;
gyro_y_cal /= 1000;
gyro_z_cal /= 1000;
Serial.flush();
Serial.begin(9600);
loop_timer = micros();
//Serial.println("FINISHED SETUP");//Reset the loop timer
pinMode(9,OUTPUT);
pinMode(11,OUTPUT);
digitalWrite(9,LOW);
digitalWrite(11,LOW);
pinMode(10,OUTPUT);
digitalWrite(10,LOW);
}
int mx=0,my=0,mz=0;
void loop(){
if (counter<1){
setColor(255, 0, 0);
counter+=0.01;
}
else if (counter<2){
setColor(255, 170, 0);
counter+=0.01;
} else if (counter<3){
setColor(70, 255, 255);
counter+=0.01;}
else if (counter<4){
setColor(0, 255, 255);
counter+=0.01;}
else if (counter<5){
setColor(255, 0, 255);
counter+=0.01;
} else if (counter<6){
setColor(255, 255, 255);
counter+=0.01;
} else if (counter>=6){
setColor(255, 255, 255);
counter=0;
}
// delay(1000);
// setColor(0, 255, 0); // Green Color
// delay(1000);
// setColor(0, 0, 255); // Blue Color
// delay(1000);
// setColor(255, 255, 255); // White Color
// delay(1000);
// setColor(170, 0, 255); // Purple Color
// delay(1000);
read_mpu_6050_data();
//Subtract the offset values from the raw gyro values
gyro_x -= gyro_x_cal;
gyro_y -= gyro_y_cal;
gyro_z -= gyro_z_cal;
//Serial.println(mx);
if(acc_x-mx > 1000 && acc_x-mx > 1000 && acc_x-mx > 1000) {Serial.println("JUMP");digitalWrite(10,HIGH);delay(200);}
else{
digitalWrite(10,LOW );
//Gyro angle calculations . Note 0.0000611 = 1 / (250Hz x 65.5)
angle_pitch += gyro_x * 0.0000611; //Calculate the traveled pitch angle and add this to the angle_pitch variable
angle_roll += gyro_y * 0.0000611; //Calculate the traveled roll angle and add this to the angle_roll variable
//0.000001066 = 0.0000611 * (3.142(PI) / 180degr) The Arduino sin function is in radians
angle_pitch += angle_roll * sin(gyro_z * 0.000001066); //If the IMU has yawed transfer the roll angle to the pitch angel
angle_roll -= angle_pitch * sin(gyro_z * 0.000001066); //If the IMU has yawed transfer the pitch angle to the roll angel
//Accelerometer angle calculations
acc_total_vector = sqrt((acc_x*acc_x)+(acc_y*acc_y)+(acc_z*acc_z)); //Calculate the total accelerometer vector
//57.296 = 1 / (3.142 / 180) The Arduino asin function is in radians
angle_pitch_acc = asin((float)acc_y/acc_total_vector)* 57.296; //Calculate the pitch angle
angle_roll_acc = asin((float)acc_x/acc_total_vector)* -57.296; //Calculate the roll angle
angle_pitch_acc -= 0.0; //Accelerometer calibration value for pitch
angle_roll_acc -= 0.0; //Accelerometer calibration value for roll
if(set_gyro_angles){ //If the IMU is already started
angle_pitch = angle_pitch * 0.9996 + angle_pitch_acc * 0.0004; //Correct the drift of the gyro pitch angle with the accelerometer pitch angle
angle_roll = angle_roll * 0.9996 + angle_roll_acc * 0.0004; //Correct the drift of the gyro roll angle with the accelerometer roll angle
}
else{ //At first start
angle_pitch = angle_pitch_acc; //Set the gyro pitch angle equal to the accelerometer pitch angle
angle_roll = angle_roll_acc; //Set the gyro roll angle equal to the accelerometer roll angle
set_gyro_angles = true; //Set the IMU started flag
}
//To dampen the pitch and roll angles a complementary filter is used
angle_pitch_output = angle_pitch_output * 0.9 + angle_pitch * 0.1; //Take 90% of the output pitch value and add 10% of the raw pitch value
angle_roll_output = angle_roll_output * 0.9 + angle_roll * 0.1; //Take 90% of the output roll value and add 10% of the raw roll value
Serial.print(" | Angle = "); Serial.println(angle_pitch_output);
// sentunity();
angle = angle_pitch_output;
if(angle > 5 ){
digitalWrite(9,HIGH);
digitalWrite(11,LOW);
}
else if(angle < -5){
digitalWrite(9,LOW);
digitalWrite(11,HIGH);
}
else{
digitalWrite(9,LOW);
digitalWrite(11,LOW);
}
//Serial.println(distance);
while(micros() - loop_timer < 4000); //Wait until the loop_timer reaches 4000us (250Hz) before starting the next loop
loop_timer = micros();//Reset the loop timer
}
mx = acc_x;
my = acc_y;
mz = acc_z;
}
void setup_mpu_6050_registers(){
//Activate the MPU-6050
Wire.beginTransmission(0x68); //Start communicating with the MPU-6050
Wire.write(0x6B); //Send the requested starting register
Wire.write(0x00); //Set the requested starting register
Wire.endTransmission();
//Configure the accelerometer (+/-8g)
Wire.beginTransmission(0x68); //Start communicating with the MPU-6050
Wire.write(0x1C); //Send the requested starting register
Wire.write(0x10); //Set the requested starting register
Wire.endTransmission();
//Configure the gyro (500dps full scale)
Wire.beginTransmission(0x68); //Start communicating with the MPU-6050
Wire.write(0x1B); //Send the requested starting register
Wire.write(0x08); //Set the requested starting register
Wire.endTransmission();
}
void read_mpu_6050_data(){ //Subroutine for reading the raw gyro and accelerometer data
Wire.beginTransmission(0x68); //Start communicating with the MPU-6050
Wire.write(0x3B); //Send the requested starting register
Wire.endTransmission(); //End the transmission
Wire.requestFrom(0x68,14); //Request 14 bytes from the MPU-6050
while(Wire.available() < 14); //Wait until all the bytes are received
acc_x = Wire.read()<<8|Wire.read();
acc_y = Wire.read()<<8|Wire.read();
acc_z = Wire.read()<<8|Wire.read();
temp = Wire.read()<<8|Wire.read();
gyro_x = Wire.read()<<8|Wire.read();
gyro_y = Wire.read()<<8|Wire.read();
gyro_z = Wire.read()<<8|Wire.read();
}
void setColor(int redValue, int greenValue, int blueValue) {
analogWrite(redPin, redValue);
analogWrite(greenPin, greenValue);
analogWrite(bluePin, blueValue);
}