Rotabator.ino

@@ -1,66 +1,77 @@
-#include <WiFi.h>
-#include <WiFiUdp.h> 
-#include <OSCMessage.h> 
-#include <OSCBundle.h> 
-#include <OSCData.h>
-char ssid[] = "cohabit"; // your network SSID (name)
-char pass[] = "lewifidecohabit"; // your network password
+ /*
+ * Library: https://github.com/bolderflight/MPU9250
+Basic_I2C.ino
+Brian R Taylor
+brian.taylor@bolderflight.com
 
-// A UDP instance to let us send and receive packets over UDP
-WiFiUDP Udp;
-const unsigned int localPort = 16403; // local port to listen for UDP packets (here's where we send the packets)
+Copyright (c) 2017 Bolder Flight Systems
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+and associated documentation files (the "Software"), to deal in the Software without restriction, 
+including without limitation the rights to use, copy, modify, merge, publish, distribute, 
+sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or 
+substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
+BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
+DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+/*
+ * Updated by Ahmad Shamshiri on July 09, 2018 for Robojax.com
+ * in Ajax, Ontario, Canada
+ * watch instrucion video for this code: 
+For this sketch you need to connect:
+VCC to 5V and GND to GND of Arduino
+SDA to A4 and SCL to A5
+
+S20A is 3.3V voltage regulator MIC5205-3.3BM5
+*/
+
+#include "MPU9250.h"
+
+float biai = 1.25;
+unsigned long previousTime;
+int interval = 300;
 int stepPin = 14;
 int dirPin = 12;
+bool pinState = LOW;
+// an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68
+MPU9250 IMU(Wire,0x68);
+int status;
 
-void setup()
-{
+void setup() {
+  // serial to display data
   Serial.begin(115200);
-// initialize LED digital pin as an output.
+  while(!Serial) {}
+
+  // start communication with IMU 
+  status = IMU.begin();
+  if (status < 0) {
+    Serial.println("IMU initialization unsuccessful");
+    Serial.println("Check IMU wiring or try cycling power");
+    Serial.print("Status: ");
+    Serial.println(status);
+    while(1) {}
+  }
   pinMode(stepPin,OUTPUT);
   pinMode(dirPin,OUTPUT);
-Serial.println();
-Serial.print("Connecting to ");
-Serial.println(ssid);
-WiFi.begin(ssid, pass);
-
-while (WiFi.status() != WL_CONNECTED) {
-delay(500);
-Serial.print(".");
 }
-Serial.println("");
 
-Serial.println("WiFi connected");
-Serial.println("IP address: ");
-Serial.println(WiFi.localIP());
-
-Serial.println("Starting UDP");
-Udp.begin(localPort);
-Serial.print("Local port: ");
-Serial.println(localPort);
+void loop() {
+  // read the sensor
   digitalWrite(dirPin,HIGH);
-}
+  IMU.readSensor();
+  // display the data
 
-void step(OSCMessage &msg) {
-switch (msg.getInt(0)) {
-case 0:
-digitalWrite(stepPin, LOW);
-break;
-case 1:
-digitalWrite(stepPin, HIGH);
-break;
-}
-}
-
-void loop()
-{
-OSCMessage msg;
-int size = Udp.parsePacket();
-
-if (size > 0) {
-while (size--) {
-msg.fill(Udp.read());
-}
-//step(msg);
-step(msg);
+  if((micros() - previousTime) >= interval){
+    previousTime = micros();
+    pinState = !pinState;
+    digitalWrite(stepPin,pinState);
+    Serial.println(IMU.getAccelX_mss() + IMU.getAccelY_mss() + IMU.getAccelZ_mss() + biai +11);
   }
 }