Rotabator.ino

@@ -1,96 +1,77 @@
-#if defined(ESP8266)
+ /*
-#include <ESP8266WiFi.h>
+ * Library: https://github.com/bolderflight/MPU9250
+Basic_I2C.ino
+Brian R Taylor
+brian.taylor@bolderflight.com
+
+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"
-#else
-#include <WiFi.h>
-#endif
-#include <WiFiUdp.h>
-#include <OSCMessage.h>
 
-char ssid[] = "cohabit";          // your network SSID (name)
+float biai = 1.25;
-char pass[] = "lewifidecohabit";  // your network password
+unsigned long previousTime;
-
+int interval = 300;
-int update_rate = 1000000;
+int stepPin = 14;
-
+int dirPin = 12;
-
+bool pinState = LOW;
-WiFiUDP Udp;
+// an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68
-// A UDP instance to let us send and receive packets over UDP
+MPU9250 IMU(Wire,0x68);
-const IPAddress outIp(192, 168, 0, 210);  // remote IP of your computer
+int status;
-const unsigned int outPort = 16403;        // remote port to receive OSC
-const unsigned int localPort = 16384;      // local port to listen for OSC packets (actually not used for sending)
 
 void setup() {
+  // serial to display data
   Serial.begin(115200);
+  while(!Serial) {}
 
-  // Connect to WiFi network
+  // start communication with IMU 
-  Serial.println();
+  status = IMU.begin();
-  Serial.println();
+  if (status < 0) {
-  Serial.print("Connecting to ");
+    Serial.println("IMU initialization unsuccessful");
-  Serial.println(ssid);
+    Serial.println("Check IMU wiring or try cycling power");
-  WiFi.begin(ssid, pass);
+    Serial.print("Status: ");
-
+    Serial.println(status);
-  while (WiFi.status() != WL_CONNECTED) {
+    while(1) {}
-    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: ");
-#ifdef ESP32
-  Serial.println(localPort);
-#else
-  Serial.println(Udp.localPort());
-#endif
-}
-void ledtoggle(OSCMessage &msg) {
-  switch (msg.getInt(0)) {
-    case 0:
-      digitalWrite(LED_BUILTIN, LOW);
-      break;
-    case 1:
-      digitalWrite(LED_BUILTIN, HIGH);
-      break;
-  }
-}
-
-void receiveMessage() {
-  OSCMessage inmsg;
-  int size = Udp.parsePacket();
-
-  if (size > 0) {
-    while (size--) {
-      inmsg.fill(Udp.read());
-    }
-    if (!inmsg.hasError()) {
-      inmsg.dispatch("/led", ledtoggle);
-    }
-    //else { auto error = inmsg.getError(); }
   }
+  pinMode(stepPin,OUTPUT);
+  pinMode(dirPin,OUTPUT);
 }
 
 void loop() {
-  receiveMessage();
+  // read the sensor
-  OSCMessage msg("/step");
+  digitalWrite(dirPin,HIGH);
-  msg.add(1);
+  IMU.readSensor();
-  Udp.beginPacket(outIp, outPort);
+  // display the data
-  msg.send(Udp);
-  Udp.endPacket();
-  msg.empty();
-  delayMicroseconds(update_rate);
-  OSCMessage msg2("/Step");
-  msg2.add(0);
-  Udp.beginPacket(outIp, outPort);
-  msg2.send(Udp);
-  Udp.endPacket();
-  msg2.empty();
-  delayMicroseconds(update_rate);
-  
 
-  
+  if((micros() - previousTime) >= interval){
-}
+    previousTime = micros();
+    pinState = !pinState;
+    digitalWrite(stepPin,pinState);
+    Serial.println(IMU.getAccelX_mss() + IMU.getAccelY_mss() + IMU.getAccelZ_mss() + biai +11);
+  }
+}