Rotabator.ino

@@ -1,49 +1,77 @@
-const int stepPin = 14;
+ /*
+ * Library: https://github.com/bolderflight/MPU9250
+Basic_I2C.ino
+Brian R Taylor
+brian.taylor@bolderflight.com
 
-const int dirPin = 12; 
+Copyright (c) 2017 Bolder Flight Systems
 
-int customDelay,customDelayMapped; // Defines variables
+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() {
-
-  // Sets the two pins as Outputs
-
+  // serial to display data
   Serial.begin(115200);
+  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);
-
-  digitalWrite(dirPin,HIGH); //Enables the motor to move in a particular direction
-
 }
 
 void loop() {
+  // read the sensor
+  digitalWrite(dirPin,HIGH);
+  IMU.readSensor();
+  // display the data
 
-  
-
-  customDelayMapped = speedUp(); // Gets custom delay values from the custom speedUp function
-  // Makes pules with custom delay, depending on the Potentiometer, from which the speed of the motor depends
-
-  digitalWrite(stepPin, HIGH);
-
-  delayMicroseconds(customDelayMapped);
-
-  digitalWrite(stepPin, LOW);
-
-  delayMicroseconds(customDelayMapped);
-
-  Serial.println(customDelayMapped);
-
+  if((micros() - previousTime) >= interval){
+    previousTime = micros();
+    pinState = !pinState;
+    digitalWrite(stepPin,pinState);
+    Serial.println(IMU.getAccelX_mss() + IMU.getAccelY_mss() + IMU.getAccelZ_mss() + biai +11);
   }
-
-// Function for reading the Potentiometer
-
-int speedUp() {
-
-  int customDelay = analogRead(6); // Reads the potentiometer
-  int newCustom = map(customDelay, 0, 8191, 300,3000); // Convrests the read values of the potentiometer from 0 to 1023 into desireded delay values (300 to 4000)
-
-  return newCustom;  
-
 }