/*
===============================================
Example sketch for CurieIMU library for Intel(R) Curie(TM) devices.
Copyright (c) 2015 Intel Corporation. All rights reserved.
Based on I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050
class by Jeff Rowberg: [url]https://github.com/jrowberg/i2cdevlib[/url]
===============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2011 Jeff Rowberg
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.
===============================================
Genuino 101 CurieIMU Orientation Visualiser
Hardware Required:
Arduino/Genuino 101
Modified Nov 2015
by Helena Bisby <[email]support@arduino.cc[/email]>
This example code is in the public domain
[url]http://arduino.cc/en/Tutorial/Genuino101CurieIMUOrientationVisualiser[/url]
*/
#include <CurieIMU.h>
#include <MadgwickAHRS.h>
const int ledPin = 13; // the number of the LED pin
Madgwick filter; // initialise Madgwick object
int ax, ay, az;
int gx, gy, gz;
float yaw;
float pitch;
float roll;
int factor = 800; // variable by which to divide gyroscope values, used to control sensitivity
// note that an increased baud rate requires an increase in value of factor
int calibrateOffsets = 1; // int to determine whether calibration takes place or not
void setup() {
// initialize Serial communication
Serial.begin(9600);
pinMode(ledPin, OUTPUT);
// initialize device
CurieIMU.begin();
if (calibrateOffsets == 1) {
// use the code below to calibrate accel/gyro offset values
Serial.println("Internal sensor offsets BEFORE calibration...");
Serial.print(CurieIMU.getAccelerometerOffset(X_AXIS)); Serial.print(" ");
Serial.print(CurieIMU.getAccelerometerOffset(Y_AXIS)); Serial.print(" ");
Serial.print(CurieIMU.getAccelerometerOffset(Z_AXIS)); Serial.print(" ");
Serial.print(CurieIMU.getGyroOffset(X_AXIS)); Serial.print(" ");
Serial.print(CurieIMU.getGyroOffset(Y_AXIS)); Serial.print(" ");
Serial.print(CurieIMU.getGyroOffset(Z_AXIS)); Serial.print(" ");
Serial.println("");
// To manually configure offset compensation values, use the following methods instead of the autoCalibrate...() methods below
// CurieIMU.setGyroOffset(X_AXIS, 220);
// CurieIMU.setGyroOffset(Y_AXIS, 76);
// CurieIMU.setGyroOffset(Z_AXIS, -85);
// CurieIMU.setAccelerometerOffset(X_AXIS, -76);
// CurieIMU.setAccelerometerOffset(Y_AXIS, -235);
// CurieIMU.setAccelerometerOffset(Z_AXIS, 168);
//IMU device must be resting in a horizontal position for the following calibration procedure to work correctly!
Serial.print("Starting Gyroscope calibration...");
CurieIMU.autoCalibrateGyroOffset();
Serial.println(" Done");
Serial.print("Starting Acceleration calibration...");
CurieIMU.autoCalibrateAccelerometerOffset(X_AXIS, 0);
CurieIMU.autoCalibrateAccelerometerOffset(Y_AXIS, 0);
CurieIMU.autoCalibrateAccelerometerOffset(Z_AXIS, 1);
Serial.println(" Done");
Serial.println("Internal sensor offsets AFTER calibration...");
Serial.print(CurieIMU.getAccelerometerOffset(X_AXIS)); Serial.print(" ");
Serial.print(CurieIMU.getAccelerometerOffset(Y_AXIS)); Serial.print(" ");
Serial.print(CurieIMU.getAccelerometerOffset(Z_AXIS)); Serial.print(" ");
Serial.print(CurieIMU.getAccelerometerOffset(X_AXIS)); Serial.print(" ");
Serial.print(CurieIMU.getAccelerometerOffset(Y_AXIS)); Serial.print(" ");
Serial.print(CurieIMU.getAccelerometerOffset(Z_AXIS)); Serial.print(" ");
Serial.println("");
}
}
void noticeEdison() {
digitalWrite(ledPin, HIGH);
// Serial.println("");
delay(3000);
digitalWrite(ledPin, LOW);
}
void loop() {
// read raw accel/gyro measurements from device
CurieIMU.readMotionSensor(ax, ay, az, gx, gy, gz);
// use function from MagdwickAHRS.h to return quaternions
filter.updateIMU(gx / factor, gy / factor, gz / factor, ax, ay, az);
// functions to find yaw roll and pitch from quaternions
yaw = filter.getYaw();
roll = filter.getRoll();
pitch = filter.getPitch();
// print gyro and accel values for debugging only, comment out when running Processing
/*
Serial.print(ax); Serial.print("ax ");
Serial.print(ay); Serial.print("ay ");
Serial.print(az); Serial.print("az ");
Serial.print(gx); Serial.print("gx ");
Serial.print(gy); Serial.print("gy ");
Serial.print(gz); Serial.print("gz ");
Serial.println("");
*/
if (az < 0) {
delay(1000);
CurieIMU.readMotionSensor(ax, ay, az, gx, gy, gz);
if (az < 0) {
//跟消除抖动同理
noticeEdison();
//Serial.print(az); Serial.print("az ");
//Serial.println("");
}
}
//delay(1000);
}