G - Adjust gyroscope full-scale range.A - Adjust accelerometer full-scale range.r - Adjust log rate in 10Hz increments between 1-100Hz (1, 10, 20.e - Turn Euler angle calculations (pitch, roll, yaw) on or off (printed after quaternions).q - Turn quaternion readings on or off (qw, qx, qy, and qz are printed after mag readings).
c - Switch to/from calculated values from/to raw readings.m - Turn magnetometer readings on or off.a - Turn accelerometer readings on or off.(SPACE) - Pause/resume serial port printing.Pitch = filter.The string can be modified by sending any of the following commands: Roll = filter.getRoll() + 180 // 180 to -180 y leaves x unchanged Update the filter, which computes orientationįilter.updateIMU(gX, gY, gZ, aX, aY, aZ) Local variables for orientation from Madgwick library Start the filter to run at the sample rate Set sensor's sample rate to 104 Hz to improve accuracy of Euler angle interpretations by Madgwick library #include "MadgwickAHRS.h" // This library generates Euler angle measures from the IMU. #include // This library reads sensor values from the Intertial Measurement Unit (IMU). I did run into an issue with this arrangement where the “handshake” would cause a stream of values rather than a single set:įinally I took what I learned in this lab and tried it out with my own sketch, this time using my Dodeca enclosure and mapping the movement to a 3D object in a P5.js sketch. Serial.println("Failed to initialize IMU!")
Here is the modified Arduino code: #include // This library reads sensor values from the Intertial Measurement Unit (IMU).
The benefit of this approach is that it will only send data when requested and reduces the chance of a buffer overflow. With this function working I next modified the code for the Arduino to only send data after a “handshake” with the computer. Now to use this serial output to control a P5 sketch I shifted to the code running on my computer that the Arduino was connected to. Taking a look at the X and Y axis IMU readings in the serial plotter I noticed there was quite a lot of noise and decided to implement a buffer that averages out the last four readings. Int sensorValue = digitalRead(buttonPin) adjust the sensor values to be closer to 10bit analog readsĪX = (xBuffer + xBuffer + xBuffer + aX)/4 ĪY = (yBuffer + yBuffer + yBuffer + aY)/4 Local variables for orientation data from IMU Serial.println("Failed to initialize IMU!") Here is the circuit I used along with a Fritzing diagram:Ĭode with some smoothing to the readings: #include // This library reads sensor values from the Intertial Measurement Unit (IMU). In this lab I combined a number of capabilities to create a pointing and selecting device (mouse) that uses two-way (duplex) communication.
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