From e9e2bc6426d1e55a2c4576f8d702e6f5c6738bbd Mon Sep 17 00:00:00 2001 From: FluffyCube9343 Date: Sun, 7 Aug 2022 14:39:16 -0400 Subject: [PATCH] Comms v1 is done! --- .gitignore | 6 + comms/Arduino/MasterCode/MasterCode.ino | 57 ++ comms/Arduino/SlaveCode/SlaveCode.ino | 485 ++++++++++++++++++ comms/Arduino/SlaveFakeCode/SlaveFakeCode.ino | 13 + .../TEST_ofMaster_no_proper.ino | 26 + .../Arduino/Test Files/ofMaster/ofMaster.ino | 17 + comms/Arduino/blank/blank.ino | 9 + .../August1_I2C_MasterDuino.ino | 0 .../communication}/August1_I2C_SlaveDuino.ino | 0 .../August2_I2C_MasterDuino.ino | 0 .../communication}/August2_I2C_SlaveDuino.ino | 0 .../Prev/communication}/MasterDuinoTest.ino | 0 .../communication}/RaspberrySerialReader.py | 0 .../Prev/communication}/SPIWiring.jpg | Bin .../Prev/communication}/Serial_ArduinoIMU.ino | 0 .../Prev/communication}/SlaveDuinoTest.ino | 0 .../Prev/communication}/about.txt | 0 .../Prev/communication}/revmotor_test.ino | 0 .../does2mpustillwork/does2mpustillwork.ino | 356 +++++++++++++ .../doesmpustillwork/doesmpustillwork.ino | 351 +++++++++++++ comms/Prev/ofSlave/ofSlave.ino | 13 + comms/README.md | 70 +++ comms/RPi/RPICOM.py | 195 +++++++ 23 files changed, 1598 insertions(+) create mode 100644 comms/Arduino/MasterCode/MasterCode.ino create mode 100644 comms/Arduino/SlaveCode/SlaveCode.ino create mode 100644 comms/Arduino/SlaveFakeCode/SlaveFakeCode.ino create mode 100644 comms/Arduino/Test Files/TEST_ofMaster_no_proper/TEST_ofMaster_no_proper.ino create mode 100644 comms/Arduino/Test Files/ofMaster/ofMaster.ino create mode 100644 comms/Arduino/blank/blank.ino rename {communication => comms/Prev/communication}/August1_I2C_MasterDuino.ino (100%) rename {communication => comms/Prev/communication}/August1_I2C_SlaveDuino.ino (100%) rename {communication => comms/Prev/communication}/August2_I2C_MasterDuino.ino (100%) rename {communication => comms/Prev/communication}/August2_I2C_SlaveDuino.ino (100%) rename {communication => comms/Prev/communication}/MasterDuinoTest.ino (100%) rename {communication => comms/Prev/communication}/RaspberrySerialReader.py (100%) rename {communication => comms/Prev/communication}/SPIWiring.jpg (100%) rename {communication => comms/Prev/communication}/Serial_ArduinoIMU.ino (100%) rename {communication => comms/Prev/communication}/SlaveDuinoTest.ino (100%) rename {communication => comms/Prev/communication}/about.txt (100%) rename {communication => comms/Prev/communication}/revmotor_test.ino (100%) create mode 100644 comms/Prev/does2mpustillwork/does2mpustillwork.ino create mode 100644 comms/Prev/doesmpustillwork/doesmpustillwork.ino create mode 100644 comms/Prev/ofSlave/ofSlave.ino create mode 100644 comms/README.md create mode 100644 comms/RPi/RPICOM.py diff --git a/.gitignore b/.gitignore index b6e4761..1b9870a 100644 --- a/.gitignore +++ b/.gitignore @@ -127,3 +127,9 @@ dmypy.json # Pyre type checker .pyre/ + + + +.DS_Store +log.txt +offsets.txt diff --git a/comms/Arduino/MasterCode/MasterCode.ino b/comms/Arduino/MasterCode/MasterCode.ino new file mode 100644 index 0000000..6591e74 --- /dev/null +++ b/comms/Arduino/MasterCode/MasterCode.ino @@ -0,0 +1,57 @@ + /* data is read as: + * s + (id) + (read1) + ! + (read2) + @ + (read3) + # + (read4) + e + * ex. sa1.00!0.00@0.00#-0.10e + */ +char incomingByte = ""; // for incoming serial data +String incomingBytes = ""; +char incomingByte2 = ""; // for incoming serial data +String incomingBytes2 = ""; + + +int readPls = 0; +void setup() { + Serial3.begin(115200);Serial2.begin(115200);Serial.begin(115200); // opens serial port, sets data rate to 9600 bps +} + +void loop() { + + // send data only when you receive data: + if (Serial3.available() > 0) { + // read the incoming byte: + incomingByte = Serial3.read(); + + // say what you got: + Serial3.println(incomingByte); + if(incomingByte == 's'){ + readPls = 1; + } + if(incomingByte == 'e'){ + readPls = 0; + incomingBytes.concat(incomingByte); + Serial.println(incomingBytes); + incomingBytes = ""; + } + if(readPls == 1){ + incomingBytes.concat(incomingByte); + } + } + if (Serial2.available() > 0) { + // read the incoming byte: + incomingByte2 = Serial2.read(); + + // say what you got: + Serial2.println(incomingByte2); + if(incomingByte2 == 's'){ + readPls = 1; + } + if(incomingByte2 == 'e'){ + readPls = 0; + incomingBytes2.concat(incomingByte2); + Serial.println(incomingBytes2); + incomingBytes2 = ""; + } + if(readPls == 1){ + incomingBytes2.concat(incomingByte2); + } + } +} diff --git a/comms/Arduino/SlaveCode/SlaveCode.ino b/comms/Arduino/SlaveCode/SlaveCode.ino new file mode 100644 index 0000000..fcbe5c1 --- /dev/null +++ b/comms/Arduino/SlaveCode/SlaveCode.ino @@ -0,0 +1,485 @@ +/* sometimes the data is too fast so it is read weirdly: + * here's the speed that works: + * .001 ms -> too fast + * .01 ms -> too fast + * 20 ms -> good + * 25 ms -> good + * 50 ms -> good + * 1 sec -> too slow + */ + + // I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) +// 6/21/2012 by Jeff Rowberg +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// 2019-07-08 - Added Auto Calibration and offset generator +// - and altered FIFO retrieval sequence to avoid using blocking code +// 2016-04-18 - Eliminated a potential infinite loop +// 2013-05-08 - added seamless Fastwire support +// - added note about gyro calibration +// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error +// 2012-06-20 - improved FIFO overflow handling and simplified read process +// 2012-06-19 - completely rearranged DMP initialization code and simplification +// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly +// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING +// 2012-06-05 - add gravity-compensated initial reference frame acceleration output +// - add 3D math helper file to DMP6 example sketch +// - add Euler output and Yaw/Pitch/Roll output formats +// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee) +// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250 +// 2012-05-30 - basic DMP initialization working + +/* ============================================ +I2Cdev device library code is placed under the MIT license +Copyright (c) 2012 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. +=============================================== +*/ + +// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files +// for both classes must be in the include path of your project +#include + +#include +#include // not necessary if using MotionApps include file + +// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation +// is used in I2Cdev.h +#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE + #include +#endif + +// class default I2C address is 0x68 +// specific I2C addresses may be passed as a parameter here +// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board) +// AD0 high = 0x69 +MPU6050 mpu; +MPU6050 mpu2(0x69); // <-- use for AD0 high +double z = 0; + +/* ========================================================================= + NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch + depends on the MPU-6050's INT pin being connected to the Arduino's + external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is + digital I/O pin 2. + * ========================================================================= */ + +/* ========================================================================= + NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error + when using Serial.write(buf, len). The Teapot output uses this method. + The solution requires a modification to the Arduino USBAPI.h file, which + is fortunately simple, but annoying. This will be fixed in the next IDE + release. For more info, see these links: + + http://arduino.cc/forum/index.php/topic,109987.0.html + http://code.google.com/p/arduino/issues/detail?id=958 + * ========================================================================= */ + + + +// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual +// quaternion components in a [w, x, y, z] format (not best for parsing +// on a remote host such as Processing or something though) +#define OUTPUT_READABLE_QUATERNION + +// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles +// (in degrees) calculated from the quaternions coming from the FIFO. +// Note that Euler angles suffer from gimbal lock (for more info, see +// http://en.wikipedia.org/wiki/Gimbal_lock) +//#define OUTPUT_READABLE_EULER + +// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/ +// pitch/roll angles (in degrees) calculated from the quaternions coming +// from the FIFO. Note this also requires gravity vector calculations. +// Also note that yaw/pitch/roll angles suffer from gimbal lock (for +// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock) +//#define OUTPUT_READABLE_YAWPITCHROLL + +// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration +// components with gravity removed. This acceleration reference frame is +// not compensated for orientation, so +X is always +X according to the +// sensor, just without the effects of gravity. If you want acceleration +// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead. +//#define OUTPUT_READABLE_REALACCEL + +// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration +// components with gravity removed and adjusted for the world frame of +// reference (yaw is relative to initial orientation, since no magnetometer +// is present in this case). Could be quite handy in some cases. +//#define OUTPUT_READABLE_WORLDACCEL + +// uncomment "OUTPUT_TEAPOT" if you want output that matches the +// format used for the InvenSense teapot demo +//#define OUTPUT_TEAPOT + + + +#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards +#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) +bool blinkState = false; + +// MPU control/status vars +bool dmpReady = false; // set true if DMP init was successful +uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU + +uint8_t mpu2IntStatus; // holds actual interrupt status byte from MPU +uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) + +uint8_t devStatus2; // return status after each device operation (0 = success, !0 = error) +uint16_t packetSize; // expected DMP packet size (default is 42 bytes) + +uint16_t packetSize2; // expected DMP packet size (default is 42 bytes) +uint16_t fifoCount; // count of all bytes currently in FIFO +uint8_t fifoBuffer[64]; // FIFO storage buffer + +uint16_t fifoCount2; // count of all bytes currently in FIFO +uint8_t fifoBuffer2[64]; // FIFO storage buffer + +// orientation/motion vars +Quaternion q; // [w, x, y, z] quaternion container +VectorInt16 aa; // [x, y, z] accel sensor measurements +VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements +VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements +VectorFloat gravity; // [x, y, z] gravity vector +float euler[3]; // [psi, theta, phi] Euler angle container +float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector + +float ypr2[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector +// packet structure for InvenSense teapot demo +uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; + + + +// ================================================================ +// === INTERRUPT DETECTION ROUTINE === +// ================================================================ + +volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high +void dmpDataReady() { + mpuInterrupt = true; +} + + + +// ================================================================ +// === INITIAL SETUP === +// ================================================================ + +void setup() { + // join I2C bus (I2Cdev library doesn't do this automatically) + #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE + Wire.begin(); + Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties + #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE + Fastwire::setup(400, true); + #endif + + // initialize serial communication + // (115200 chosen because it is required for Teapot Demo output, but it's + // really up to you depending on your project) + Serial.begin(115200);Serial3.begin(115200); + while (!Serial); // wait for Leonardo enumeration, others continue immediately + + // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino + // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to + // the baud timing being too misaligned with processor ticks. You must use + // 38400 or slower in these cases, or use some kind of external separate + // crystal solution for the UART timer. + + // initialize device + Serial.println(F("Initializing I2C devices...")); + mpu.initialize(); + + mpu2.initialize(); + pinMode(INTERRUPT_PIN, INPUT); + pinMode(10, OUTPUT); + + // verify connection + Serial.println(F("Testing device connections...")); + Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); + + Serial.println(mpu2.testConnection() ? F("MPU6050 #2 connection successful") : F("MPU6050 #2 connection failed")); + + // wait for ready + Serial.println(F("\nSend any character to begin DMP programming and demo: ")); + //while (Serial.available() && Serial.read()); // empty buffer + //while (!Serial.available()); // wait for data + //while (Serial.available() && Serial.read()); // empty buffer again + + // load and configure the DMP + Serial.println(F("Initializing DMP...")); + devStatus = mpu.dmpInitialize(); + + devStatus = mpu2.dmpInitialize(); + + // supply your own gyro offsets here, scaled for min sensitivity + mpu.setXGyroOffset(220); + mpu.setYGyroOffset(76); + mpu.setZGyroOffset(-85); + mpu.setZAccelOffset(1788); // 1688 factory default for my test chip + + mpu2.setXGyroOffset(220); + mpu2.setYGyroOffset(76); + mpu2.setZGyroOffset(-85); + mpu2.setZAccelOffset(1788); // 1688 factory default for my test chip + + // make sure it worked (returns 0 if so) + if (devStatus == 0 and devStatus2 == 0) { + // Calibration Time: generate offsets and calibrate our MPU6050 + mpu.CalibrateAccel(6); + mpu.CalibrateGyro(6); + mpu.PrintActiveOffsets(); + // turn on the DMP, now that it's ready + Serial.println(F("Enabling DMP...")); + mpu.setDMPEnabled(true); + + mpu2.CalibrateAccel(6); + mpu2.CalibrateGyro(6); + mpu2.PrintActiveOffsets(); + // turn on the DMP, now that it's ready + Serial.println(F("Enabling DMP on 0x69...")); + mpu2.setDMPEnabled(true); + + // enable Arduino interrupt detection + Serial.print(F("Enabling interrupt detection (Arduino external interrupt ")); + Serial.print(digitalPinToInterrupt(INTERRUPT_PIN)); + Serial.println(F(")...")); + attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING); + mpuIntStatus = mpu.getIntStatus(); + mpu2IntStatus = mpu.getIntStatus(); + // set our DMP Ready flag so the main loop() function knows it's okay to use it + Serial.println(F("DMP ready! Waiting for first interrupt...")); + dmpReady = true; + + // get expected DMP packet size for later comparison + packetSize = mpu.dmpGetFIFOPacketSize(); + + packetSize2 = mpu.dmpGetFIFOPacketSize(); + } else { + // ERROR! + // 1 = initial memory load failed + // 2 = DMP configuration updates failed + // (if it's going to break, usually the code will be 1) + Serial.print(F("DMP Initialization failed (code ")); + Serial.print(devStatus); + Serial.println(F(")")); + } + + // configure LED for output + pinMode(LED_PIN, OUTPUT); +} + + + +// ================================================================ +// === MAIN PROGRAM LOOP === +// ================================================================ + +void loop() { + z++; + digitalWrite(10,HIGH); + // if programming failed, don't try to do anything + if (!dmpReady) {Serial.println(":");return;} + Serial.println(z); + // read a packet from FIFO + if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet + #ifdef OUTPUT_READABLE_QUATERNION + // display quaternion values in easy matrix form: w x y z + mpu.dmpGetQuaternion(&q, fifoBuffer); + Serial.print("quat\t"); + Serial.print(q.w); + Serial.print("\t"); + Serial.print(q.x); + Serial.print("\t"); + Serial.print(q.y); + Serial.print("\t"); + Serial.println(q.z); + String s = "sa"+String(q.w)+"!"+String(q.x)+"@"+String(q.y)+"#"+String(q.z)+"e"; + + Serial3.print(s); + #endif + + #ifdef OUTPUT_READABLE_EULER + // display Euler angles in degrees + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetEuler(euler, &q); + Serial.print("euler\t"); + Serial.print(euler[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(euler[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(euler[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_YAWPITCHROLL + // display Euler angles in degrees + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); + Serial.print("ypr\t"); + Serial.print(ypr[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(ypr[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(ypr[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_REALACCEL + // display real acceleration, adjusted to remove gravity + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetAccel(&aa, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); + Serial.print("areal\t"); + Serial.print(aaReal.x); + Serial.print("\t"); + Serial.print(aaReal.y); + Serial.print("\t"); + Serial.println(aaReal.z); + #endif + + #ifdef OUTPUT_READABLE_WORLDACCEL + // display initial world-frame acceleration, adjusted to remove gravity + // and rotated based on known orientation from quaternion + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetAccel(&aa, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); + mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); + Serial.print("aworld\t"); + Serial.print(aaWorld.x); + Serial.print("\t"); + Serial.print(aaWorld.y); + Serial.print("\t"); + Serial.println(aaWorld.z); + #endif + + #ifdef OUTPUT_TEAPOT + // display quaternion values in InvenSense Teapot demo format: + teapotPacket[2] = fifoBuffer[0]; + teapotPacket[3] = fifoBuffer[1]; + teapotPacket[4] = fifoBuffer[4]; + teapotPacket[5] = fifoBuffer[5]; + teapotPacket[6] = fifoBuffer[8]; + teapotPacket[7] = fifoBuffer[9]; + teapotPacket[8] = fifoBuffer[12]; + teapotPacket[9] = fifoBuffer[13]; + Serial.write(teapotPacket, 14); + teapotPacket[11]++; // packetCount, loops at 0xFF on purpose + #endif + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); + } + // read a packet from 2nd mpu FIFO + if (mpu2.dmpGetCurrentFIFOPacket(fifoBuffer2)) { // Get the Latest packet + #ifdef OUTPUT_READABLE_QUATERNION + // display quaternion values in easy matrix form: w x y z + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + Serial.print("quat2\t"); + Serial.print(q.w); + Serial.print("\t"); + Serial.print(q.x); + Serial.print("\t"); + Serial.print(q.y); + Serial.print("\t"); + Serial.println(q.z); + + String s = "sb"+String(q.w)+"!"+String(q.x)+"@"+String(q.y)+"#"+String(q.z)+"e"; + + Serial3.print(s); + #endif + + #ifdef OUTPUT_READABLE_EULER + // display Euler angles in degrees + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + mpu2.dmpGetEuler(euler, &q); + Serial.print("euler2\t"); + Serial.print(euler[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(euler[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(euler[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_YAWPITCHROLL + // display Euler angles in degrees + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + mpu2.dmpGetGravity(&gravity, &q); + mpu2.dmpGetYawPitchRoll(ypr, &q, &gravity); + Serial.print("ypr2\t"); + Serial.print(ypr[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(ypr[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(ypr[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_REALACCEL + // display real acceleration, adjusted to remove gravity + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + mpu2.dmpGetAccel(&aa, fifoBuffer2); + mpu2.dmpGetGravity(&gravity, &q); + mpu2.dmpGetLinearAccel(&aaReal, &aa, &gravity); + Serial.print("areal2\t"); + Serial.print(aaReal.x); + Serial.print("\t"); + Serial.print(aaReal.y); + Serial.print("\t"); + Serial.println(aaReal.z); + #endif + + #ifdef OUTPUT_READABLE_WORLDACCEL + // display initial world-frame acceleration, adjusted to remove gravity + // and rotated based on known orientation from quaternion + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + mpu2.dmpGetAccel(&aa, fifoBuffer2); + mpu2.dmpGetGravity(&gravity, &q); + mpu2.dmpGetLinearAccel(&aaReal, &aa, &gravity); + mpu2.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); + Serial.print("aworld2\t"); + Serial.print(aaWorld.x); + Serial.print("\t"); + Serial.print(aaWorld.y); + Serial.print("\t"); + Serial.println(aaWorld.z); + #endif + + #ifdef OUTPUT_TEAPOT + // display quaternion values in InvenSense Teapot demo format: + teapotPacket[2] = fifoBuffer2[0]; + teapotPacket[3] = fifoBuffer2[1]; + teapotPacket[4] = fifoBuffer2[4]; + teapotPacket[5] = fifoBuffer2[5]; + teapotPacket[6] = fifoBuffer2[8]; + teapotPacket[7] = fifoBuffer2[9]; + teapotPacket[8] = fifoBuffer2[12]; + teapotPacket[9] = fifoBuffer2[13]; + Serial.write(teapotPacket, 14); + teapotPacket[11]++; // packetCount, loops at 0xFF on purpose + #endif + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); + }delay(20); +} diff --git a/comms/Arduino/SlaveFakeCode/SlaveFakeCode.ino b/comms/Arduino/SlaveFakeCode/SlaveFakeCode.ino new file mode 100644 index 0000000..15e3b66 --- /dev/null +++ b/comms/Arduino/SlaveFakeCode/SlaveFakeCode.ino @@ -0,0 +1,13 @@ +String myStr = "sc1.00!0.01@0.02#-0.10e"; +String myStr2 = "sd1.00!0.03@0.10#-0.05e"; +void setup() { + // put your setup code here, to run once: + Serial3.begin(115200); +} + +void loop() { + // put your main code here, to run repeatedly: + Serial3.print(myStr); + Serial3.print(myStr2); + delay(25); +} diff --git a/comms/Arduino/Test Files/TEST_ofMaster_no_proper/TEST_ofMaster_no_proper.ino b/comms/Arduino/Test Files/TEST_ofMaster_no_proper/TEST_ofMaster_no_proper.ino new file mode 100644 index 0000000..b7c7ae1 --- /dev/null +++ b/comms/Arduino/Test Files/TEST_ofMaster_no_proper/TEST_ofMaster_no_proper.ino @@ -0,0 +1,26 @@ +char incomingByte = ""; // for incoming serial data +String incomingBytes = ""; +int readPls = 0; +void setup() { + Serial3.begin(115200);Serial.begin(115200); // opens serial port, sets data rate to 9600 bps +} + +void loop() { + + // send data only when you receive data: + if (Serial3.available() > 0) { + // read the incoming bytxe: + incomingByte = Serial3.read(); + + // say what you got: + Serial3.println(incomingByte); + + incomingBytes.concat(incomingByte); + Serial.println(incomingByte); + if(incomingByte == 13){ + incomingBytes = "";} + + //if(readPls == 1){ + //} + } +} diff --git a/comms/Arduino/Test Files/ofMaster/ofMaster.ino b/comms/Arduino/Test Files/ofMaster/ofMaster.ino new file mode 100644 index 0000000..a8d5144 --- /dev/null +++ b/comms/Arduino/Test Files/ofMaster/ofMaster.ino @@ -0,0 +1,17 @@ +char mystr[40]; //Initialized variable to store recieved data + +void setup() { + // Begin the Serial at 9600 Baud + Serial3.begin(115200); + Serial.begin(115200); +} + +void loop() { + Serial3.readBytes(mystr,40); //Read the serial data and store in var + if(mystr!=""){ + Serial.println(mystr); //Print data on Serial Monitor + } + int x = mystr[0]; + Serial.println(x); + // Serial.println("LOLYES"); +} diff --git a/comms/Arduino/blank/blank.ino b/comms/Arduino/blank/blank.ino new file mode 100644 index 0000000..95c2b6e --- /dev/null +++ b/comms/Arduino/blank/blank.ino @@ -0,0 +1,9 @@ +void setup() { + // put your setup code here, to run once: + +} + +void loop() { + // put your main code here, to run repeatedly: + +} diff --git a/communication/August1_I2C_MasterDuino.ino b/comms/Prev/communication/August1_I2C_MasterDuino.ino similarity index 100% rename from communication/August1_I2C_MasterDuino.ino rename to comms/Prev/communication/August1_I2C_MasterDuino.ino diff --git a/communication/August1_I2C_SlaveDuino.ino b/comms/Prev/communication/August1_I2C_SlaveDuino.ino similarity index 100% rename from communication/August1_I2C_SlaveDuino.ino rename to comms/Prev/communication/August1_I2C_SlaveDuino.ino diff --git a/communication/August2_I2C_MasterDuino.ino b/comms/Prev/communication/August2_I2C_MasterDuino.ino similarity index 100% rename from communication/August2_I2C_MasterDuino.ino rename to comms/Prev/communication/August2_I2C_MasterDuino.ino diff --git a/communication/August2_I2C_SlaveDuino.ino b/comms/Prev/communication/August2_I2C_SlaveDuino.ino similarity index 100% rename from communication/August2_I2C_SlaveDuino.ino rename to comms/Prev/communication/August2_I2C_SlaveDuino.ino diff --git a/communication/MasterDuinoTest.ino b/comms/Prev/communication/MasterDuinoTest.ino similarity index 100% rename from communication/MasterDuinoTest.ino rename to comms/Prev/communication/MasterDuinoTest.ino diff --git a/communication/RaspberrySerialReader.py b/comms/Prev/communication/RaspberrySerialReader.py similarity index 100% rename from communication/RaspberrySerialReader.py rename to comms/Prev/communication/RaspberrySerialReader.py diff --git a/communication/SPIWiring.jpg b/comms/Prev/communication/SPIWiring.jpg similarity index 100% rename from communication/SPIWiring.jpg rename to comms/Prev/communication/SPIWiring.jpg diff --git a/communication/Serial_ArduinoIMU.ino b/comms/Prev/communication/Serial_ArduinoIMU.ino similarity index 100% rename from communication/Serial_ArduinoIMU.ino rename to comms/Prev/communication/Serial_ArduinoIMU.ino diff --git a/communication/SlaveDuinoTest.ino b/comms/Prev/communication/SlaveDuinoTest.ino similarity index 100% rename from communication/SlaveDuinoTest.ino rename to comms/Prev/communication/SlaveDuinoTest.ino diff --git a/communication/about.txt b/comms/Prev/communication/about.txt similarity index 100% rename from communication/about.txt rename to comms/Prev/communication/about.txt diff --git a/communication/revmotor_test.ino b/comms/Prev/communication/revmotor_test.ino similarity index 100% rename from communication/revmotor_test.ino rename to comms/Prev/communication/revmotor_test.ino diff --git a/comms/Prev/does2mpustillwork/does2mpustillwork.ino b/comms/Prev/does2mpustillwork/does2mpustillwork.ino new file mode 100644 index 0000000..2361222 --- /dev/null +++ b/comms/Prev/does2mpustillwork/does2mpustillwork.ino @@ -0,0 +1,356 @@ +// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) +// 6/21/2012 by Jeff Rowberg +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// 2019-07-08 - Added Auto Calibration and offset generator +// - and altered FIFO retrieval sequence to avoid using blocking code +// 2016-04-18 - Eliminated a potential infinite loop +// 2013-05-08 - added seamless Fastwire support +// - added note about gyro calibration +// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error +// 2012-06-20 - improved FIFO overflow handling and simplified read process +// 2012-06-19 - completely rearranged DMP initialization code and simplification +// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly +// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING +// 2012-06-05 - add gravity-compensated initial reference frame acceleration output +// - add 3D math helper file to DMP6 example sketch +// - add Euler output and Yaw/Pitch/Roll output formats +// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee) +// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250 +// 2012-05-30 - basic DMP initialization working + +/* ============================================ +I2Cdev device library code is placed under the MIT license +Copyright (c) 2012 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. +=============================================== +*/ + +// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files +// for both classes must be in the include path of your project +#include "I2Cdev.h" + +#include "MPU6050_6Axis_MotionApps20.h" +//#include "MPU6050.h" // not necessary if using MotionApps include file + +// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation +// is used in I2Cdev.h +#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE + #include "Wire.h" +#endif + +// class default I2C address is 0x68 +// specific I2C addresses may be passed as a parameter here +// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board) +// AD0 high = 0x69 +MPU6050 mpu; +MPU6050 mpu2(0x69); // <-- use for AD0 high + +/* ========================================================================= + NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch + depends on the MPU-6050's INT pin being connected to the Arduino's + external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is + digital I/O pin 2. + * ========================================================================= */ + +/* ========================================================================= + NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error + when using Serial.write(buf, len). The Teapot output uses this method. + The solution requires a modification to the Arduino USBAPI.h file, which + is fortunately simple, but annoying. This will be fixed in the next IDE + release. For more info, see these links: + + http://arduino.cc/forum/index.php/topic,109987.0.html + http://code.google.com/p/arduino/issues/detail?id=958 + * ========================================================================= */ + + + +// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual +// quaternion components in a [w, x, y, z] format (not best for parsing +// on a remote host such as Processing or something though) +#define OUTPUT_READABLE_QUATERNION + +// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles +// (in degrees) calculated from the quaternions coming from the FIFO. +// Note that Euler angles suffer from gimbal lock (for more info, see +// http://en.wikipedia.org/wiki/Gimbal_lock) +//#define OUTPUT_READABLE_EULER + +// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/ +// pitch/roll angles (in degrees) calculated from the quaternions coming +// from the FIFO. Note this also requires gravity vector calculations. +// Also note that yaw/pitch/roll angles suffer from gimbal lock (for +// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock) +//#define OUTPUT_READABLE_YAWPITCHROLL + +// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration +// components with gravity removed. This acceleration reference frame is +// not compensated for orientation, so +X is always +X according to the +// sensor, just without the effects of gravity. If you want acceleration +// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead. +//#define OUTPUT_READABLE_REALACCEL + +// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration +// components with gravity removed and adjusted for the world frame of +// reference (yaw is relative to initial orientation, since no magnetometer +// is present in this case). Could be quite handy in some cases. +//#define OUTPUT_READABLE_WORLDACCEL + +// uncomment "OUTPUT_TEAPOT" if you want output that matches the +// format used for the InvenSense teapot demo +//#define OUTPUT_TEAPOT + + + +#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards +#define INTERRUPT_PIN2 3 +#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) +bool blinkState = false; + +// MPU control/status vars +bool dmpReady = false; // set true if DMP init was successful +uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU +uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) +uint16_t packetSize; // expected DMP packet size (default is 42 bytes) +uint16_t fifoCount; // count of all bytes currently in FIFO +uint8_t fifoBuffer[64]; // FIFO storage buffer +bool dmpReady2 = false; // set true if DMP init was successful +uint8_t mpuIntStatus2; // holds actual interrupt status byte from MPU +uint8_t devStatus2; // return status after each device operation (0 = success, !0 = error) +uint16_t packetSize2; // expected DMP packet size (default is 42 bytes) +uint16_t fifoCount2; // count of all bytes currently in FIFO +uint8_t fifoBuffer2[64]; // FIFO storage buffer + +// orientation/motion vars +Quaternion q; // [w, x, y, z] quaternion container +VectorInt16 aa; // [x, y, z] accel sensor measurements +VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements +VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements +VectorFloat gravity; // [x, y, z] gravity vector +float euler[3]; // [psi, theta, phi] Euler angle container +float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector + +// packet structure for InvenSense teapot demo +uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; + + + +// ================================================================ +// === INTERRUPT DETECTION ROUTINE === +// ================================================================ + +volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high +void dmpDataReady() { + mpuInterrupt = true; +} +volatile bool mpuInterrupt2 = false; // indicates whether MPU interrupt pin has gone high +void dmpDataReady2() { + mpuInterrupt2 = true; +} + + + +// ================================================================ +// === INITIAL SETUP === +// ================================================================ + +void setup() { + // join I2C bus (I2Cdev library doesn't do this automatically) + #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE + Wire.begin(); + Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties + #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE + Fastwire::setup(400, true); + #endif + + // initialize serial communication + // (115200 chosen because it is required for Teapot Demo output, but it's + // really up to you depending on your project) + Serial.begin(9600);Serial3.begin(9600); + while (!Serial); // wait for Leonardo enumeration, others continue immediately + + // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino + // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to + // the baud timing being too misaligned with processor ticks. You must use + // 38400 or slower in these cases, or use some kind of external separate + // crystal solution for the UART timer. + + // initialize device + //Serial.println(F("Initializing I2C devices...")); + mpu.initialize();mpu2.initialize(); + pinMode(INTERRUPT_PIN, INPUT); + + // verify connection + //Serial.println(F("Testing device connections...")); + //Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); + + // wait for ready + //Serial.println(F("\nSend any character to begin DMP programming and demo: ")); + //while (Serial.available() && Serial.read()); // empty buffer + //while (!Serial.available()); // wait for data + //while (Serial.available() && Serial.read()); // empty buffer again + pinMode(10,OUTPUT); + // load and configure the DMP + //Serial.println(F("Initializing DMP...")); + devStatus = mpu.dmpInitialize(); +devStatus2 = mpu2.dmpInitialize(); + // supply your own gyro offsets here, scaled for min sensitivity + mpu.setXGyroOffset(220); + mpu.setYGyroOffset(76); + mpu.setZGyroOffset(-85); + mpu.setZAccelOffset(1788); // 1688 factory default for my test chip +mpu2.setXGyroOffset(220); + mpu2.setYGyroOffset(76); + mpu2.setZGyroOffset(-85); + mpu2.setZAccelOffset(1788); // 1688 factory default for my test chip + + // make sure it worked (returns 0 if so) + if (devStatus == 0) { + // Calibration Time: generate offsets and calibrate our MPU6050 + mpu.CalibrateAccel(6); + mpu.CalibrateGyro(6); + mpu.PrintActiveOffsets(); + // turn on the DMP, now that it's ready + //Serial.println(F("Enabling DMP...")); + mpu.setDMPEnabled(true); + +mpu2.CalibrateAccel(6); + mpu2.CalibrateGyro(6); + mpu2.PrintActiveOffsets(); + // turn on the DMP, now that it's ready + //Serial.println(F("Enabling DMP...")); + mpu2.setDMPEnabled(true); + + // enable Arduino interrupt detection + //Serial.print(F("Enabling interrupt detection (Arduino external interrupt ")); + //Serial.print(digitalPinToInterrupt(INTERRUPT_PIN)); + //Serial.println(F(")...")); + attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING); + mpuIntStatus = mpu.getIntStatus(); + attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN2), dmpDataReady2, RISING); + mpuIntStatus2 = mpu2.getIntStatus(); + + // set our DMP Ready flag so the main loop() function knows it's okay to use it + //Serial.println(F("DMP ready! Waiting for first interrupt...")); + dmpReady = true; +dmpReady2 = true; + + // get expected DMP packet size for later comparison + packetSize = mpu.dmpGetFIFOPacketSize(); + packetSize2 = mpu2.dmpGetFIFOPacketSize(); + } else { + // ERROR! + // 1 = initial memory load failed + // 2 = DMP configuration updates failed + // (if it's going to break, usually the code will be 1) + //Serial.print(F("DMP Initialization failed (code ")); + //Serial.print(devStatus); + //Serial.println(F(")")); + } + + // configure LED for output + pinMode(LED_PIN, OUTPUT); +} + + + +// ================================================================ +// === MAIN PROGRAM LOOP === +// ================================================================ + +void loop() { + digitalWrite(10,HIGH); + // if programming failed, don't try to do anything + if (!dmpReady) return; + // read a packet from FIFO + if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet + #ifdef OUTPUT_READABLE_QUATERNION + // display quaternion values in easy matrix form: w x y z + mpu.dmpGetQuaternion(&q, fifoBuffer); + Serial.print("quat\t"); + Serial.print(q.w); + Serial.print("\t"); + Serial.print(q.x); + Serial.print("\t"); + Serial.print(q.y); + Serial.print("\t"); + Serial.println(q.z); + String s = "~"+String(q.w)+"!"+String(q.x)+"@"+String(q.y)+"#"+String(q.z); + char mystr[40]; + s.toCharArray(mystr,40); + Serial3.write(mystr,40); + #endif + #ifdef OUTPUT_READABLE_YAWPITCHROLL + // display Euler angles in degrees + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); + Serial.print("ypr\t"); + Serial.print(ypr[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(ypr[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(ypr[2] * 180/M_PI); + #endif + + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); + } + if (mpu2.dmpGetCurrentFIFOPacket(fifoBuffer2)) { // Get the Latest packet + #ifdef OUTPUT_READABLE_QUATERNION + // display quaternion values in easy matrix form: w x y z + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + Serial.print("quat\t"); + Serial.print(q.w); + Serial.print("\t"); + Serial.print(q.x); + Serial.print("\t"); + Serial.print(q.y); + Serial.print("\t"); + Serial.println(q.z); + String s = "`"+String(q.w)+"!"+String(q.x)+"@"+String(q.y)+"#"+String(q.z); + char mystr[40]; + s.toCharArray(mystr,40); + Serial3.write(mystr,40); + #endif + #ifdef OUTPUT_READABLE_YAWPITCHROLL + // display Euler angles in degrees + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + mpu2.dmpGetGravity(&gravity, &q); + mpu2.dmpGetYawPitchRoll(ypr, &q, &gravity); + Serial.print("ypr\t"); + Serial.print(ypr[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(ypr[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(ypr[2] * 180/M_PI); + #endif + + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); + } + delay(100); +} diff --git a/comms/Prev/doesmpustillwork/doesmpustillwork.ino b/comms/Prev/doesmpustillwork/doesmpustillwork.ino new file mode 100644 index 0000000..1adf418 --- /dev/null +++ b/comms/Prev/doesmpustillwork/doesmpustillwork.ino @@ -0,0 +1,351 @@ +// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) +// 6/21/2012 by Jeff Rowberg +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// 2019-07-08 - Added Auto Calibration and offset generator +// - and altered FIFO retrieval sequence to avoid using blocking code +// 2016-04-18 - Eliminated a potential infinite loop +// 2013-05-08 - added seamless Fastwire support +// - added note about gyro calibration +// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error +// 2012-06-20 - improved FIFO overflow handling and simplified read process +// 2012-06-19 - completely rearranged DMP initialization code and simplification +// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly +// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING +// 2012-06-05 - add gravity-compensated initial reference frame acceleration output +// - add 3D math helper file to DMP6 example sketch +// - add Euler output and Yaw/Pitch/Roll output formats +// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee) +// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250 +// 2012-05-30 - basic DMP initialization working + +/* ============================================ +I2Cdev device library code is placed under the MIT license +Copyright (c) 2012 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. +=============================================== +*/ + +// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files +// for both classes must be in the include path of your project +#include "I2Cdev.h" + +#include "MPU6050_6Axis_MotionApps20.h" +//#include "MPU6050.h" // not necessary if using MotionApps include file + +// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation +// is used in I2Cdev.h +#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE + #include "Wire.h" +#endif + +// class default I2C address is 0x68 +// specific I2C addresses may be passed as a parameter here +// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board) +// AD0 high = 0x69 +MPU6050 mpu; +//MPU6050 mpu(0x69); // <-- use for AD0 high + +/* ========================================================================= + NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch + depends on the MPU-6050's INT pin being connected to the Arduino's + external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is + digital I/O pin 2. + * ========================================================================= */ + +/* ========================================================================= + NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error + when using Serial.write(buf, len). The Teapot output uses this method. + The solution requires a modification to the Arduino USBAPI.h file, which + is fortunately simple, but annoying. This will be fixed in the next IDE + release. For more info, see these links: + + http://arduino.cc/forum/index.php/topic,109987.0.html + http://code.google.com/p/arduino/issues/detail?id=958 + * ========================================================================= */ + + + +// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual +// quaternion components in a [w, x, y, z] format (not best for parsing +// on a remote host such as Processing or something though) +#define OUTPUT_READABLE_QUATERNION + +// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles +// (in degrees) calculated from the quaternions coming from the FIFO. +// Note that Euler angles suffer from gimbal lock (for more info, see +// http://en.wikipedia.org/wiki/Gimbal_lock) +//#define OUTPUT_READABLE_EULER + +// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/ +// pitch/roll angles (in degrees) calculated from the quaternions coming +// from the FIFO. Note this also requires gravity vector calculations. +// Also note that yaw/pitch/roll angles suffer from gimbal lock (for +// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock) +//#define OUTPUT_READABLE_YAWPITCHROLL + +// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration +// components with gravity removed. This acceleration reference frame is +// not compensated for orientation, so +X is always +X according to the +// sensor, just without the effects of gravity. If you want acceleration +// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead. +//#define OUTPUT_READABLE_REALACCEL + +// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration +// components with gravity removed and adjusted for the world frame of +// reference (yaw is relative to initial orientation, since no magnetometer +// is present in this case). Could be quite handy in some cases. +//#define OUTPUT_READABLE_WORLDACCEL + +// uncomment "OUTPUT_TEAPOT" if you want output that matches the +// format used for the InvenSense teapot demo +//#define OUTPUT_TEAPOT + + + +#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards +#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) +bool blinkState = false; + +// MPU control/status vars +bool dmpReady = false; // set true if DMP init was successful +uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU +uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) +uint16_t packetSize; // expected DMP packet size (default is 42 bytes) +uint16_t fifoCount; // count of all bytes currently in FIFO +uint8_t fifoBuffer[64]; // FIFO storage buffer + +// orientation/motion vars +Quaternion q; // [w, x, y, z] quaternion container +VectorInt16 aa; // [x, y, z] accel sensor measurements +VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements +VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements +VectorFloat gravity; // [x, y, z] gravity vector +float euler[3]; // [psi, theta, phi] Euler angle container +float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector + +// packet structure for InvenSense teapot demo +uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; + + + +// ================================================================ +// === INTERRUPT DETECTION ROUTINE === +// ================================================================ + +volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high +void dmpDataReady() { + mpuInterrupt = true; +} + + + +// ================================================================ +// === INITIAL SETUP === +// ================================================================ + +void setup() { + // join I2C bus (I2Cdev library doesn't do this automatically) + #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE + Wire.begin(); + Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties + #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE + Fastwire::setup(400, true); + #endif + + // initialize serial communication + // (115200 chosen because it is required for Teapot Demo output, but it's + // really up to you depending on your project) + Serial.begin(115200);Serial3.begin(9600); + while (!Serial); // wait for Leonardo enumeration, others continue immediately + + // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino + // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to + // the baud timing being too misaligned with processor ticks. You must use + // 38400 or slower in these cases, or use some kind of external separate + // crystal solution for the UART timer. + + // initialize device + Serial.println(F("Initializing I2C devices...")); + mpu.initialize(); + pinMode(INTERRUPT_PIN, INPUT); + + // verify connection + Serial.println(F("Testing device connections...")); + Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); + + // wait for ready + Serial.println(F("\nSend any character to begin DMP programming and demo: ")); + //while (Serial.available() && Serial.read()); // empty buffer + //while (!Serial.available()); // wait for data + //while (Serial.available() && Serial.read()); // empty buffer again + pinMode(10,OUTPUT); + // load and configure the DMP + Serial.println(F("Initializing DMP...")); + devStatus = mpu.dmpInitialize(); + + // supply your own gyro offsets here, scaled for min sensitivity + mpu.setXGyroOffset(220); + mpu.setYGyroOffset(76); + mpu.setZGyroOffset(-85); + mpu.setZAccelOffset(1788); // 1688 factory default for my test chip + + // make sure it worked (returns 0 if so) + if (devStatus == 0) { + // Calibration Time: generate offsets and calibrate our MPU6050 + mpu.CalibrateAccel(6); + mpu.CalibrateGyro(6); + mpu.PrintActiveOffsets(); + // turn on the DMP, now that it's ready + Serial.println(F("Enabling DMP...")); + mpu.setDMPEnabled(true); + + // enable Arduino interrupt detection + Serial.print(F("Enabling interrupt detection (Arduino external interrupt ")); + Serial.print(digitalPinToInterrupt(INTERRUPT_PIN)); + Serial.println(F(")...")); + attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING); + mpuIntStatus = mpu.getIntStatus(); + + // set our DMP Ready flag so the main loop() function knows it's okay to use it + Serial.println(F("DMP ready! Waiting for first interrupt...")); + dmpReady = true; + + // get expected DMP packet size for later comparison + packetSize = mpu.dmpGetFIFOPacketSize(); + } else { + // ERROR! + // 1 = initial memory load failed + // 2 = DMP configuration updates failed + // (if it's going to break, usually the code will be 1) + Serial.print(F("DMP Initialization failed (code ")); + Serial.print(devStatus); + Serial.println(F(")")); + } + + // configure LED for output + pinMode(LED_PIN, OUTPUT); +} + + + +// ================================================================ +// === MAIN PROGRAM LOOP === +// ================================================================ + +void loop() { + digitalWrite(10,HIGH); + // if programming failed, don't try to do anything + if (!dmpReady) return; + // read a packet from FIFO + if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet + #ifdef OUTPUT_READABLE_QUATERNION + // display quaternion values in easy matrix form: w x y z + mpu.dmpGetQuaternion(&q, fifoBuffer); + Serial.print("quat\t"); + Serial.print(q.w); + Serial.print("\t"); + Serial.print(q.x); + Serial.print("\t"); + Serial.print(q.y); + Serial.print("\t"); + Serial.println(q.z); + String s = String(q.w)+"!"+String(q.x)+"@"+String(q.w)+"#"+String(q.w); + char mystr[40]; + s.toCharArray(mystr,40); + Serial3.write(mystr,40); + #endif + + #ifdef OUTPUT_READABLE_EULER + // display Euler angles in degrees + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetEuler(euler, &q); + Serial.print("euler\t"); + Serial.print(euler[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(euler[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(euler[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_YAWPITCHROLL + // display Euler angles in degrees + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); + Serial.print("ypr\t"); + Serial.print(ypr[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(ypr[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(ypr[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_REALACCEL + // display real acceleration, adjusted to remove gravity + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetAccel(&aa, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); + Serial.print("areal\t"); + Serial.print(aaReal.x); + Serial.print("\t"); + Serial.print(aaReal.y); + Serial.print("\t"); + Serial.println(aaReal.z); + #endif + + #ifdef OUTPUT_READABLE_WORLDACCEL + // display initial world-frame acceleration, adjusted to remove gravity + // and rotated based on known orientation from quaternion + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetAccel(&aa, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); + mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); + Serial.print("aworld\t"); + Serial.print(aaWorld.x); + Serial.print("\t"); + Serial.print(aaWorld.y); + Serial.print("\t"); + Serial.println(aaWorld.z); + #endif + + #ifdef OUTPUT_TEAPOT + // display quaternion values in InvenSense Teapot demo format: + teapotPacket[2] = fifoBuffer[0]; + teapotPacket[3] = fifoBuffer[1]; + teapotPacket[4] = fifoBuffer[4]; + teapotPacket[5] = fifoBuffer[5]; + teapotPacket[6] = fifoBuffer[8]; + teapotPacket[7] = fifoBuffer[9]; + teapotPacket[8] = fifoBuffer[12]; + teapotPacket[9] = fifoBuffer[13]; + Serial.write(teapotPacket, 14); + teapotPacket[11]++; // packetCount, loops at 0xFF on purpose + #endif + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); + } + delay(100); +} diff --git a/comms/Prev/ofSlave/ofSlave.ino b/comms/Prev/ofSlave/ofSlave.ino new file mode 100644 index 0000000..b0102d2 --- /dev/null +++ b/comms/Prev/ofSlave/ofSlave.ino @@ -0,0 +1,13 @@ +char mystr[40] = "-180.00 -180.00 -180.00 -180.00"; //String data +int x = 0; +void setup() { + // Begin the Serial at 9600 Baud + Serial3.begin(9600); +} + +void loop() { + //char buf[5]; + //String(x).toCharArray(buf,5); + Serial3.write(mystr,40); //Write the serial data + delay(100); +} diff --git a/comms/README.md b/comms/README.md new file mode 100644 index 0000000..3ebb2aa --- /dev/null +++ b/comms/README.md @@ -0,0 +1,70 @@ +# Comms + +Code for **wired** communication from Slave Arduinos to Master Arduino, and then Master Arduino to Raspberry Pi.
+ +###Code Description + +- `RPi/` is working code for the Raspberry Pi + - `RPICOM.py` is the main python file that should be run on the Raspberry Pi. + - `offsets.txt` is the text file for the IMU offsets. This is not present in this repo but will be auto-generated by the `RPICOM.py` file. If the robot is interrupted and needs to be resumed, the IMUs will start at their default position; however, the offsets file allows the IMUs to use the position they last stopped at. Each line starts at 1.00 0.00 0.00 0.00 as these are the base quaternion values. + - `log.txt` is the log file of what the RPi recieved. This is not present in this repo but will be auto-generated by the `RPICOM.py` file. +- `Arduino/` is working code for the master and slave Arduinos. + - `MasterCode/MasterCode.ino` is the code for the Master Arduino + - `SlaveCode/SlaveCode.ino` is the code for the Slave Arduinos, which reads actual IMU data. + - `SlaveFakeCode/SlaveFakeCode.ino` is Slave Arduino code which generates fake IMU data, but in the real format to be sent to the Master Arduino. + - `blank/blank.ino` is blank code for the Arduinos needed to reset during setup. +- `Prev/` is previous code used for testing systems and debugging errors (not final code, and may be unstable)
+ + +###Setup and Run + +**Make sure you install python beforehand** + +1. Open terminal and clone the `engine-software` if not cloned already + +``` +git clone https://github.com/PotentiaRobotics/engine-software.git + +``` + +2. `Cd` into this directory + +``` +cd engine-software/comms/ + +``` + +3. Plug in Master and Slave Arduinos and identify which one is master, and which one(s) are slaves. + +4. Allow permission to flash code + +``` +chmod 777 /dev/ttyACM* +``` + +5. Open Arduino IDE and upload `blank/blank.ino` to all Arduinos. + +**Do not open serial monitor until steps 6-8 are done** + + +6. Upload `SlaveCode/SlaveCode.ino` or `SlaveFakeCode/SlaveFakeCode.ino` to the Slave Arduinos in Arduino IDE + +7. Upload `MasterCode/MasterCode.ino` to the Master Arduino in Arduino IDE + +8. `Cd` into `RPi/` + +``` +cd RPi/ +``` + +9. Install pyserial + +``` +pip3 install pyserial +``` + +10. Run the python code. + +``` +python3 RPICOM.py +``` diff --git a/comms/RPi/RPICOM.py b/comms/RPi/RPICOM.py new file mode 100644 index 0000000..e4f76f4 --- /dev/null +++ b/comms/RPi/RPICOM.py @@ -0,0 +1,195 @@ +#Read quaternion values from IMUs and cat them to a log file. +#On boot, the program can read the offsets.txt file to pick up where it left off. + +#Default IMU recording is 1.00 0.00 0.00 0.00 +#After a while (~15 minutes) the readings settle around 1.00 0.00 0.00 -0.10 + +#This program uses the default values + +import serial +import os +ser = serial.Serial('/dev/ttyACM0',115200) + +mode = 2 +#-1 = do not use offsets at all (just get and print data do nothing with it) +#0 = start new offsets (delete offsets.txt and make/overwrite) +#1 = use offsets but do not overwrite +#2 = use and apply existing offsets, and overwrite + +#default offsets +#1.00 0.00 0.00 0.00 +#1.00 0.00 0.00 0.00 +#1.00 0.00 0.00 0.00 +#1.00 0.00 0.00 0.00 + +#make offsets.txt if it does not exist +if(not os.path.exists("offsets.txt")): + + with open("offsets.txt", "w+") as wfile: + wfile.write("1.00 0.00 0.00 0.00\n") + wfile.write("1.00 0.00 0.00 0.00\n") + wfile.write("1.00 0.00 0.00 0.00\n") + wfile.write("1.00 0.00 0.00 0.00\n") + + +#first param +#first param is 1.00 by default but in code we subtract 1 to make the offsets functionable. +a1 = 0.0 +b1 = 0.0 +c1 = 0.0 +d1 = 0.0 + + +#second param +a2 = 0.0 +b2 = 0.0 +c2 = 0.0 +d2 = 0.0 + + +#third param +a3 = 0.0 +b3 = 0.0 +c3 = 0.0 +d3 = 0.0 + + +#fourth param +a4 = 0.0 +b4 = 0.0 +c4 = 0.0 +d4 = 0.0 + + + + +log = open("log.txt","w") + +#get offsets +if(mode==0): + os.remove("offsets.txt") + with open("offsets.txt","a+") as wfile: + wfile.write("1.00 0.00 0.00 0.00\n") + wfile.write("1.00 0.00 0.00 0.00\n") + wfile.write("1.00 0.00 0.00 0.00\n") + wfile.write("1.00 0.00 0.00 0.00\n") +elif(mode==1 or mode==2): + with open('offsets.txt') as rfile: + data = rfile.readlines() + adata = list(map(float,data[0].split(" "))) + bdata = list(map(float,data[1].split(" "))) + cdata = list(map(float,data[2].split(" "))) + ddata = list(map(float,data[3].split(" "))) + a1 = adata[0]-1 + a2 = adata[1] + a3 = adata[2] + a4 = adata[3] + + b1 = bdata[0]-1 + b2 = bdata[1] + b3 = bdata[2] + b4 = bdata[3] + + c1 = cdata[0]-1 + c2 = cdata[1] + c3 = cdata[2] + c4 = cdata[3] + + d1 = ddata[0]-1 + d2 = ddata[1] + d3 = ddata[2] + d4 = ddata[3] + + + print(data) + print(a1) +while True: + read_serial=ser.readline() + try: + enc = read_serial.decode('ascii') + except UnicodeDecodeError: + pass + #log.write(enc) + + enc = enc.replace("s","") + enc = enc.replace("!"," ") + enc = enc.replace("@"," ") + enc = enc.replace("#"," ") + enc = enc.replace("e","") + + print(enc) + if(mode>=0): + if(enc[0] == "a"): + try: + proper = list(map(float,enc[1:].split(" "))) + + print(proper) + proper[0] += a1 + proper[1] += a2 + proper[2] += a3 + proper[3] += a4 + + done = " ".join(list(map(str,proper))) + if(mode>=1): + print(done) + if(mode==2): + data[0] = done+"\n" + log.write("A "+done+"\n") + + + except: + print("Under 4 numbers") + if(enc[0] == "b"): + try: + proper = list(map(float,enc[1:].split(" "))) + print(proper) + proper[0] += b1 + proper[1] += b2 + proper[2] += b3 + proper[3] += b4 + done = " ".join(list(map(str,proper))) + if(mode>=1): + print(done) + if(mode==2): + data[1] = done+"\n" + log.write("B "+done+"\n") + + except: + print("Under 4 numbers") + if(enc[0] == "c"): + try: + proper = list(map(float,enc[1:].split(" "))) + print(proper) + proper[0] += c1 + proper[1] += c2 + proper[2] += c3 + proper[3] += c4 + done = " ".join(list(map(str,proper))) + if(mode>=1): + print(done) + if(mode==2): + data[2] = done+"\n" + log.write("C "+done+"\n") + + except: + print("Under 4 numbers") + if(enc[0] == "d"): + + try: + proper = list(map(float,enc[1:].split(" "))) + print(proper) + proper[0] += d1 + proper[1] += d2 + proper[2] += d3 + proper[3] += d4 + done = " ".join(list(map(str,proper))) + if(mode>=1): + print(done) + if(mode==2): + data[3] = done+"\n" + log.write("D "+done+"\n") + + except: + print("Under 4 numbers") + with open("offsets.txt", "w") as wfile: + wfile.writelines(data) \ No newline at end of file