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Comms v1 is done!

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FluffyCube9343 2022-08-07 14:39:16 -04:00
parent 0ac8bc01bb
commit e9e2bc6426
23 changed files with 1598 additions and 0 deletions
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6
.gitignore vendored
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@ -127,3 +127,9 @@ dmypy.json
# Pyre type checker # Pyre type checker
.pyre/ .pyre/
.DS_Store
log.txt
offsets.txt

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comms/Arduino/MasterCode/MasterCode.ino Normal file
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/* 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);
}
}
}

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comms/Arduino/SlaveCode/SlaveCode.ino Normal file
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/* 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 <jeff@rowberg.net>
// 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
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);
}

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comms/Arduino/SlaveFakeCode/SlaveFakeCode.ino Normal file
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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);
}

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comms/Arduino/Test Files/TEST_ofMaster_no_proper/TEST_ofMaster_no_proper.ino Normal file
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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){
//}
}
}

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comms/Arduino/Test Files/ofMaster/ofMaster.ino Normal file
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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");
}

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void setup() {
// put your setup code here, to run once:
}
void loop() {
// put your main code here, to run repeatedly:
}

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communication/August1_I2C_SlaveDuino.ino → comms/Prev/communication/August1_I2C_SlaveDuino.ino
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// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
// 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);
}

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// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
// 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);
}

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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);
}

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# Comms
Code for **wired** communication from Slave Arduinos to Master Arduino, and then Master Arduino to Raspberry Pi.<br/>
###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)<br/>
###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
```

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#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)