Basic Graphing:
from visual.graph import * # import graphing features
from visual import * #Import all the vPython library
graph1 = gdisplay() #Create Graph Display
graph2 = gdisplay(y = 100) #Create 2nd Graph Display
funct1 = gcurve(gdisplay = graph1,color=color.cyan) #Create a function
funct2 = gdots(gdisplay = graph2, color=color.blue)
for x in arange(0., 8.1, 0.1):
funct1.plot(pos=(x,5.*cos(2.*x)*exp(-0.2*x))) # curve
funct2.plot(pos=(x,4.*cos(0.5*x)*exp(-0.1*x))) # dots
Arduino test code:
int cnt=0;
void setup()
{
Serial.begin(9600);
}
void loop() {
Serial.print("I am Counting to: ");
Serial.print(cnt);
Serial.println(" Mississippi.");
cnt=cnt+1;
delay(1000);
}
Python code:
import serial #Import Serial Library
arduinoSerialData = serial.Serial('com5',9600) #Create Serial port object called arduinoSerialData
while (1==1):
if (arduinoSerialData.inWaiting()>0):
myData = arduinoSerialData.readline()
print myData
Arduino Code:
int trigPin=13; //Sensor Trig pin connected to Arduino pin 13
int echoPin=11; //Sensor Echo pin connected to Arduino pin 11
float pingTime; //time for ping to travel from sensor to target and return
float targetDistance; //Distance to Target in inches
float speedOfSound=776.5; //Speed of sound in miles per hour when temp is 77 degrees.
void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
}
void loop() {
// put your main code here, to run repeatedly:
digitalWrite(trigPin, LOW); //Set trigger pin low
delayMicroseconds(2000); //Let signal settle
digitalWrite(trigPin, HIGH); //Set trigPin high
delayMicroseconds(15); //Delay in high state
digitalWrite(trigPin, LOW); //ping has now been sent
delayMicroseconds(10); //Delay in low state
pingTime = pulseIn(echoPin, HIGH); //pingTime is presented in microceconds
pingTime=pingTime/1000000; //convert pingTime to seconds by dividing by 1000000 (microseconds in a second)
pingTime=pingTime/3600; //convert pingtime to hourse by dividing by 3600 (seconds in an hour)
targetDistance= speedOfSound * pingTime; //This will be in miles, since speed of sound was miles per hour
targetDistance=targetDistance/2; //Remember ping travels to target and back from target, so you must divide by 2 for actual target distance.
targetDistance= targetDistance*63360; //Convert miles to inches by multipling by 63360 (inches per mile)
Serial.println(targetDistance);
delay(100); //delay tenth of a second to slow things down a little.
}
Python Code:
import serial #Import Serial Library
from visual import * #Import all the vPython library
arduinoSerialData = serial.Serial('com5', 9600) #Create an object for the Serial port. Adjust 'com11' to whatever port your arduino is sending to.
measuringRod = cylinder( title="My Meter", axis=(7,0,0), radius= .5, length=6, color=color.yellow, pos=(-3,0,0))
myCone = cone( title="Head", radius= .5, height=.5, color=color.red)
lengthLabel = label(pos=(0,1,0), text='Target Distance is: ', box=false, height=30)
target=box(pos=(0,-.5,0), length=.2, width=3, height=3, color=color.green)
while(1==1): #Create a loop that continues to read and display the data
rate(20)#Tell vpython to run this loop 20 times a second
if (arduinoSerialData.inWaiting()>0): #Check to see if a data point is available
myData = arduinoSerialData.readline() #Read the distance measure as a string
print myData #Print the measurement to confirm things are working
distance = float(myData) #convert reading to a floating point number
measuringRod.length=distance+1 #Change the length of your measuring rod
target.pos=(-3+distance,-.5,0)
myLabel= 'Target Distance is: ' + myData #Create label by appending string myData to string
lengthLabel.text = myLabel #display updated myLabel
from visual import *
PI = 3.14159
xaxis = arrow(axis = (1,0,0),color=color.red)
xaxislabel = label(pos = (1,0,0),text = "x")
yaxis = arrow (axis = (0,1,0),color=color.green)
yaxislabel = label(pos = (0,1,0),text = "y")
zaxis = arrow(axis = (0,0,1),color=color.blue)
zaxislabel = label(pos = (0,0,1),text = "z")
rocket = arrow(axis = (1,0,0),color = color.yellow)
rocket.label = label()
rocket.length = 2
rocket.pitch = PI/6 #rotate around y axis
rocket.yaw = 0 #rotate around z axis
rocket.roll = 0 #rotate around x axis
rocket.vector = rocket.axis
rocket.vector = rotate(rocket.vector,rocket.pitch,vector(0,1,0)) #pitch about y axis
rocket.vector = rotate(rocket.vector,rocket.yaw,vector(0,0,1)) #yaw about z axis
rocket.vector = rotate(rocket.vector,rocket.roll,vector(1,0,0)) #roll about xaxis
rocket.axis = rocket.length * rocket.vector
for rocket.yaw in arange(0,2*PI,0.05):
rate(5)
rocket.vector = vector(1,0,0) #assume some absolute orientation of the rocket
rocket.vector = rotate(rocket.vector,rocket.pitch,vector(0,1,0)) #pitch about y axis
rocket.vector = rotate(rocket.vector,rocket.yaw,vector(0,0,1)) #yaw about z axis
rocket.vector = rotate(rocket.vector,rocket.roll,vector(1,0,0)) #roll about xaxis
rocket.axis = rocket.length * rocket.vector #assign the rocket vector to the rocket axis
rocket.label.pos = rocket.pos + rocket.axis
rocket.label.text = (str(rocket.pitch)+","+str(rocket.yaw) +","+ str(rocket.roll))#move and update the label
Gather YPR data from our MPU 6050 and use those values to create a 3D visualization of the rocket moving in 3D space. Good source to start: http://www.jebobrow.com/webpages/applications/IMU_python_interface.html
My 3D model of the rocket in Python:
import serial #Import Serial Library
from visual import * #Import all the vPython Library
rocketHeight = 43
rocketRadius = 2
noseHeight = 9.75
#Set up display window
scene1 = display(title = "Matthew Ibarra's Rocket Model",
x=0, y=0, width=800, height=600, range=50,
background=color.black, center=(0,.5*rocketHeight,0))
#Create our objects
rocketBody = cylinder(radius=rocketRadius, axis=(0,1,0), length=rocketHeight,
color=color.red)
rocketNose = cone(pos=(0,rocketHeight,0), axis=(0,1,0), radius=rocketRadius,
length=noseHeight+1, color=color.blue)
rocketNose2 = ellipsoid(pos=(0,rocketHeight,0), length=2*rocketRadius,
height=2*noseHeight, width=2*rocketRadius, color=color.green)
floor = box(pos=(0,-.25,0), size=(100,.5,100))
rocketFin1 = box(pos=(0,1.4375,0), axis=(0,1,0), size=(2.875,.25,8.5),
color=color.orange)
rocketFin2 = box(pos=(0,1.4375,0), axis=(0,1,0), size=(2.875,8.5,.25),
color=color.orange)
import serial #Import Serial Library
from visual import *
from visual.graph import * # import graphing features
#graph1 = gdisplay() Create Graph Display
#graph2 = gdisplay() #Create Graph Display
#graph3 = gdisplay() #create Graph Display
#funct1 = gcurve(gdisplay = graph1,color=color.cyan) #Create a function
#funct2 = gdots(gdisplay = graph2,color=color.red) #Create a function
#funct3 = gcurve(gdisplay = graph3,color=color.green) #Create a function
#x = 1
arduinoSerialData = serial.Serial('com8',57600) #Create Serial port object called arduinoSerialData
PI = 3.14159
#Creates 3D coordinate system with arrows
xaxis = arrow(axis = (1,0,0),color=color.red)
xaxislabel = label(pos = (1,0,0),text = "x")
yaxis = arrow (axis = (0,1,0),color=color.green)
yaxislabel = label(pos = (0,1,0),text = "y")
zaxis = arrow(axis = (0,0,1),color=color.blue)
zaxislabel = label(pos = (0,0,1),text = "z")
#Creates rocket object
f = frame()
nose = cone(frame=f,radius=.1,height=1, axis = (0,1,0), color = color.red)
rocket = cylinder(frame=f,radius=.1,length=2,axis = (0,1,0))
lowerBody = cylinder(frame=f,radius=.1,length=2,axis = (0,-1,0),color = color.yellow)
rocketFin1 = box(frame=f,pos=(0,1.4375,0), axis=(0,1,0), size=(2.875,.25,8.5),
color=color.orange)
rocket.label = label()
rocket.altitudeDisplay = label()
#rocket.length = 2
#Initiates YPR for the rocket object
rocket.pitch = 0 #rotate around y axis
rocket.yaw = 0 #rotate around z axis
rocket.roll = 0 #rotate around x axis
#Rotates rocket axis according to YPR data
rocket.vector = rocket.axis
rocket.vector = rotate(rocket.vector,rocket.pitch,vector(0,1,0)) #pitch about y axis
rocket.vector = rotate(rocket.vector,rocket.yaw,vector(0,0,1)) #yaw about z axis
rocket.vector = rotate(rocket.vector,rocket.roll,vector(1,0,0)) #roll about x axis
rocket.axis = rocket.length * rocket.vector
while (1==1):
rate(340)
if (arduinoSerialData.inWaiting()>0):
myData = arduinoSerialData.readline()
#print myData
myData = myData.strip()
myList = myData.split(",")
#print myList
yaw = myList[0]
pitch = myList[1]
roll = myList[2]
altitude = myList[3]
print yaw, pitch, roll, altitude
#Convert YPR values to radians
rocket.yaw = float(yaw)*.0174532925
rocket.pitch = float(pitch)*.0174532925
rocket.roll = float(roll)*.0174532925
rocket.altitude = float(altitude)
rocket.vector = vector(1,0,0) #assume some absolute orientation of the rocket
rocket.vector = rotate(rocket.vector,rocket.pitch,vector(0,1,0)) #pitch about y axis
rocket.vector = rotate(rocket.vector,rocket.yaw,vector(0,0,1)) #yaw about z axis
rocket.vector = rotate(rocket.vector,rocket.roll,vector(1,0,0)) #roll about xaxis
rocket.axis = rocket.length * rocket.vector #assign the rocket vector to the rocket axis
#rocket.label.pos = rocket.pos + rocket.axis
#rocket.label.text = (str(rocket.pitch)+","+str(rocket.yaw) +","+ str(rocket.roll))#move and update the label
rocket.altitudeDisplay.text = ("Current Altitude:"+str(rocket.altitude))
rocket.altitudeDisplay.pos = (0,-3,0)
#include <Wire.h>
long accelX, accelY, accelZ;
float gForceX, gForceY, gForceZ;
long gyroX, gyroY, gyroZ;
float rotX, rotY, rotZ;
void setup() {
Serial.begin(9600);
Wire.begin();
setupMPU();
}
void setupMPU(){
Wire.beginTransmission(0b1101000); //This is the I2C address of the MPU
//(b1101000/b1101001 for AC0 low/high datasheet sec. 9.2)
Wire.write(0x6B); //Accessing the register 6B - Power Management (Sec. 4.28)
Wire.write(0b00000000); //Setting SLEEP register to 0. (Required; see Note on p. 9)
Wire.endTransmission();
Wire.beginTransmission(0b1101000); //I2C address of the MPU
Wire.write(0x1B); //Accessing the register 1B - Gyroscope Configuration (Sec. 4.4)
Wire.write(0x00000000); //Setting the gyro to full scale +/- 250deg./s
Wire.endTransmission();
Wire.beginTransmission(0b1101000); //I2C address of the MPU
Wire.write(0x1C); //Accessing the register 1C - Acccelerometer Configuration (Sec. 4.5)
Wire.write(0b00000000); //Setting the accel to +/- 2g
Wire.endTransmission();
}
void loop() {
recordAccelRegisters();
recordGyroRegisters();
printData();
delay(100);
}
void recordAccelRegisters() { Wire.beginTransmission(0b1101000); //I2C address of the MPU
Wire.write(0x3B); //Starting register for Accel Readings
Wire.endTransmission();
Wire.requestFrom(0b1101000,6); //Request Accel Registers (3B - 40)
while(Wire.available() < 6);
accelX = Wire.read()<<8|Wire.read(); //Store first two bytes into accelX
accelY = Wire.read()<<8|Wire.read(); //Store middle two bytes into accelY
accelZ = Wire.read()<<8|Wire.read(); //Store last two bytes into accelZ
processAccelData();
}
void processAccelData()
{
gForceX = accelX / 16384.0;
gForceY = accelY / 16384.0;
gForceZ = accelZ / 16384.0;
}
void recordGyroRegisters()
{
Wire.beginTransmission(0b1101000); //I2C address of the MPU
Wire.write(0x43); //Starting register for Gyro Readings
Wire.endTransmission();
Wire.requestFrom(0b1101000,6); //Request Gyro Registers (43 - 48)
while(Wire.available() < 6);
gyroX = Wire.read()<<8|Wire.read(); //Store first two bytes into gyroX
gyroY = Wire.read()<<8|Wire.read(); //Store middle two bytes into gyroY
gyroZ = Wire.read()<<8|Wire.read(); //Store last two bytes into accelZ
processGyroData();
}
void processGyroData()
{
rotX = gyroX / 131.0;
rotY = gyroY / 131.0;
rotZ = gyroZ / 131.0;
}
void printData()
{
//Serial.print("Gyro (deg)");
//Serial.print(" X=");
Serial.print(rotX);
Serial.print(",");
//Serial.print(" Y=");
Serial.print(rotY);
Serial.print(",");
//Serial.print(" Z=");
Serial.print(rotZ);
Serial.print(",");
//Serial.print(" Accel (g)");
//Serial.print(" X=");
Serial.print(gForceX);
Serial.print(",");
//Serial.print(" Y=");
Serial.print(gForceY);
Serial.print(",");
//Serial.print(" Z=");
Serial.println(gForceZ);
}
Yaw Pitch and Roll Conversion Code (Arduino):
// 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:
// 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 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();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#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);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
// 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();
// 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
// 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) {
// turn on the DMP, now that it's ready
//Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
//Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(0, 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() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
// other program behavior stuff here
// .
// .
// .
// if you are really paranoid you can frequently test in between other
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
// while() loop to immediately process the MPU data
// .
// .
// .
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
#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);
#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);
}
}
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