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encapsulation and optimization

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This commit is contained in:
Sam Hos
2024-05-17 15:53:30 +02:00
parent df9b045936
commit f3307eb82b
3 changed files with 65 additions and 51 deletions
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54
code/arduino/Movement-sensor-code/Movement-sensor-code.ino
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@@ -1,6 +1,6 @@
#include "headerFile.h"
SensorManager::Rotation offset;
// SensorManager::Rotation offset;
void setup() {
Serial.begin(9600);
@@ -10,51 +10,49 @@ void setup() {
sensorManager.sensorSetup();
//ws server address, port and URL
webSocket.begin("145.3.245.22", 8001, "");
webSocket.begin("145.28.160.108", 8001, "");
// try every 500 again if connection has failed
webSocket.setReconnectInterval(500);
}
void loop() {
SensorManager::Rotation rotation = sensorManager.readLoop();
SensorManager::eulerAngles eulerRotation = sensorManager.getEulerAngles();
// Subtract offset
rotation.i -= offset.i;
rotation.j -= offset.j;
rotation.k -= offset.k;
rotation.w -= offset.w;
// rotation.i -= offset.i;
// rotation.j -= offset.j;
// rotation.k -= offset.k;
// rotation.w -= offset.w;
// Convert quaternion to Euler angles in radians
float roll = atan2(2.0f * (rotation.w * rotation.i + rotation.j * rotation.k), 1.0f - 2.0f * (rotation.i * rotation.i + rotation.j * rotation.j));
float pitch = asin(2.0f * (rotation.w * rotation.j - rotation.k * rotation.i));
float yaw = atan2(2.0f * (rotation.w * rotation.k + rotation.i * rotation.j), 1.0f - 2.0f * (rotation.j * rotation.j + rotation.k * rotation.k));
// Convert to degrees
float rollDegrees = roll * 180.0f / PI;
float pitchDegrees = pitch * 180.0f / PI;
float yawDegrees = yaw * 180.0f / PI;
// float rollDegrees = roll * 180.0f / PI;
// float pitchDegrees = pitch * 180.0f / PI;
// float yawDegrees = yaw * 180.0f / PI;
Serial.print(roll);
Serial.print(eulerRotation.roll);
Serial.print(" ");
Serial.print(pitch);
Serial.print(eulerRotation.pitch);
Serial.print(" ");
Serial.print(yaw);
sendData(roll, pitch, yaw);
Serial.print(eulerRotation.yaw);
sendData(eulerRotation.roll, eulerRotation.pitch, eulerRotation.yaw);
Serial.println();
webSocket.loop();
if (Serial.available()) {
String command = Serial.readStringUntil('\n');
command.trim(); // remove any trailing whitespace
if (command == "setZeroPoint") {
setZeroPoint();
}
}
}
void setZeroPoint() {
offset = sensorManager.readLoop();
}
// if (Serial.available()) {
// String command = Serial.readStringUntil('\n');
// command.trim(); // remove any trailing whitespace
// if (command == "setZeroPoint") {
// setZeroPoint();
// }
// }
// }
// void setZeroPoint() {
// offset = sensorManager.readLoop();
// }
void sendData(float roll, float pitch, float yaw){
String message = "{\"Sensor\": 1, \"roll\":\"" + String(roll) + "\",\"pitch\":\"" + String(pitch) + "\",\"yaw\":\"" + String(yaw) + "\"}";

30
code/arduino/Movement-sensor-code/SensorManager.cpp
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@@ -15,12 +15,12 @@ void SensorManager::sensorSetup() {
//start sensorfunction and start autocalibration
//once calibration is enabled it attempts to every 5 min
Wire.setClock(400000); //Increase I2C data rate to 400kHz
myIMU.calibrateAll(); //Turn on cal for Accel, Gyro, and Mag
myIMU.enableGyroIntegratedRotationVector(100); //send data every 100ms
myIMU.enableMagnetometer(100); //Send data update every 100ms
myIMU.saveCalibration(); //Saves the current dynamic calibration data (DCD) to memory
myIMU.requestCalibrationStatus(); //Sends command to get the latest calibration status
Wire.setClock(400000); //Increase I2C data rate to 400kHz
myIMU.calibrateAll(); //Turn on cal for Accel, Gyro, and Mag
myIMU.enableGyroIntegratedRotationVector(100); //send data every 100ms
myIMU.enableMagnetometer(100); //Send data update every 100ms
myIMU.saveCalibration(); //Saves the current dynamic calibration data (DCD) to memory
myIMU.requestCalibrationStatus(); //Sends command to get the latest calibration status
if (myIMU.calibrationComplete() == true) {
Serial.println("Calibration data successfully stored");
@@ -29,23 +29,31 @@ void SensorManager::sensorSetup() {
Serial.println(F("magnetometer rotation enabled"));
}
SensorManager::Rotation SensorManager::readLoop() {
SensorManager::RotationQuintillions SensorManager::getQuintillions() {
if (myIMU.dataAvailable() == true) {
float i = myIMU.getQuatI();
float j = myIMU.getQuatJ();
float k = myIMU.getQuatK();
float w = myIMU.getQuatReal();
Rotation rotation = { i, j, k, w };
RotationQuintillions rotation = { i, j, k, w };
return rotation;
}
else {
} else {
float i = myIMU.getQuatI();
float j = myIMU.getQuatJ();
float k = myIMU.getQuatK();
float w = myIMU.getQuatReal();
Rotation rotation = { i, j, k, w };
RotationQuintillions rotation = { i, j, k, w };
return rotation;
}
}
SensorManager::eulerAngles SensorManager::getEulerAngles() {
SensorManager::RotationQuintillions rotation = getQuintillions();
float roll = atan2(2.0f * (rotation.w * rotation.i + rotation.j * rotation.k), 1.0f - 2.0f * (rotation.i * rotation.i + rotation.j * rotation.j));
float pitch = asin(2.0f * (rotation.w * rotation.j - rotation.k * rotation.i));
float yaw = atan2(2.0f * (rotation.w * rotation.k + rotation.i * rotation.j), 1.0f - 2.0f * (rotation.j * rotation.j + rotation.k * rotation.k));
eulerAngles EulerAngles = { roll, pitch, yaw };
return EulerAngles;
}

32
code/arduino/Movement-sensor-code/SensorManager.h
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@@ -5,18 +5,26 @@
#include "SparkFun_BNO080_Arduino_Library.h"
class SensorManager {
public:
SensorManager();
void sensorSetup();
struct Rotation {
float i;
float j;
float k;
float w;
};
Rotation readLoop();
private:
BNO080 myIMU;
public:
SensorManager();
void sensorSetup();
struct eulerAngles {
float yaw;
float pitch;
float roll;
};
eulerAngles getEulerAngles();
private:
struct RotationQuintillions {
float i;
float j;
float k;
float w;
};
RotationQuintillions getQuintillions();
BNO080 myIMU;
};
#endif