new version

Signed-off-by: Olivier Gayot <og@satcom1.com>

1 files changed, 70 insertions, 12 deletions

diff --git a/sketch_apr09a/sketch_apr09a.ino b/sketch_apr09a/sketch_apr09a.ino
index 284a2a1..249ee1c 100644
--- a/sketch_apr09a/sketch_apr09a.ino
+++ b/sketch_apr09a/sketch_apr09a.ino
@@ -1,6 +1,35 @@
+#include <NAxisMotion.h>
+#include <Wire.h>
 #include "Belt.h"
 #include "logs.h"
 
+// Belt sensors
+int PhotoSenspin1 = 0; // premier photo sensor
+int PhotoSensReading1; //premier photo sensor
+int PhotoSenspin2 = 1; // deuxieme photo sensor
+int PhotoSensReading2; //deuxieme photo sensor
+
+//Object that for the sensor
+NAxisMotion mySensor;
+
+//Flag to indicate if an interrupt was detected
+bool intDetected = false;
+
+//At a Range of 4g, the threshold
+//is set at 39.05mg or 0.3830m/s2.
+//This Range is the default for NDOF Mode
+int threshold = 5;
+
+//At a filter Bandwidth of 62.5Hz,
+//the duration is 8ms.
+//This Bandwidth is the default for NDOF Mode
+int duration = 1;
+bool anyMotion = true;
+
+//To store the last streamed time stamp
+unsigned long lastStreamTime = 0;
+const int streamPeriod = 500;
+
 Belt::Belt()
 {
     _pin_pressure_bottom = 0;
@@ -38,11 +67,6 @@ void Belt::read_angle_z()
 
 static Belt belt;
 
-void setup()
-{
-    Serial.begin(9600);
-}
-
 static void send_pressure_bottom(int pressure)
 {
     serial_printf("PRESSURE_BOTTOM:%d\n", pressure);
@@ -68,9 +92,27 @@ static void send_angle_z(int angle)
     serial_printf("ANGLE_Z:%d\n", angle);
 }
 
+void setup()
+{
+    Serial.begin(115200); //Initialize the Serial Port to view information on the Serial Monitor
+    I2C.begin(); //Initialize I2C communication to the let the library communicate with the sensor.
+    mySensor.initSensor(); //The I2C Address can be changed here inside this function in the library
+    mySensor.setOperationMode(OPERATION_MODE_NDOF); //Can be configured to other operation modes as desired
+    mySensor.setUpdateMode(MANUAL); //The default is AUTO. Changing to MANUAL requires calling the relevant update functions prior to calling the read functions
+    //Setting to MANUAL requires fewer reads to the sensor
+}
+
 void loop()
 {
-    delay(500);
+    if ((millis() - lastStreamTime) < streamPeriod) {
+        return;
+    }
+
+    lastStreamTime = millis();
+    mySensor.updateEuler(); //Update the Euler data into the structure of the object
+    mySensor.updateCalibStatus(); //Update the Calibration Status
+    PhotoSensReading1 = analogRead(PhotoSenspin1);
+    PhotoSensReading2 = analogRead(PhotoSenspin2);
 
     /* fetch the values from the sensors */
     belt.read_pressure_bottom();
@@ -80,10 +122,26 @@ void loop()
     belt.read_angle_y();
     belt.read_angle_z();
 
-    serial_printf("PRESSURE_BOTTOM: bottom:%d\n", belt.get_pressure_bottom());
-    serial_printf("PRESSURE_TOP:%d\n", belt.get_pressure_top());
-    serial_printf("FLEXION:%d\n", belt.get_flexion());
-    serial_printf("ANGLE_X:%d\n", belt.get_angle_x());
-    serial_printf("ANGLE_Y:%d\n", belt.get_angle_y());
-    serial_printf("ANGLE_Z:%d\n", belt.get_angle_z());
+    int heading = mySensor.readEulerHeading();
+    int pitch = mySensor.readEulerPitch();
+    int roll = mySensor.readEulerRoll();
+
+    serial_printf("pitch:        [%d]\n", pitch);
+    //pitch = map(pitch, 1, 1023, 90, 270);
+    serial_printf("pitch_mapped: [%d]\n", pitch);
+    serial_puts("-------");
+    serial_printf("roll:         [%d]\n", roll);
+    //roll = map(roll, 1, 1023, 90, 270);
+    serial_printf("roll_mapped:  [%d]\n", roll);
+    serial_puts("-------");
+    serial_printf("heading:         [%d]\n", heading);
+    //heading = map(heading, 1, 1023, 90, 270);
+    serial_printf("heading_mapped:  [%d]\n", heading);
+
+    serial_printf("ANGLE_X:%d\n", pitch);
+    serial_printf("ANGLE_Y:%d\n", roll);
+    serial_printf("ANGLE_Z:%d\n", heading);
+
+    serial_printf("PRESSURE_TOP:%d\n", PhotoSenspin1);
+    serial_printf("PRESSURE_BOTTOM:%d\n", PhotoSenspin1);
 }