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#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;
_pin_pressure_top = 1;
_pin_flexion = 2;
_pin_gyro_x = 3;
_pin_gyro_y = 4;
_pin_gyro_z = 5;
}
void Belt::read_pressure_top()
{
_pressure_top = analogRead(_pin_pressure_top);
}
void Belt::read_pressure_bottom()
{
_pressure_bottom = analogRead(_pin_pressure_bottom);
}
void Belt::read_flexion()
{
_flexion = analogRead(_pin_flexion);
}
void Belt::read_angle_x()
{
_angle_x = analogRead(_pin_gyro_x);
}
void Belt::read_angle_y()
{
_angle_y = analogRead(_pin_gyro_y);
}
void Belt::read_angle_z()
{
_angle_z = analogRead(_pin_gyro_z);
}
static Belt belt;
static void send_pressure_bottom(int pressure)
{
serial_printf("PRESSURE_BOTTOM:%d\n", pressure);
}
static void send_pressure_top(int pressure)
{
serial_printf("PRESSURE_TOP:%d\n", pressure);
}
static void send_flexion(int flexion)
{
serial_printf("FLEXION:%d\n", flexion);
}
static void send_angle_x(int angle)
{
serial_printf("ANGLE_X:%d\n", angle);
}
static void send_angle_y(int angle)
{
serial_printf("ANGLE_Y:%d\n", angle);
}
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()
{
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();
belt.read_pressure_top();
belt.read_flexion();
belt.read_angle_x();
belt.read_angle_y();
belt.read_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);
}
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