= 3D_IMU PROJECT
Aristeidis Mileti 141285
// Metadata:
:description: Intro and Install
:keywords: doc, Quick
:data-uri:
:toc: right
:toc-title: Πίνακας περιεχομένων
:toclevels: 4
:source-highlighter: highlight
:icons: font
:sectnums: 



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[[cheat-Ascii]]
== Χρήση του Arduino

https://git.swarmlab.io:3000/arismileti/3d_IMU.git

image::arduino.webp[]


Χρειαζόμαστε τις εξής βιβλιοθήκες πρώτα
https://maker.pro/files/MPU6050.zip
https://maker.pro/files/I2Cdev.zip


[[cheat-useadoc]]



== Κώδικας του Arduino

.copy-paste source
[source,asciidoc]
----
// 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.h"
#include "ArduinoJson.h"

// 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 InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 accelgyro;
//MPU6050 accelgyro(0x69); // <-- use for AD0 high

int16_t ax, ay, az;
int16_t gx, gy, gz;



// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated
// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,
// not so easy to parse, and slow(er) over UART.
#define OUTPUT_READABLE_ACCELGYRO

// uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit
// binary, one right after the other. This is very fast (as fast as possible
// without compression or data loss), and easy to parse, but impossible to read
// for a human.
//#define OUTPUT_BINARY_ACCELGYRO


#define LED_PIN 13
bool blinkState = false;

void setup() {
    // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    // initialize serial communication
    // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
    // it's really up to you depending on your project)
    Serial.begin(38400);

    // initialize device
    //Serial.println("Initializing I2C devices...");
    accelgyro.initialize();

    // verify connection
    //Serial.println("Testing device connections...");
    //Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
    //create JSON Document

    // use the code below to change accel/gyro offset values
    /*
    Serial.println("Updating internal sensor offsets...");
    // -76	-2359	1688	0	0	0
    Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
    Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
    Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
    Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
    Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
    Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
    Serial.print("\n");
    accelgyro.setXGyroOffset(220);
    accelgyro.setYGyroOffset(76);
    accelgyro.setZGyroOffset(-85);
    Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
    Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
    Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
    Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
    Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
    Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
    Serial.print("\n");
    */

    // configure Arduino LED for
    pinMode(LED_PIN, OUTPUT);
}

void loop() {
    // read raw accel/gyro measurements from device
    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

    // these methods (and a few others) are also available
    //accelgyro.getAcceleration(&ax, &ay, &az);
    //accelgyro.getRotation(&gx, &gy, &gz);

    #ifdef OUTPUT_READABLE_ACCELGYRO
        // display tab-separated accel/gyro x/y/z values
        // Create a JsonObject
const size_t capacity = JSON_OBJECT_SIZE(4);
DynamicJsonBuffer jsonBuffer(capacity);
//MORFI JSON
JsonObject& sens = jsonBuffer.createObject();
sens["sensor"] = "accelerometer";
sens["X"] = ax;
sens["Y"] = ay;
sens["Z"] = az;
//PRINT ACCELEROMETER OBJECT
delay(100); 
sens.printTo(Serial);
Serial.print(",");
sens["sensor"] = "gyroscope";
sens["X"] = gx;
sens["Y"] = gy;
sens["Z"] = gz;
delay(100);
sens.printTo(Serial);
Serial.print(",");
Serial.print("\n");



    #endif

    #ifdef OUTPUT_BINARY_ACCELGYRO
        Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));
        Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
        Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
        Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));
        Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));
        Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));
    #endif

    // blink LED to indicate activity
    blinkState = !blinkState;
    digitalWrite(LED_PIN, blinkState);
}

----


== Σύνδεση με raspberry

NOTE: Συνδέουμε με usb το arduino με το raspberry και τρέχουμε το python

.python code
[source,python]
----
import serial

from time import sleep

ser = serial.Serial('/dev/ttyACM0', 38400)
sleep(1)

file = open("dataset", "a")
file.write("[")

for i in range(1000):
 s = ser.readline()
 print(s)
 file.write(str(s))

file.write("]")
file.close()
----

Embedded Youtube video

video::e79QMBqKm3M[youtube]

 Διαβάζει τα δεδομένα που δίνει το arduino και τα γράφει σε αρχείο
προς μοντελοποίηση

== Μοντελοποίση με το sketch-test3D.js

Στο git Υπάρχει ο κώδικας που μοντελοποιεί τα δεδομένα του dataset

image::browser.png[]

Ωστόσο παρουσιάζει πρόβλημα στα μαθηματικά και βγάζει ΝαΝ