From 58cde1702cdb922e6209a0aef300b8da6b0498f3 Mon Sep 17 00:00:00 2001 From: gepebdevelopers <46838513+gepebdevelopers@users.noreply.github.com> Date: Tue, 3 Dec 2019 23:10:40 +0200 Subject: [PATCH] Add code --- IMU_tracking/IMU_tracking.ino | 98 +++ raspberry_pi/bluetooth_read.py | 19 + results/test.txt | 1304 ++++++++++++++++++++++++++++++++ 3 files changed, 1421 insertions(+) create mode 100644 IMU_tracking/IMU_tracking.ino create mode 100644 raspberry_pi/bluetooth_read.py create mode 100644 results/test.txt diff --git a/IMU_tracking/IMU_tracking.ino b/IMU_tracking/IMU_tracking.ino new file mode 100644 index 0000000..98eccb8 --- /dev/null +++ b/IMU_tracking/IMU_tracking.ino @@ -0,0 +1,98 @@ +#include +#include +#ifdef _ESP32_HAL_I2C_H_ +#define SDA_PIN 4 +#define SCL_PIN 5 +#endif + +MPU9250_asukiaaa mySensor; +float aX, aY, aZ, aSqrt, gX, gY, gZ, mDirection, mX, mY, mZ; +String magnometer; +String accelarator; +String gyroscope; +String sensorID; + +void setup() { + Serial.begin(115200); + while(!Serial); + Serial.println("started"); + + +#ifdef _ESP32_HAL_I2C_H_ // For ESP32 + Wire.begin(SDA_PIN, SCL_PIN); + mySensor.setWire(&Wire); +#endif + + mySensor.beginAccel(); + mySensor.beginGyro(); + mySensor.beginMag(); + + // You can set your own offset for mag values + // mySensor.magXOffset = -50; + // mySensor.magYOffset = -55; + // mySensor.magZOffset = -10; +} + +void loop() { + StaticJsonDocument<200> ID; + StaticJsonDocument<200> accelarator; + StaticJsonDocument<200> gyroscope; + StaticJsonDocument<200> magnometer; + uint8_t sensorId; + if (mySensor.readId(&sensorId) == 0) { + ID["Sensor"] = "=== 10 DOF IMU Sensor V2 ==="; + ID["ID"] = sensorId; + //serializeJson(ID, Serial); + // Serial.println("sensorId: " + String(sensorId)); + } else { + Serial.write("Cannot read sensorId"); + } + + if (mySensor.accelUpdate() == 0) { + aX = mySensor.accelX(); + aY = mySensor.accelY(); + aZ = mySensor.accelZ(); + aSqrt = mySensor.accelSqrt(); + accelarator["sensor"] = "accelarator"; + accelarator["X"] = aX; + accelarator["Y"] = aY; + accelarator["Z"] = aZ; + serializeJsonPretty(accelarator, Serial); + } else { + Serial.write("Cannod read accel values"); + } + + if (mySensor.gyroUpdate() == 0) { + gX = mySensor.gyroX(); + gY = mySensor.gyroY(); + gZ = mySensor.gyroZ(); + gyroscope["sensor"] = "gyroscope"; + gyroscope["X"] = gX; + gyroscope["Y"] = gY; + gyroscope["Z"] = gZ; + serializeJsonPretty(gyroscope, Serial); + + } else { + //Serial.println("Cannot read gyro values"); + Serial.write("Cannot read gyro values"); + } + + if (mySensor.magUpdate() == 0) { + mX = mySensor.magX(); + mY = mySensor.magY(); + mZ = mySensor.magZ(); + mDirection = mySensor.magHorizDirection(); + magnometer["sensor"] = "magnometer"; + magnometer["X"] = gX; + magnometer["Y"] = gY; + magnometer["Z"] = gZ; + magnometer["Direction"] = mDirection; + serializeJsonPretty(magnometer, Serial); + + } else { + Serial.write("Cannot read mag values"); + + } + //Serial.write("Hello World!"); + delay(100); +} diff --git a/raspberry_pi/bluetooth_read.py b/raspberry_pi/bluetooth_read.py new file mode 100644 index 0000000..bc77872 --- /dev/null +++ b/raspberry_pi/bluetooth_read.py @@ -0,0 +1,19 @@ +import time +import serial +import json +ser = serial.Serial( + port='/dev/rfcomm1', + baudrate = 9600, + parity=serial.PARITY_NONE, + stopbits=serial.STOPBITS_ONE, + bytesize=serial.EIGHTBITS, + timeout=1 + ) +while 1: + if(ser.isOpen): + line = ser.readline() + print(line) + b = open("/home/pi/Desktop/test.txt", "a") + b.write(str(line, 'utf-8')) + b.close() + \ No newline at end of file diff --git a/results/test.txt b/results/test.txt new file mode 100644 index 0000000..28aa243 --- /dev/null +++ b/results/test.txt @@ -0,0 +1,1304 @@ +e", + "X": -1.464844, + "Y": 0, + "Z": 0.427246 +}{ + "sensor": "magnometer", + "X": -1.464844, + "Y": 0, + "Z": 0.427246, + "Direction": 180.0002 +}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{ + "sensor": "accelarator", + "X": 0.106934, + "Y": 0.044922, + "Z": 1.01123 +}{ + "sensor": "gyroscope", + "X": -1.464844, + "Y": 0, + "Z": 0.366211 +}{ + "sensor": "magnometer", + "X": -1.464844, + "Y": 0, + "Z": 0.366211, + "Direction": -178.1586 +}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{ + "sensor": "accelarator", + "X": 0.106934, + "Y": 0.04834, + "Z": 1.015137 +}{ + "sensor": "gyroscope", + "X": -1.037598, + "Y": 0.244141, + "Z": 0.366211 +}{ + "sensor": "magnometer", + "X": -1.037598, + "Y": 0.244141, + "Z": 0.366211, + "Direction": 178.0972 +}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{ + "sensor": "accelarator", + "X": 0.105957, + "Y": 0.04541, + "Z": 1.007813 +}{ + "sensor": "gyroscope", + "X": -1.281738, + "Y": -0.12207, + "Z": 0.366211 +}{ + "sensor": "magnometer", + "X": -1.281738, + "Y": -0.12207, + "Z": 0.366211, + "Direction": 180.0002 +}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{ + "sensor": "accelarator", + "X": 0.106934, + "Y": 0.048828, + "Z": 1.019531 +}{ + "sensor": "gyroscope", + "X": -1.403809, + "Y": -0.061035, + "Z": 0.488281 +}{ + "sensor": "magnometer", + "X": -1.403809, + "Y": -0.061035, + "Z": 0.488281, + "Direction": 178.1586 +}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{ + "sensor": "accelarator", + "X": 0.107422, + "Y": 0.047852, + "Z": 1.018066 +}{ + "sensor": "gyroscope", + "X": -1.281738, + "Y": -0.244141, + "Z": 0.244141 +}{ + "sensor": "magnometer", + "X": -1.281738, + "Y": -0.244141, + "Z": 0.244141, + "Direction": -178.0972 +}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{ + "sensor": "accelarator", + "X": 0.105957, + "Y": 0.043457, + "Z": 1.014648 +}{ + "sensor": "gyroscope", + "X": -1.220703, + "Y": 0.1Z": 0.244141 +}{ + "sensor": "magnometer", + "X": -1.220703, + "Y": 0.12207, + "Z": 0.244141, + "Direction": -178.0972 +}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{ + "sensor": "accelarator", + "X": 0.10791, + "Y": 0.04834, + "Z": 1.015625 +}{ + "sensor": "gyroscope", + "X": -1.342773, + "Y": 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