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3D_Tracking_with_IMU
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New result and new code

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gepebdevelopers 5 years ago
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7324ae910a
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6d109edfda
4 changed files with 464 additions and 4 deletions
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  1. 101
      Advanced_I2C/Advanced_I2C.ino
  2. 8
      IMU_tracking/IMU_tracking.ino
  3. 0
      results/test1.txt
  4. 359
      results/test2.txt

101
Advanced_I2C/Advanced_I2C.ino
View File

@ -0,0 +1,101 @@
#include "MPU9250.h"
#include "MPU9250_asukiaaa.h"
#include "ArduinoJson.h"
// an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68
MPU9250 IMU(Wire,0x68);
int status;
float aX, aY, aZ, gX, gY, gZ, mX, mY, mZ;
String magnometer;
String accelarator;
String gyroscope;
String sensorID;
void setup() {
// serial to display data
Serial.begin(9600);
while(!Serial) {}
// start communication with IMU
status = IMU.begin();
if (status < 0) {
Serial.println("IMU initialization unsuccessful");
Serial.println("Check IMU wiring or try cycling power");
Serial.print("Status: ");
Serial.println(status);
while(1) {}
}
// setting the accelerometer full scale range to +/-8G
IMU.setAccelRange(MPU9250::ACCEL_RANGE_8G);
// setting the gyroscope full scale range to +/-500 deg/s
IMU.setGyroRange(MPU9250::GYRO_RANGE_500DPS);
// setting DLPF bandwidth to 20 Hz
IMU.setDlpfBandwidth(MPU9250::DLPF_BANDWIDTH_20HZ);
// setting SRD to 19 for a 50 Hz update rate
IMU.setSrd(19);
}
void loop() {
StaticJsonDocument<200> accelarator;
StaticJsonDocument<200> gyroscope;
StaticJsonDocument<200> magnometer;
// read the sensor
IMU.readSensor();
// display the data
// Serial.print("Accel X "); Serial.print(IMU.getAccelX_mss());
// Serial.print("\t");
// Serial.print("Accel Y "); Serial.print(IMU.getAccelY_mss());
// Serial.print("\t");
// Serial.print("Accel Z "); Serial.print(IMU.getAccelZ_mss());
// Serial.print("\t");
aX = IMU.getAccelX_mss();
aY = IMU.getAccelY_mss();
aZ = IMU.getAccelZ_mss();
accelarator["sensor"] = "accelarator";
accelarator["X"] = aX;
accelarator["Y"] = aY;
accelarator["Z"] = aZ;
serializeJson(accelarator, Serial);
// Serial.print("Gyro X "); Serial.print(IMU.getGyroX_rads());
// Serial.print("\t");
// Serial.print("Gyro Y "); Serial.print(IMU.getGyroY_rads());
// Serial.print("\t");
// Serial.print("Gyro Z "); Serial.print(IMU.getGyroZ_rads());
// Serial.print("\t");
// Serial.print("Direction "); Serial.print(atan2(IMU.getMagX_uT(), IMU.getMagY_uT()) * 180 / PI);
gX = IMU.getGyroX_rads();
gY = IMU.getGyroY_rads();
gZ = IMU.getGyroZ_rads();
gyroscope["sensor"] = "gyroscope";
gyroscope["X"] = gX;
gyroscope["Y"] = gY;
gyroscope["Z"] = gZ;
serializeJson(gyroscope, Serial);
// Serial.print("Magno X "); Serial.print(IMU.getMagX_uT(),6);
// Serial.print("\t");
// Serial.print("Magno Y "); Serial.print(IMU.getMagY_uT(),6);
// Serial.print("\t");
// Serial.print("Magno Z "); Serial.print(IMU.getMagZ_uT(),6);
// Serial.println("\t");
mX = IMU.getMagX_uT();
mY = IMU.getMagY_uT();
mZ = IMU.getMagZ_uT();
magnometer["sensor"] = "magnometer";
magnometer["X"] = gX;
magnometer["Y"] = gY;
magnometer["Z"] = gZ;
serializeJson(magnometer, Serial);
Serial.write("\n");
//Serial.println(IMU.getTemperature_C(),6);
delay(100);
}

8
IMU_tracking/IMU_tracking.ino
View File

@ -13,7 +13,7 @@ String gyroscope;
String sensorID;
void setup() {
Serial.begin(115200);
Serial.begin(9600);
while(!Serial);
Serial.println("started");
@ -57,7 +57,7 @@ void loop() {
accelarator["X"] = aX;
accelarator["Y"] = aY;
accelarator["Z"] = aZ;
serializeJsonPretty(accelarator, Serial);
//serializeJsonPretty(accelarator, Serial);
} else {
Serial.write("Cannod read accel values");
}
@ -70,7 +70,7 @@ void loop() {
gyroscope["X"] = gX;
gyroscope["Y"] = gY;
gyroscope["Z"] = gZ;
serializeJsonPretty(gyroscope, Serial);
//serializeJsonPretty(gyroscope, Serial);
} else {
//Serial.println("Cannot read gyro values");
@ -94,5 +94,5 @@ void loop() {
}
//Serial.write("Hello World!");
delay(100);
delay(2000);
}

0
results/test.txt → results/test1.txt
View File

359
results/test2.txt
View File

@ -0,0 +1,359 @@
{"sensor":"accelarator","X":0.342388,"Y":0.153237,"Z":10.02743}{"sensor":"gyroscope","X":-0.000647,"Y":-0.000583,"Z":0.000652}{"sensor":"magnometer","X":-0.000647,"Y":-0.000583,"Z":0.000652}
{"sensor":"accelarator","X":0.332811,"Y":0.141265,"Z":10.05377}{"sensor":"gyroscope","X":-0.000115,"Y":0.000482,"Z":0.000919}{"sensor":"magnometer","X":-0.000115,"Y":0.000482,"Z":0.000919}
{"sensor":"accelarator","X":0.344783,"Y":0.129293,"Z":10.02024}{"sensor":"gyroscope","X":-0.000647,"Y":0.000216,"Z":0.000386}{"sensor":"magnometer","X":-0.000647,"Y":0.000216,"Z":0.000386}
{"sensor":"accelarator","X":0.349571,"Y":0.146054,"Z":10.00588}{"sensor":"gyroscope","X":0.000152,"Y":0.001015,"Z":0.00012}{"sensor":"magnometer","X":0.000152,"Y":0.001015,"Z":0.00012}
{"sensor":"accelarator","X":0.3376,"Y":0.155631,"Z":10.01067}{"sensor":"gyroscope","X":-0.000647,"Y":0.001547,"Z":0.000919}{"sensor":"magnometer","X":-0.000647,"Y":0.001547,"Z":0.000919}
{"sensor":"accelarator","X":0.339994,"Y":0.153237,"Z":10.04419}{"sensor":"gyroscope","X":-0.000647,"Y":-0.000051,"Z":0.000652}{"sensor":"magnometer","X":-0.000647,"Y":-0.000051,"Z":0.000652}
{"sensor":"accelarator","X":0.335205,"Y":0.155631,"Z":10.01785}{"sensor":"gyroscope","X":-0.000647,"Y":0.001015,"Z":0.000919}{"sensor":"magnometer","X":-0.000647,"Y":0.001015,"Z":0.000919}
{"sensor":"accelarator","X":0.342388,"Y":0.136476,"Z":10.04419}{"sensor":"gyroscope","X":-0.000913,"Y":0.000748,"Z":-0.000146}{"sensor":"magnometer","X":-0.000913,"Y":0.000748,"Z":-0.000146}
{"sensor":"accelarator","X":0.335205,"Y":0.146054,"Z":9.969964}{"sensor":"gyroscope","X":-0.000647,"Y":0.000748,"Z":0.000386}{"sensor":"magnometer","X":-0.000647,"Y":0.000748,"Z":0.000386}
{"sensor":"accelarator","X":0.332811,"Y":0.16042,"Z":9.979541}{"sensor":"gyroscope","X":-0.000381,"Y":0.001015,"Z":0.000386}{"sensor":"magnometer","X":-0.000381,"Y":0.001015,"Z":0.000386}
{"sensor":"accelarator","X":0.356754,"Y":0.134082,"Z":10.01067}{"sensor":"gyroscope","X":-0.001446,"Y":0.001281,"Z":0.00012}{"sensor":"magnometer","X":-0.001446,"Y":0.001281,"Z":0.00012}
{"sensor":"accelarator","X":0.318445,"Y":0.143659,"Z":10.03461}{"sensor":"gyroscope","X":-0.000381,"Y":0.000748,"Z":0.000919}{"sensor":"magnometer","X":-0.000381,"Y":0.000748,"Z":0.000919}
{"sensor":"accelarator","X":0.342388,"Y":0.143659,"Z":10.05855}{"sensor":"gyroscope","X":-0.000647,"Y":0.000748,"Z":0.00012}{"sensor":"magnometer","X":-0.000647,"Y":0.000748,"Z":0.00012}
{"sensor":"accelarator","X":0.335205,"Y":0.146054,"Z":10.04658}{"sensor":"gyroscope","X":-0.001446,"Y":0.000482,"Z":0.000386}{"sensor":"magnometer","X":-0.001446,"Y":0.000482,"Z":0.000386}
{"sensor":"accelarator","X":0.323234,"Y":0.146054,"Z":10.02024}{"sensor":"gyroscope","X":-0.000647,"Y":0.000216,"Z":0.000386}{"sensor":"magnometer","X":-0.000647,"Y":0.000216,"Z":0.000386}
{"sensor":"accelarator","X":0.339994,"Y":0.16042,"Z":10.02982}{"sensor":"gyroscope","X":-0.000647,"Y":-0.000583,"Z":0.000386}{"sensor":"magnometer","X":-0.000647,"Y":-0.000583,"Z":0.000386}
{"sensor":"accelarator","X":0.332811,"Y":0.148448,"Z":10.06813}{"sensor":"gyroscope","X":-0.000647,"Y":0.000216,"Z":0.000652}{"sensor":"magnometer","X":-0.000647,"Y":0.000216,"Z":0.000652}
{"sensor":"accelarator","X":0.335205,"Y":0.148448,"Z":10.04658}{"sensor":"gyroscope","X":0.000152,"Y":0.000748,"Z":-0.000146}{"sensor":"magnometer","X":0.000152,"Y":0.000748,"Z":-0.000146}
{"sensor":"accelarator","X":0.328022,"Y":0.141265,"Z":10.01306}{"sensor":"gyroscope","X":-0.000115,"Y":0.001015,"Z":0.00012}{"sensor":"magnometer","X":-0.000115,"Y":0.001015,"Z":0.00012}
{"sensor":"accelarator","X":0.318445,"Y":0.146054,"Z":10.01306}{"sensor":"gyroscope","X":-0.000381,"Y":0.001281,"Z":0.00012}{"sensor":"magnometer","X":-0.000381,"Y":0.001281,"Z":0.00012}
{"sensor":"accelarator","X":0.325628,"Y":0.141265,"Z":10.01546}{"sensor":"gyroscope","X":-0.000115,"Y":0.000748,"Z":0.000386}{"sensor":"magnometer","X":-0.000115,"Y":0.000748,"Z":0.000386}
{"sensor":"accelarator","X":0.347177,"Y":0.134082,"Z":10.00588}{"sensor":"gyroscope","X":-0.000647,"Y":0.000748,"Z":0.000386}{"sensor":"magnometer","X":-0.000647,"Y":0.000748,"Z":0.000386}
{"sensor":"accelarator","X":0.339994,"Y":0.138871,"Z":9.902923}{"sensor":"gyroscope","X":-0.00118,"Y":0.004477,"Z":0.000652}{"sensor":"magnometer","X":-0.00118,"Y":0.004477,"Z":0.000652}
{"sensor":"accelarator","X":0.328022,"Y":0.153237,"Z":9.967569}{"sensor":"gyroscope","X":0.000418,"Y":0.003678,"Z":0.00012}{"sensor":"magnometer","X":0.000418,"Y":0.003678,"Z":0.00012}
{"sensor":"accelarator","X":0.330417,"Y":0.143659,"Z":10.02264}{"sensor":"gyroscope","X":-0.000381,"Y":-0.000317,"Z":0.000386}{"sensor":"magnometer","X":-0.000381,"Y":-0.000317,"Z":0.000386}
{"sensor":"accelarator","X":0.328022,"Y":0.141265,"Z":10.00348}{"sensor":"gyroscope","X":-0.000913,"Y":-0.000051,"Z":-0.000146}{"sensor":"magnometer","X":-0.000913,"Y":-0.000051,"Z":-0.000146}
{"sensor":"accelarator","X":0.344783,"Y":0.136476,"Z":10.00109}{"sensor":"gyroscope","X":-0.000913,"Y":0.001281,"Z":0.000652}{"sensor":"magnometer","X":-0.000913,"Y":0.001281,"Z":0.000652}
{"sensor":"accelarator","X":0.3376,"Y":0.141265,"Z":9.991513}{"sensor":"gyroscope","X":-0.000115,"Y":0.001015,"Z":0.000652}{"sensor":"magnometer","X":-0.000115,"Y":0.001015,"Z":0.000652}
{"sensor":"accelarator","X":0.342388,"Y":0.141265,"Z":9.996302}{"sensor":"gyroscope","X":-0.000647,"Y":0.001015,"Z":0.00012}{"sensor":"magnometer","X":-0.000647,"Y":0.001015,"Z":0.00012}
{"sensor":"accelarator","X":0.339994,"Y":0.146054,"Z":10.01785}{"sensor":"gyroscope","X":-0.000381,"Y":0.001547,"Z":0.000386}{"sensor":"magnometer","X":-0.000381,"Y":0.001547,"Z":0.000386}
{"sensor":"accelarator","X":0.3376,"Y":0.138871,"Z":10.08968}{"sensor":"gyroscope","X":0.000152,"Y":-0.000583,"Z":0.000652}{"sensor":"magnometer","X":0.000152,"Y":-0.000583,"Z":0.000652}
{"sensor":"accelarator","X":0.335205,"Y":0.155631,"Z":10.04898}{"sensor":"gyroscope","X":-0.000115,"Y":-0.001116,"Z":0.000652}{"sensor":"magnometer","X":-0.000115,"Y":-0.001116,"Z":0.000652}
{"sensor":"accelarator","X":0.335205,"Y":0.138871,"Z":10.05137}{"sensor":"gyroscope","X":-0.001712,"Y":-0.000583,"Z":0.001451}{"sensor":"magnometer","X":-0.001712,"Y":-0.000583,"Z":0.001451}
{"sensor":"accelarator","X":0.339994,"Y":0.136476,"Z":10.04658}{"sensor":"gyroscope","X":0.000152,"Y":-0.000317,"Z":0.000652}{"sensor":"magnometer","X":0.000152,"Y":-0.000317,"Z":0.000652}
{"sensor":"accelarator","X":0.328022,"Y":0.150842,"Z":10.02982}{"sensor":"gyroscope","X":-0.000115,"Y":0.000216,"Z":0.000386}{"sensor":"magnometer","X":-0.000115,"Y":0.000216,"Z":0.000386}
{"sensor":"accelarator","X":0.332811,"Y":0.155631,"Z":10.04419}{"sensor":"gyroscope","X":-0.000115,"Y":-0.001116,"Z":0.000652}{"sensor":"magnometer","X":-0.000115,"Y":-0.001116,"Z":0.000652}
{"sensor":"accelarator","X":0.330417,"Y":0.136476,"Z":9.991513}{"sensor":"gyroscope","X":0.000152,"Y":0.000748,"Z":0.000386}{"sensor":"magnometer","X":0.000152,"Y":0.000748,"Z":0.000386}
{"sensor":"accelarator","X":0.335205,"Y":0.141265,"Z":10.02503}{"sensor":"gyroscope","X":0.000152,"Y":0.00208,"Z":0.000919}{"sensor":"magnometer","X":0.000152,"Y":0.00208,"Z":0.000919}
{"sensor":"accelarator","X":0.332811,"Y":0.143659,"Z":10.06574}{"sensor":"gyroscope","X":-0.000381,"Y":0.001281,"Z":0.000919}{"sensor":"magnometer","X":-0.000381,"Y":0.001281,"Z":0.000919}
{"sensor":"accelarator","X":0.335205,"Y":0.131688,"Z":10.13038}{"sensor":"gyroscope","X":-0.000913,"Y":-0.002714,"Z":0.000652}{"sensor":"magnometer","X":-0.000913,"Y":-0.002714,"Z":0.000652}
{"sensor":"accelarator","X":0.332811,"Y":0.148448,"Z":10.0825}{"sensor":"gyroscope","X":-0.000381,"Y":0.001015,"Z":0.001185}{"sensor":"magnometer","X":-0.000381,"Y":0.001015,"Z":0.001185}
{"sensor":"accelarator","X":0.328022,"Y":0.150842,"Z":9.98433}{"sensor":"gyroscope","X":-0.001446,"Y":0.001281,"Z":0.000386}{"sensor":"magnometer","X":-0.001446,"Y":0.001281,"Z":0.000386}
{"sensor":"accelarator","X":0.335205,"Y":0.134082,"Z":10.03222}{"sensor":"gyroscope","X":-0.000381,"Y":-0.00298,"Z":-0.000413}{"sensor":"magnometer","X":-0.000381,"Y":-0.00298,"Z":-0.000413}
{"sensor":"accelarator","X":0.349571,"Y":0.162814,"Z":10.05855}{"sensor":"gyroscope","X":-0.000913,"Y":-0.000583,"Z":0.000386}{"sensor":"magnometer","X":-0.000913,"Y":-0.000583,"Z":0.000386}
{"sensor":"accelarator","X":0.3376,"Y":0.16042,"Z":10.01785}{"sensor":"gyroscope","X":-0.00118,"Y":0.000482,"Z":0.000652}{"sensor":"magnometer","X":-0.00118,"Y":0.000482,"Z":0.000652}
{"sensor":"accelarator","X":0.3376,"Y":0.150842,"Z":10.12799}{"sensor":"gyroscope","X":-0.000381,"Y":-0.001382,"Z":0.000386}{"sensor":"magnometer","X":-0.000381,"Y":-0.001382,"Z":0.000386}
{"sensor":"accelarator","X":0.332811,"Y":0.150842,"Z":10.01546}{"sensor":"gyroscope","X":-0.001446,"Y":0.001015,"Z":0.00012}{"sensor":"magnometer","X":-0.001446,"Y":0.001015,"Z":0.00012}
{"sensor":"accelarator","X":0.545906,"Y":0.524357,"Z":9.957993}{"sensor":"gyroscope","X":-0.002511,"Y":0.000216,"Z":0.00012}{"sensor":"magnometer","X":-0.002511,"Y":0.000216,"Z":0.00012}
{"sensor":"accelarator","X":1.144487,"Y":0.323234,"Z":10.09447}{"sensor":"gyroscope","X":0.010006,"Y":0.009004,"Z":-0.100549}{"sensor":"magnometer","X":0.010006,"Y":0.009004,"Z":-0.100549}
{"sensor":"accelarator","X":-1.094206,"Y":-0.996039,"Z":9.893346}{"sensor":"gyroscope","X":-0.014496,"Y":0.002879,"Z":-0.512813}{"sensor":"magnometer","X":-0.014496,"Y":0.002879,"Z":-0.512813}
{"sensor":"accelarator","X":1.783771,"Y":-2.952201,"Z":12.42893}{"sensor":"gyroscope","X":-0.704531,"Y":-0.404591,"Z":0.071227}{"sensor":"magnometer","X":-0.704531,"Y":-0.404591,"Z":0.071227}
{"sensor":"accelarator","X":0.656045,"Y":-0.648862,"Z":8.851814}{"sensor":"gyroscope","X":0.900314,"Y":0.234311,"Z":-2.157073}{"sensor":"magnometer","X":0.900314,"Y":0.234311,"Z":-2.157073}
{"sensor":"accelarator","X":-2.391929,"Y":0.727874,"Z":8.875758}{"sensor":"gyroscope","X":-0.390806,"Y":-0.29247,"Z":-1.914988}{"sensor":"magnometer","X":-0.390806,"Y":-0.29247,"Z":-1.914988}
{"sensor":"accelarator","X":-4.582736,"Y":2.415873,"Z":9.244484}{"sensor":"gyroscope","X":-0.056574,"Y":-0.100986,"Z":-1.040393}{"sensor":"magnometer","X":-0.056574,"Y":-0.100986,"Z":-1.040393}
{"sensor":"accelarator","X":-1.927431,"Y":1.984894,"Z":10.83192}{"sensor":"gyroscope","X":-0.11623,"Y":-0.065033,"Z":0.150058}{"sensor":"magnometer","X":-0.11623,"Y":-0.065033,"Z":0.150058}
{"sensor":"accelarator","X":0.526751,"Y":1.69997,"Z":12.28527}{"sensor":"gyroscope","X":-0.515977,"Y":-0.075686,"Z":1.538385}{"sensor":"magnometer","X":-0.515977,"Y":-0.075686,"Z":1.538385}
{"sensor":"accelarator","X":-0.70872,"Y":0.790127,"Z":9.285188}{"sensor":"gyroscope","X":1.50566,"Y":0.32779,"Z":2.175956}{"sensor":"magnometer","X":1.50566,"Y":0.32779,"Z":2.175956}
{"sensor":"accelarator","X":-1.204345,"Y":1.781377,"Z":9.39772}{"sensor":"gyroscope","X":0.688589,"Y":0.416474,"Z":2.812727}{"sensor":"magnometer","X":0.688589,"Y":0.416474,"Z":2.812727}
{"sensor":"accelarator","X":0.430978,"Y":0.428584,"Z":8.504638}{"sensor":"gyroscope","X":-0.099985,"Y":0.693713,"Z":2.43695}{"sensor":"magnometer","X":-0.099985,"Y":0.693713,"Z":2.43695}
{"sensor":"accelarator","X":-0.205912,"Y":-4.609073,"Z":9.838276}{"sensor":"gyroscope","X":-1.047818,"Y":0.280118,"Z":2.394072}{"sensor":"magnometer","X":-1.047818,"Y":0.280118,"Z":2.394072}
{"sensor":"accelarator","X":1.582648,"Y":-4.592313,"Z":11.7274}{"sensor":"gyroscope","X":-0.033671,"Y":-0.141999,"Z":-0.748772}{"sensor":"magnometer","X":-0.033671,"Y":-0.141999,"Z":-0.748772}
{"sensor":"accelarator","X":-0.143659,"Y":-0.553089,"Z":9.610815}{"sensor":"gyroscope","X":0.54957,"Y":-0.096725,"Z":-0.90963}{"sensor":"magnometer","X":0.54957,"Y":-0.096725,"Z":-0.90963}
{"sensor":"accelarator","X":1.465326,"Y":-1.017588,"Z":9.682645}{"sensor":"gyroscope","X":-0.066961,"Y":-0.283149,"Z":0.16151}{"sensor":"magnometer","X":-0.066961,"Y":-0.283149,"Z":0.16151}
{"sensor":"accelarator","X":2.329677,"Y":-1.403074,"Z":9.584477}{"sensor":"gyroscope","X":0.062471,"Y":-0.251723,"Z":-0.059802}{"sensor":"magnometer","X":0.062471,"Y":-0.251723,"Z":-0.059802}
{"sensor":"accelarator","X":2.339254,"Y":-0.483653,"Z":9.749686}{"sensor":"gyroscope","X":0.395371,"Y":-0.053581,"Z":-0.192163}{"sensor":"magnometer","X":0.395371,"Y":-0.053581,"Z":-0.192163}
{"sensor":"accelarator","X":2.171652,"Y":1.704759,"Z":9.474339}{"sensor":"gyroscope","X":0.103218,"Y":-0.079947,"Z":0.377496}{"sensor":"magnometer","X":0.103218,"Y":-0.079947,"Z":0.377496}
{"sensor":"accelarator","X":3.026425,"Y":-0.952941,"Z":9.989119}{"sensor":"gyroscope","X":-0.451794,"Y":-0.165968,"Z":0.732234}{"sensor":"magnometer","X":-0.451794,"Y":-0.165968,"Z":0.732234}
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