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read from magnetometer on SDA, SLC

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Stephen Birarda 2013-02-27 14:45:14 -08:00
parent 15d74111d9
commit a9050e6dc5
1 changed files with 44 additions and 6 deletions
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50
hardware/head_hand/head_hand.pde
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@ -5,6 +5,8 @@
//
// PIN WIRING: Connect input sensors to the channels in following manner
//
// SDA: Magnetomer SDA
// SDL: Magnetomer SDL
// AIN 10: Yaw Gyro (shaking your head 'no')
// AIN 16: Pitch Gyro (nodding your head 'yes')
// AIN 17: Roll Gyro (looking quizzical, tilting your head)
@ -12,11 +14,16 @@
// AIN 19: Up/Down acceleration (sitting up/ducking in front of your monitor)
// AIN 20: Forward/Back acceleration (Toward or away from your monitor)
// include HardWire for I2C communication to Magnetomer
#include <HardWire.h>
#define NUM_CHANNELS 6
#define MSECS_PER_SAMPLE 10
#define LED_PIN 12
const int COMPASS_ADDRESS = 0x42 >> 1;
int inputPins[NUM_CHANNELS] = {10,16,17,18,19,20};
int LED = 0;
@ -26,8 +33,12 @@ unsigned int time;
int measured[NUM_CHANNELS];
float accumulate[NUM_CHANNELS];
bool readFromMag = false;
int sampleCount = 0;
HardWire Wire(1, I2C_FAST_MODE);
void setup()
{
int i;
@ -36,6 +47,7 @@ void setup()
measured[i] = analogRead(inputPins[i]);
accumulate[i] = measured[i];
}
Wire.begin();
pinMode(BOARD_LED_PIN, OUTPUT);
pinMode(LED_PIN,OUTPUT);
time = millis();
@ -44,11 +56,22 @@ void setup()
void loop()
{
int i;
int compassReading;
bool magTransmit = false;
sampleCount++;
for (i = 0; i < NUM_CHANNELS; i++) {
accumulate[i] += analogRead(inputPins[i]);
}
if (readFromMag && magTransmit == false) {
// get current absolute magnetometer value
Wire.beginTransmission(COMPASS_ADDRESS);
Wire.send('A');
Wire.endTransmission();
magTransmit = true;
}
if ((millis() - time) >= MSECS_PER_SAMPLE) {
samplesSent++;
time = millis();
@ -58,7 +81,7 @@ void loop()
SerialUSB.print(" ");
accumulate[i] = 0;
}
if ((samplesSent % 100 == 0) && (samplesSent % 150 == 0)) {
LED = !LED;
digitalWrite(LED_PIN, LED);
@ -72,10 +95,25 @@ void loop()
else
SerialUSB.print("0");
SerialUSB.println("");
SerialUSB.print(" ");
sampleCount = 0;
if (readFromMag) {
// send the absolute value from the magnetomer
Wire.requestFrom(COMPASS_ADDRESS, 2);
if (2 <= Wire.available()) {
compassReading = Wire.receive();
compassReading = compassReading << 8;
compassReading += Wire.receive();
compassReading /= 10;
SerialUSB.print(compassReading);
}
}
SerialUSB.println("");
// reset the magnetomerTransmit to false to prep it in next loop
magTransmit = false;
}
}
}