Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Visualize101.ino: Simplify sensor reading #16

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Visualize101.ino: Simplify sensor reading #16

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
44 changes: 3 additions & 41 deletions examples/Visualize101/Visualize101.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@
#include <MadgwickAHRS.h>

Madgwick filter;
unsigned long microsPerReading, microsPrevious;
float accelScale, gyroScale;

void setup() {
Expand All @@ -18,34 +17,18 @@ void setup() {
CurieIMU.setAccelerometerRange(2);
// Set the gyroscope range to 250 degrees/second
CurieIMU.setGyroRange(250);

// initialize variables to pace updates to correct rate
microsPerReading = 1000000 / 25;
microsPrevious = micros();
}

void loop() {
int aix, aiy, aiz;
int gix, giy, giz;
float ax, ay, az;
float gx, gy, gz;
float roll, pitch, heading;
unsigned long microsNow;

// check if it's time to read data and update the filter
microsNow = micros();
if (microsNow - microsPrevious >= microsPerReading) {

// read raw data from CurieIMU
CurieIMU.readMotionSensor(aix, aiy, aiz, gix, giy, giz);
if (CurieIMU.dataReady()) {

// convert from raw data to gravity and degrees/second units
ax = convertRawAcceleration(aix);
ay = convertRawAcceleration(aiy);
az = convertRawAcceleration(aiz);
gx = convertRawGyro(gix);
gy = convertRawGyro(giy);
gz = convertRawGyro(giz);
// read scaled data from CurieIMU
CurieIMU.readMotionSensorScaled(ax, ay, az, gx, gy, gz);

// update the filter, which computes orientation
filter.updateIMU(gx, gy, gz, ax, ay, az);
Expand All @@ -60,26 +43,5 @@ void loop() {
Serial.print(pitch);
Serial.print(" ");
Serial.println(roll);

// increment previous time, so we keep proper pace
microsPrevious = microsPrevious + microsPerReading;
}
}

float convertRawAcceleration(int aRaw) {
// since we are using 2G range
// -2g maps to a raw value of -32768
// +2g maps to a raw value of 32767

float a = (aRaw * 2.0) / 32768.0;
return a;
}

float convertRawGyro(int gRaw) {
// since we are using 250 degrees/seconds range
// -250 maps to a raw value of -32768
// +250 maps to a raw value of 32767

float g = (gRaw * 250.0) / 32768.0;
return g;
}