Code to detect walking and convert to input for video game
Dependencies: LSM9DS1_Library_cal2 XBee mbed
Fork of FootModule by
main.cpp@5:c4ae0656a736, 2017-05-01 (annotated)
- Committer:
- jgensel3
- Date:
- Mon May 01 12:38:55 2017 +0000
- Revision:
- 5:c4ae0656a736
- Parent:
- 4:43a6ec1af346
Removed madgwick code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
4180_1 | 0:e693d5bf0a25 | 1 | #include "mbed.h" |
4180_1 | 0:e693d5bf0a25 | 2 | #include "LSM9DS1.h" |
jgensel3 | 3:2d6ff72599f1 | 3 | #include "Wireless.h" |
jgensel3 | 2:ab7b95fb52aa | 4 | //#include "USBKeyboard.h" |
jgensel3 | 4:43a6ec1af346 | 5 | //#include "MahonyAHRS.h" |
4180_1 | 0:e693d5bf0a25 | 6 | #define PI 3.14159 |
4180_1 | 0:e693d5bf0a25 | 7 | // Earth's magnetic field varies by location. Add or subtract |
4180_1 | 0:e693d5bf0a25 | 8 | // a declination to get a more accurate heading. Calculate |
4180_1 | 0:e693d5bf0a25 | 9 | // your's here: |
4180_1 | 0:e693d5bf0a25 | 10 | // http://www.ngdc.noaa.gov/geomag-web/#declination |
4180_1 | 0:e693d5bf0a25 | 11 | #define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA. |
4180_1 | 0:e693d5bf0a25 | 12 | |
jgensel3 | 2:ab7b95fb52aa | 13 | DigitalOut led1(LED1); |
jgensel3 | 2:ab7b95fb52aa | 14 | DigitalOut led2(LED2); |
jgensel3 | 2:ab7b95fb52aa | 15 | DigitalOut led3(LED3); |
jgensel3 | 2:ab7b95fb52aa | 16 | DigitalOut led4(LED4); |
4180_1 | 0:e693d5bf0a25 | 17 | Serial pc(USBTX, USBRX); |
jgensel3 | 3:2d6ff72599f1 | 18 | DigitalIn pb1(p17); |
jgensel3 | 4:43a6ec1af346 | 19 | |
jgensel3 | 2:ab7b95fb52aa | 20 | |
jgensel3 | 2:ab7b95fb52aa | 21 | |
jgensel3 | 4:43a6ec1af346 | 22 | |
jgensel3 | 2:ab7b95fb52aa | 23 | |
jgensel3 | 4:43a6ec1af346 | 24 | |
jgensel3 | 2:ab7b95fb52aa | 25 | float correctHeading(float currHeading, float forward) |
jgensel3 | 2:ab7b95fb52aa | 26 | { |
jgensel3 | 1:705baf131710 | 27 | float newHeading = currHeading - forward; |
jgensel3 | 1:705baf131710 | 28 | if(newHeading < 0) newHeading = 360 + newHeading; |
jgensel3 | 1:705baf131710 | 29 | return newHeading; |
jgensel3 | 1:705baf131710 | 30 | } |
jgensel3 | 1:705baf131710 | 31 | |
jgensel3 | 1:705baf131710 | 32 | float printAttitude(float ax, float ay, float az, float mx, float my, float mz) |
4180_1 | 0:e693d5bf0a25 | 33 | { |
4180_1 | 0:e693d5bf0a25 | 34 | float roll = atan2(ay, az); |
4180_1 | 0:e693d5bf0a25 | 35 | float pitch = atan2(-ax, sqrt(ay * ay + az * az)); |
4180_1 | 0:e693d5bf0a25 | 36 | // touchy trig stuff to use arctan to get compass heading (scale is 0..360) |
4180_1 | 0:e693d5bf0a25 | 37 | mx = -mx; |
4180_1 | 0:e693d5bf0a25 | 38 | float heading; |
4180_1 | 0:e693d5bf0a25 | 39 | if (my == 0.0) |
4180_1 | 0:e693d5bf0a25 | 40 | heading = (mx < 0.0) ? 180.0 : 0.0; |
4180_1 | 0:e693d5bf0a25 | 41 | else |
4180_1 | 0:e693d5bf0a25 | 42 | heading = atan2(mx, my)*360.0/(2.0*PI); |
4180_1 | 0:e693d5bf0a25 | 43 | //pc.printf("heading atan=%f \n\r",heading); |
4180_1 | 0:e693d5bf0a25 | 44 | heading -= DECLINATION; //correct for geo location |
4180_1 | 0:e693d5bf0a25 | 45 | if(heading>180.0) heading = heading - 360.0; |
4180_1 | 0:e693d5bf0a25 | 46 | else if(heading<-180.0) heading = 360.0 + heading; |
4180_1 | 0:e693d5bf0a25 | 47 | else if(heading<0.0) heading = 360.0 + heading; |
4180_1 | 0:e693d5bf0a25 | 48 | |
4180_1 | 0:e693d5bf0a25 | 49 | |
4180_1 | 0:e693d5bf0a25 | 50 | // Convert everything from radians to degrees: |
4180_1 | 0:e693d5bf0a25 | 51 | //heading *= 180.0 / PI; |
4180_1 | 0:e693d5bf0a25 | 52 | pitch *= 180.0 / PI; |
4180_1 | 0:e693d5bf0a25 | 53 | roll *= 180.0 / PI; |
4180_1 | 0:e693d5bf0a25 | 54 | |
jgensel3 | 1:705baf131710 | 55 | //pc.printf("Pitch: %f, Roll: %f degress\n\r",pitch,roll); |
jgensel3 | 1:705baf131710 | 56 | //pc.printf("Magnetic Heading: %f degress\n\r",heading); |
jgensel3 | 4:43a6ec1af346 | 57 | return abs(heading); |
jgensel3 | 4:43a6ec1af346 | 58 | } |
jgensel3 | 4:43a6ec1af346 | 59 | |
jgensel3 | 4:43a6ec1af346 | 60 | bool isWalking = false; |
jgensel3 | 4:43a6ec1af346 | 61 | |
jgensel3 | 4:43a6ec1af346 | 62 | Ticker walkingTimer; |
jgensel3 | 4:43a6ec1af346 | 63 | Ticker resetStart; |
jgensel3 | 4:43a6ec1af346 | 64 | WirelessModule wireless(p9, p10, FOOT_STEP); |
jgensel3 | 4:43a6ec1af346 | 65 | float ax ; |
jgensel3 | 4:43a6ec1af346 | 66 | float ay ; |
jgensel3 | 4:43a6ec1af346 | 67 | float az ; |
jgensel3 | 4:43a6ec1af346 | 68 | float gx ; |
jgensel3 | 4:43a6ec1af346 | 69 | float gy ; |
jgensel3 | 4:43a6ec1af346 | 70 | float gz ; |
jgensel3 | 4:43a6ec1af346 | 71 | float mx ; |
jgensel3 | 4:43a6ec1af346 | 72 | float my ; |
jgensel3 | 4:43a6ec1af346 | 73 | float mz ; |
jgensel3 | 4:43a6ec1af346 | 74 | LSM9DS1 IMU(p28, p27, 0xD6, 0x3C); |
jgensel3 | 4:43a6ec1af346 | 75 | |
jgensel3 | 4:43a6ec1af346 | 76 | void printStop() |
jgensel3 | 4:43a6ec1af346 | 77 | { |
jgensel3 | 4:43a6ec1af346 | 78 | // pc.printf("stop\n\r"); |
jgensel3 | 4:43a6ec1af346 | 79 | wireless.sendDirection(DIR_NONE); |
jgensel3 | 4:43a6ec1af346 | 80 | isWalking = false; |
jgensel3 | 4:43a6ec1af346 | 81 | } |
4180_1 | 0:e693d5bf0a25 | 82 | |
4180_1 | 0:e693d5bf0a25 | 83 | |
4180_1 | 0:e693d5bf0a25 | 84 | |
4180_1 | 0:e693d5bf0a25 | 85 | |
4180_1 | 0:e693d5bf0a25 | 86 | int main() |
4180_1 | 0:e693d5bf0a25 | 87 | { |
jgensel3 | 4:43a6ec1af346 | 88 | |
jgensel3 | 1:705baf131710 | 89 | pb1.mode(PullUp); |
4180_1 | 0:e693d5bf0a25 | 90 | IMU.begin(); |
jgensel3 | 1:705baf131710 | 91 | float forward; |
4180_1 | 0:e693d5bf0a25 | 92 | if (!IMU.begin()) { |
4180_1 | 0:e693d5bf0a25 | 93 | pc.printf("Failed to communicate with LSM9DS1.\n"); |
4180_1 | 0:e693d5bf0a25 | 94 | } |
jgensel3 | 4:43a6ec1af346 | 95 | led4 = 1; |
4180_1 | 0:e693d5bf0a25 | 96 | IMU.calibrate(1); |
jgensel3 | 4:43a6ec1af346 | 97 | led4 = 0; |
jgensel3 | 2:ab7b95fb52aa | 98 | wait(0.5); |
jgensel3 | 4:43a6ec1af346 | 99 | led1 = 1; |
jgensel3 | 2:ab7b95fb52aa | 100 | led4 = 1; |
4180_1 | 0:e693d5bf0a25 | 101 | IMU.calibrateMag(0); |
jgensel3 | 2:ab7b95fb52aa | 102 | led4 = 0; |
jgensel3 | 2:ab7b95fb52aa | 103 | led2 = 1; |
jgensel3 | 1:705baf131710 | 104 | pc.printf("Press button to set forward direction"); |
jgensel3 | 2:ab7b95fb52aa | 105 | while(pb1 == 1) { |
jgensel3 | 1:705baf131710 | 106 | IMU.readMag(); |
jgensel3 | 1:705baf131710 | 107 | IMU.readAccel(); |
jgensel3 | 4:43a6ec1af346 | 108 | ax = IMU.calcAccel(IMU.ax); |
jgensel3 | 4:43a6ec1af346 | 109 | ay = IMU.calcAccel(IMU.ay); |
jgensel3 | 4:43a6ec1af346 | 110 | az = IMU.calcAccel(IMU.az); |
jgensel3 | 4:43a6ec1af346 | 111 | gx = IMU.calcGyro(IMU.gx); |
jgensel3 | 4:43a6ec1af346 | 112 | gy = IMU.calcGyro(IMU.gy); |
jgensel3 | 4:43a6ec1af346 | 113 | gz = IMU.calcGyro(IMU.gz); |
jgensel3 | 4:43a6ec1af346 | 114 | mx = IMU.calcMag(IMU.mx); |
jgensel3 | 4:43a6ec1af346 | 115 | my = IMU.calcMag(IMU.my); |
jgensel3 | 4:43a6ec1af346 | 116 | mz = IMU.calcMag(IMU.mz); |
jgensel3 | 1:705baf131710 | 117 | forward = printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx), |
jgensel3 | 2:ab7b95fb52aa | 118 | IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));; |
jgensel3 | 2:ab7b95fb52aa | 119 | } |
jgensel3 | 4:43a6ec1af346 | 120 | led3 = 1; |
4180_1 | 0:e693d5bf0a25 | 121 | while(1) { |
4180_1 | 0:e693d5bf0a25 | 122 | while(!IMU.tempAvailable()); |
4180_1 | 0:e693d5bf0a25 | 123 | IMU.readTemp(); |
4180_1 | 0:e693d5bf0a25 | 124 | while(!IMU.magAvailable(X_AXIS)); |
4180_1 | 0:e693d5bf0a25 | 125 | IMU.readMag(); |
4180_1 | 0:e693d5bf0a25 | 126 | while(!IMU.accelAvailable()); |
4180_1 | 0:e693d5bf0a25 | 127 | IMU.readAccel(); |
4180_1 | 0:e693d5bf0a25 | 128 | while(!IMU.gyroAvailable()); |
4180_1 | 0:e693d5bf0a25 | 129 | IMU.readGyro(); |
jgensel3 | 2:ab7b95fb52aa | 130 | |
jgensel3 | 4:43a6ec1af346 | 131 | if(abs(IMU.calcGyro(IMU.gy)) > 100) { |
jgensel3 | 2:ab7b95fb52aa | 132 | |
jgensel3 | 2:ab7b95fb52aa | 133 | //Calculate heading relative to forward direction |
jgensel3 | 1:705baf131710 | 134 | float currHeading = printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz)); |
jgensel3 | 4:43a6ec1af346 | 135 | currHeading = correctHeading(currHeading, forward); |
jgensel3 | 4:43a6ec1af346 | 136 | pc.printf("heading: %f\n\r", currHeading); |
jgensel3 | 5:c4ae0656a736 | 137 | |
jgensel3 | 2:ab7b95fb52aa | 138 | //Start timeout to detect when stopped walking |
jgensel3 | 2:ab7b95fb52aa | 139 | walkingTimer.attach(printStop, 0.3); |
jgensel3 | 2:ab7b95fb52aa | 140 | |
jgensel3 | 2:ab7b95fb52aa | 141 | //Detect direction and send command to main mbed |
jgensel3 | 4:43a6ec1af346 | 142 | if((currHeading > 225 && currHeading < 315) && !isWalking) { |
jgensel3 | 4:43a6ec1af346 | 143 | pc.printf("left\n\r"); |
jgensel3 | 3:2d6ff72599f1 | 144 | wireless.sendDirection(DIR_LEFT); |
jgensel3 | 2:ab7b95fb52aa | 145 | |
jgensel3 | 2:ab7b95fb52aa | 146 | isWalking = true; |
jgensel3 | 4:43a6ec1af346 | 147 | } else if((currHeading > 45 && currHeading < 135) && !isWalking) { |
jgensel3 | 4:43a6ec1af346 | 148 | pc.printf("right\n\r"); |
jgensel3 | 4:43a6ec1af346 | 149 | wireless.sendDirection(DIR_RIGHT); |
jgensel3 | 2:ab7b95fb52aa | 150 | isWalking = true; |
jgensel3 | 4:43a6ec1af346 | 151 | } else if((currHeading > 135 && currHeading < 225) && !isWalking) { |
jgensel3 | 4:43a6ec1af346 | 152 | pc.printf("down\n\r"); |
jgensel3 | 3:2d6ff72599f1 | 153 | wireless.sendDirection(DIR_DOWN); |
jgensel3 | 2:ab7b95fb52aa | 154 | isWalking = true; |
jgensel3 | 4:43a6ec1af346 | 155 | } else if((currHeading > 315 || currHeading < 45) && !isWalking) { |
jgensel3 | 4:43a6ec1af346 | 156 | pc.printf("up\n\r"); |
jgensel3 | 4:43a6ec1af346 | 157 | wireless.sendDirection(DIR_UP); |
jgensel3 | 2:ab7b95fb52aa | 158 | |
jgensel3 | 2:ab7b95fb52aa | 159 | isWalking = true; |
jgensel3 | 1:705baf131710 | 160 | } |
jgensel3 | 1:705baf131710 | 161 | } |
4180_1 | 0:e693d5bf0a25 | 162 | } |
4180_1 | 0:e693d5bf0a25 | 163 | } |
4180_1 | 0:e693d5bf0a25 | 164 |