Code to detect walking and convert to input for video game
Dependencies: LSM9DS1_Library_cal2 XBee mbed
Fork of FootModule by
main.cpp
- Committer:
- jgensel3
- Date:
- 2017-04-14
- Revision:
- 1:705baf131710
- Parent:
- 0:e693d5bf0a25
- Child:
- 2:ab7b95fb52aa
File content as of revision 1:705baf131710:
#include "mbed.h" #include "LSM9DS1.h" #include "USBJoystick.h" #define PI 3.14159 // Earth's magnetic field varies by location. Add or subtract // a declination to get a more accurate heading. Calculate // your's here: // http://www.ngdc.noaa.gov/geomag-web/#declination #define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA. DigitalOut myled(LED1); Serial pc(USBTX, USBRX); DigitalIn pb1(p17); // Calculate pitch, roll, and heading. // Pitch/roll calculations taken from this app note: // http://cache.freescale.com/files/sensors/doc/app_note/AN3461.pdf?fpsp=1 // Heading calculations taken from this app note: // http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/Magnetic__Literature_Application_notes-documents/AN203_Compass_Heading_Using_Magnetometers.pdf float correctHeading(float currHeading, float forward){ float newHeading = currHeading - forward; if(newHeading < 0) newHeading = 360 + newHeading; return newHeading; } float printAttitude(float ax, float ay, float az, float mx, float my, float mz) { float roll = atan2(ay, az); float pitch = atan2(-ax, sqrt(ay * ay + az * az)); // touchy trig stuff to use arctan to get compass heading (scale is 0..360) mx = -mx; float heading; if (my == 0.0) heading = (mx < 0.0) ? 180.0 : 0.0; else heading = atan2(mx, my)*360.0/(2.0*PI); //pc.printf("heading atan=%f \n\r",heading); heading -= DECLINATION; //correct for geo location if(heading>180.0) heading = heading - 360.0; else if(heading<-180.0) heading = 360.0 + heading; else if(heading<0.0) heading = 360.0 + heading; // Convert everything from radians to degrees: //heading *= 180.0 / PI; pitch *= 180.0 / PI; roll *= 180.0 / PI; //pc.printf("Pitch: %f, Roll: %f degress\n\r",pitch,roll); //pc.printf("Magnetic Heading: %f degress\n\r",heading); return heading; } int main() { //LSM9DS1 lol(p9, p10, 0x6B, 0x1E); LSM9DS1 IMU(p28, p27, 0xD6, 0x3C); pb1.mode(PullUp); IMU.begin(); float forward; if (!IMU.begin()) { pc.printf("Failed to communicate with LSM9DS1.\n"); } IMU.calibrate(1); IMU.calibrateMag(0); pc.printf("Press button to set forward direction"); while(pb1 == 1){ IMU.readMag(); IMU.readAccel(); forward = 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));; } while(1) { while(!IMU.tempAvailable()); IMU.readTemp(); while(!IMU.magAvailable(X_AXIS)); IMU.readMag(); while(!IMU.accelAvailable()); IMU.readAccel(); while(!IMU.gyroAvailable()); IMU.readGyro(); /*pc.printf("\nIMU Temperature = %f C\n\r",25.0 + IMU.temperature/16.0); pc.printf(" X axis Y axis Z axis\n\r"); pc.printf("gyro: %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz)); pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az)); pc.printf("mag: %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz)); 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));*/ if(abs(IMU.calcGyro(IMU.gy)) > 100){ // pc.printf("Forward:%f\n\r",forward); 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)); // pc.printf("RawHeading:%f\n\r",currHeading); currHeading = correctHeading(currHeading, forward) + 45; // pc.printf("CorrectedHeading:%f\n\n\n\r",currHeading); if(currHeading > 360 || currHeading < 90){ pc.printf("Forward\n\r"); } else if(currHeading > 90 && currHeading < 180){ pc.printf("Right\n\r"); } else if(currHeading > 180 && currHeading < 270){ pc.printf("Backwards\n\r"); } else{ pc.printf("Left\n\r"); } } } }