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:
- 2017-05-01
- Revision:
- 5:c4ae0656a736
- Parent:
- 4:43a6ec1af346
File content as of revision 5:c4ae0656a736:
#include "mbed.h" #include "LSM9DS1.h" #include "Wireless.h" //#include "USBKeyboard.h" //#include "MahonyAHRS.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 led1(LED1); DigitalOut led2(LED2); DigitalOut led3(LED3); DigitalOut led4(LED4); Serial pc(USBTX, USBRX); DigitalIn pb1(p17); 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 abs(heading); } bool isWalking = false; Ticker walkingTimer; Ticker resetStart; WirelessModule wireless(p9, p10, FOOT_STEP); float ax ; float ay ; float az ; float gx ; float gy ; float gz ; float mx ; float my ; float mz ; LSM9DS1 IMU(p28, p27, 0xD6, 0x3C); void printStop() { // pc.printf("stop\n\r"); wireless.sendDirection(DIR_NONE); isWalking = false; } int main() { pb1.mode(PullUp); IMU.begin(); float forward; if (!IMU.begin()) { pc.printf("Failed to communicate with LSM9DS1.\n"); } led4 = 1; IMU.calibrate(1); led4 = 0; wait(0.5); led1 = 1; led4 = 1; IMU.calibrateMag(0); led4 = 0; led2 = 1; pc.printf("Press button to set forward direction"); while(pb1 == 1) { IMU.readMag(); IMU.readAccel(); ax = IMU.calcAccel(IMU.ax); ay = IMU.calcAccel(IMU.ay); az = IMU.calcAccel(IMU.az); gx = IMU.calcGyro(IMU.gx); gy = IMU.calcGyro(IMU.gy); gz = IMU.calcGyro(IMU.gz); mx = IMU.calcMag(IMU.mx); my = IMU.calcMag(IMU.my); mz = IMU.calcMag(IMU.mz); 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));; } led3 = 1; while(1) { while(!IMU.tempAvailable()); IMU.readTemp(); while(!IMU.magAvailable(X_AXIS)); IMU.readMag(); while(!IMU.accelAvailable()); IMU.readAccel(); while(!IMU.gyroAvailable()); IMU.readGyro(); if(abs(IMU.calcGyro(IMU.gy)) > 100) { //Calculate heading relative to forward direction 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)); currHeading = correctHeading(currHeading, forward); pc.printf("heading: %f\n\r", currHeading); //Start timeout to detect when stopped walking walkingTimer.attach(printStop, 0.3); //Detect direction and send command to main mbed if((currHeading > 225 && currHeading < 315) && !isWalking) { pc.printf("left\n\r"); wireless.sendDirection(DIR_LEFT); isWalking = true; } else if((currHeading > 45 && currHeading < 135) && !isWalking) { pc.printf("right\n\r"); wireless.sendDirection(DIR_RIGHT); isWalking = true; } else if((currHeading > 135 && currHeading < 225) && !isWalking) { pc.printf("down\n\r"); wireless.sendDirection(DIR_DOWN); isWalking = true; } else if((currHeading > 315 || currHeading < 45) && !isWalking) { pc.printf("up\n\r"); wireless.sendDirection(DIR_UP); isWalking = true; } } } }