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Robot: Created page with "Return back to project page: Avalanche Cannon - Jakub Vojtek Python code for the Arduino board:
2024-05-22T21:50:48Z

Created page with "Return back to project page: Avalanche Cannon - Jakub Vojtek Python code for the Arduino board: <syntaxhighlight lang=ardu..."

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Return back to project page: [[Spike Prime - Avalanche Cannon - Jakub Vojtek| Avalanche Cannon - Jakub Vojtek]]

Python code for the Arduino board:

<syntaxhighlight lang=arduino>
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "MPU6050.h"

MPU6050 mpu;

#define INTERRUPT_PIN 2
#define LED_PIN 13
bool blinkState = false;

volatile bool mpuInterrupt = false;

void dmpDataReady() {
mpuInterrupt = true;
}

void setup() {
Wire.begin();
Wire.setClock(400000);
Serial.begin(115200);
while (!Serial);

mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
uint8_t devStatus = mpu.dmpInitialize();

mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788);

if (devStatus == 0) {
mpu.CalibrateAccel(6);
mpu.CalibrateGyro(6);
mpu.setDMPEnabled(true);

attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
uint8_t mpuIntStatus = mpu.getIntStatus();
bool dmpReady = true;
uint16_t packetSize = mpu.dmpGetFIFOPacketSize();
} else {
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}

pinMode(LED_PIN, OUTPUT);
}

void loop() {
bool dmpReady = true;
uint8_t fifoBuffer[64];
if (!dmpReady) return;
if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
Quaternion q;
VectorFloat gravity;
float ypr[3];
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
Serial.println(ypr[1] * 180/M_PI); // Send only yaw data over serial
delay(1000);
}
}
</syntaxhighlight>