Handling and parsing large CSV files

Using Arduino Programming Questions
1

Hello,
I am facing the following task and would like to get some input how to solve it in the easiest and most efficient way:

I am having a CSV file using ";" as separator. The CSV file is rather large (4 MB) and stored on a SD-Card. The CSV file is structured as follows:

Timestamp ; AngleX; AngleY; AngleZ;

All stored numbers are numbers (floats). The data in the CSV file is logged by using an MPU6050 IMU over a time period of several minutes.

I want to use an Arduino Mega with SD-Card shield to read the CSV file and send the three "AngleX, AngleY, AngleZ" values to three servos at the exact time according to the "Timestamp". The Timestamp recorded the milliseconds passed since the beginning of the recording.

As the CSV file is rather large, I assume that I does not make sense and will take too long to go through the entire CSV file on every loop in order to find the "timestamp" which is the nearest to the actual timer of the Arduino controlling the three servos. I would like to avoid any hiccups so that the servos at all times have the fitting value in order to recreate the motion captured and logged by using the IMU as precisely as possible.

I am looking for your input, in particular if there is a library which could help me achieving my goal. Thank you very much for your help.

Best regards,
Mareus

2

Doesn't your logging mechanism mean that the file is in timestamp order?

3

I assume the timestamps are in order. That means you only have to read one line ahead.

struct recordType {float timestamp, float angleX, float angleY, float angle} Record;

void ReadRecord()
{
  Record.timestamp = file.parseFloat();
  Record.angleX = file.parseFloat();
  Record.angleY = file.parseFloat();
  Record.angleZ = file.parseFloat();
}

void setup()
{
  // Open the file

  ReadRecord();
  StartTime = millis();
}

void loop()
{
  // Compare the timestamp of the record to the 
  // current elapsed time. 
  if (millis() - StartTime >= Record.timestamp)
  {
    // send the angles to the servos.
    servoX.write(Record.angleX);
    servoY.write(Record.angleY);
    servoZ.write(Record.angleZ);

    // Read the next record
    ReadRecord();

    // Check for end of file
    if (!file.available())
    {
      // Hit the end of the file
      while (1) {} // Hang here
    }
  }
}
1 Like
4

even the timestamp?

5

You could close the file before hanging there

6

Yes. And also define the servo objects. And open the file. And use better variable names.

7

@J-M-L : Yes, you are correct. The "timestamp" is not a float but an "unsigned long".

Thank you very much @johnwasser! Your code works very well. My current code looks like this:

#include <Arduino.h>
#include <SPI.h>
#include <SD.h>
#include <Wire.h>
#include "ServoEasing.hpp"
#include "PinDefinitionsAndMore.h"

ServoEasing Servo1;
ServoEasing Servo2;

#define START_DEGREE_VALUE 90


// ================================================================
// ===               TIME TRACKING                              ===
// ================================================================
unsigned long starttime;


// ================================================================
// ===               Servoangles and Acc                        ===
// ================================================================
int ServoAngX;
int ServoAngY;

// the logging file
File logfile;
struct RecordType {
  float timempu;
  float AngX;
  float AngY;
  float AngZ;
  float lux;
} Record;

void ReadRecord()
{
  Record.timempu = logfile.parseFloat();
  Record.AngX = logfile.parseFloat();
  Record.AngY = logfile.parseFloat();
  Record.AngZ = logfile.parseFloat();
  Record.lux = logfile.parseFloat();

  Serial.print("Startime: ");
  Serial.println((millis()-starttime));
  Serial.print("Executiontime: ");
  Serial.println(Record.timempu);
  Serial.print("Delta: ");
  Serial.println((Record.timempu)-(millis()-starttime));
//  Serial.print("AngX: ");
//  Serial.println(Record.AngX);
//  Serial.print("AngY: ");
//  Serial.println(Record.AngY);
//  Serial.print("AngZ: ");
//  Serial.println(Record.AngZ);
//  Serial.print("LUX: ");
//  Serial.println(Record.lux);
}

// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================
void error(char *str)
{
  Serial.print("error: ");
  Serial.println(str);
  while (1);
}

void setup() {


  Serial.begin(115200);

  //Servos
  Servo1.setEasingType(EASE_LINEAR);
  Servo2.setEasingType(EASE_LINEAR);
  Servo1.write(90);
  Servo2.write(90);

  if (Servo1.attach(SERVO1_PIN, START_DEGREE_VALUE, DEFAULT_MICROSECONDS_FOR_0_DEGREE,
                    DEFAULT_MICROSECONDS_FOR_180_DEGREE) == INVALID_SERVO) {
    Serial.println(F("Error attaching servo"));
  }
  if (Servo2.attach(SERVO2_PIN, START_DEGREE_VALUE, DEFAULT_MICROSECONDS_FOR_0_DEGREE,
                    DEFAULT_MICROSECONDS_FOR_180_DEGREE) == INVALID_SERVO) {
    Serial.println(F("Error attaching servo"));
  }

  //SD Card
  // initialize the SD card
  Serial.print("Initializing SD card...");
  pinMode(10, OUTPUT);

  // see if the card is present and can be initialized:
  if (!SD.begin(10, 11, 12, 13)) {
    error("Card failed, or not present");
  }
  Serial.println("card initialized.");

  logfile = SD.open("MPU.CSV", FILE_READ);

  if (logfile.available()) {
    Serial.println("File opened");
    }

  if (!logfile.available()) {
    Serial.println("File not found");
    }


  ReadRecord();
  starttime = millis();
}


// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void loop() {


  if (millis() - starttime >= Record.timempu)
  {
    ServoAngX = map (Record.AngX, -90, 90, 0, 180);
    ServoAngY = map (Record.AngY, -90, 90, 180, 0);

    setSpeedForAllServos(180);
    Servo1.setEaseTo(ServoAngX);
    Servo2.startEaseTo(ServoAngY); // Start interrupt for all servos. No synchronization here since the servos should move independently.

    
    while (ServoEasing::areInterruptsActive()) {
          
    }

ReadRecord();
  }

  if (!logfile.available())
    {
      // Hit the end of the file
      while (1) { // Hang here
                logfile.close();
        }
    }
}

I measured the delay between executing the command to the servos and the timestamp which is mostly around 50ms and therefore fine. However, sometimes the delay is negative which should not be the case according to the "if" statement.

See:

11:50:49.222 -> Initializing SD card...card initialized.
11:50:49.269 -> File opened
11:50:49.269 -> Startime: 58
11:50:49.269 -> Executiontime: 18.00
11:50:49.269 -> Delta: -41.00
11:50:49.318 -> Startime: 21
11:50:49.318 -> Executiontime: 87.00
11:50:49.318 -> Delta: 65.00
11:50:49.366 -> Startime: 90
11:50:49.366 -> Executiontime: 133.00
11:50:49.366 -> Delta: 42.00
11:50:49.414 -> Startime: 136
11:50:49.414 -> Executiontime: 183.00
11:50:49.414 -> Delta: 46.00
11:50:49.462 -> Startime: 186
11:50:49.462 -> Executiontime: 234.00
11:50:49.462 -> Delta: 47.00
11:50:49.510 -> Startime: 237
11:50:49.510 -> Executiontime: 284.00
11:50:49.510 -> Delta: 46.00
11:50:49.557 -> Startime: 287
11:50:49.557 -> Executiontime: 341.00
11:50:49.557 -> Delta: 53.00
11:50:49.652 -> Startime: 344
11:50:49.652 -> Executiontime: 391.00
11:50:49.652 -> Delta: 46.00
11:50:49.700 -> Startime: 394
11:50:49.700 -> Executiontime: 442.00
11:50:49.700 -> Delta: 47.00
11:50:49.747 -> Startime: 445
11:50:49.747 -> Executiontime: 492.00
11:50:49.747 -> Delta: 46.00
11:50:49.794 -> Startime: 496
11:50:49.794 -> Executiontime: 543.00
11:50:49.794 -> Delta: 46.00
11:50:49.842 -> Startime: 546
11:50:49.842 -> Executiontime: 600.00
11:50:49.842 -> Delta: 53.00
11:50:49.888 -> Startime: 603
11:50:49.888 -> Executiontime: 650.00
11:50:49.888 -> Delta: 46.00
11:50:49.936 -> Startime: 653
11:50:49.936 -> Executiontime: 700.00
11:50:49.936 -> Delta: 46.00
11:50:49.984 -> Startime: 703
11:50:49.984 -> Executiontime: 751.00
11:50:49.984 -> Delta: 47.00
11:50:50.032 -> Startime: 755
11:50:50.032 -> Executiontime: 801.00
11:50:50.032 -> Delta: 45.00
11:50:50.080 -> Startime: 804
11:50:50.080 -> Executiontime: 858.00
11:50:50.080 -> Delta: 53.00
11:50:50.176 -> Startime: 871
11:50:50.176 -> Executiontime: 928.00
11:50:50.176 -> Delta: 56.00
11:50:50.222 -> Startime: 931
11:50:50.222 -> Executiontime: 980.00
11:50:50.222 -> Delta: 48.00
11:50:50.268 -> Startime: 983
11:50:50.268 -> Executiontime: 1030.00
11:50:50.268 -> Delta: 46.00
11:50:50.316 -> Startime: 1033
11:50:50.316 -> Executiontime: 1086.00
11:50:50.316 -> Delta: 52.00
11:50:50.364 -> Startime: 1089
11:50:50.364 -> Executiontime: 1136.00
11:50:50.364 -> Delta: 46.00
11:50:50.412 -> Startime: 1139
11:50:50.412 -> Executiontime: 1187.00
11:50:50.459 -> Delta: 47.00
11:50:50.507 -> Startime: 1190
11:50:50.507 -> Executiontime: 1238.00
11:50:50.507 -> Delta: 47.00
11:50:50.555 -> Startime: 1241
11:50:50.555 -> Executiontime: 1294.00
11:50:50.555 -> Delta: 52.00
11:50:50.603 -> Startime: 1297
11:50:50.603 -> Executiontime: 1345.00
11:50:50.603 -> Delta: 47.00
11:50:50.649 -> Startime: 1349
11:50:50.649 -> Executiontime: 1395.00
11:50:50.649 -> Delta: 45.00
11:50:50.697 -> Startime: 1398
11:50:50.697 -> Executiontime: 1446.00
11:50:50.697 -> Delta: 47.00
11:50:50.745 -> Startime: 1449
11:50:50.745 -> Executiontime: 1502.00
11:50:50.745 -> Delta: 52.00
11:50:50.793 -> Startime: 1505
11:50:50.793 -> Executiontime: 1553.00
11:50:50.793 -> Delta: 47.00
11:50:50.839 -> Startime: 1556
11:50:50.839 -> Executiontime: 1603.00
11:50:50.839 -> Delta: 46.00
11:50:50.887 -> Startime: 1607
11:50:50.887 -> Executiontime: 1654.00
11:50:50.887 -> Delta: 46.00
11:50:50.935 -> Startime: 1657
11:50:50.935 -> Executiontime: 1711.00
11:50:50.983 -> Delta: 53.00
11:50:51.031 -> Startime: 1714
11:50:51.031 -> Executiontime: 1762.00
11:50:51.031 -> Delta: 47.00
11:50:51.079 -> Startime: 1776
11:50:51.079 -> Executiontime: 1831.00
11:50:51.079 -> Delta: 54.00
11:50:51.127 -> Startime: 1834
11:50:51.127 -> Executiontime: 1882.00
11:50:51.127 -> Delta: 47.00
11:50:51.175 -> Startime: 1885
11:50:51.175 -> Executiontime: 1932.00
11:50:51.175 -> Delta: 46.00
11:50:51.223 -> Startime: 1935
11:50:51.223 -> Executiontime: 1988.00
11:50:51.223 -> Delta: 52.00
11:50:51.315 -> Startime: 1992
11:50:51.315 -> Executiontime: 2052.00
11:50:51.315 -> Delta: 59.00
11:50:51.363 -> Startime: 2055
11:50:51.363 -> Executiontime: 2119.00
11:50:51.363 -> Delta: 63.00
11:50:51.411 -> Startime: 2122
11:50:51.411 -> Executiontime: 2169.00
11:50:51.411 -> Delta: 46.00
11:50:51.459 -> Startime: 2172
11:50:51.459 -> Executiontime: 2221.00
11:50:51.459 -> Delta: 48.00
11:50:51.507 -> Startime: 2224
11:50:51.507 -> Executiontime: 2277.00
11:50:51.554 -> Delta: 52.00
11:50:51.602 -> Startime: 2280
11:50:51.602 -> Executiontime: 2327.00
11:50:51.602 -> Delta: 46.00
11:50:51.649 -> Startime: 2331
11:50:51.649 -> Executiontime: 2377.00
11:50:51.649 -> Delta: 45.00
11:50:51.696 -> Startime: 2380
11:50:51.696 -> Executiontime: 2429.00
11:50:51.696 -> Delta: 48.00
11:50:51.744 -> Startime: 2432
11:50:51.744 -> Executiontime: 2479.00
11:50:51.744 -> Delta: 46.00
11:50:51.792 -> Startime: 2482
11:50:51.792 -> Executiontime: 2535.00
11:50:51.792 -> Delta: 52.00
11:50:51.838 -> Startime: 2538
11:50:51.838 -> Executiontime: 2586.00
11:50:51.838 -> Delta: 47.00
11:50:51.886 -> Startime: 2590
11:50:51.886 -> Executiontime: 2636.00
11:50:51.886 -> Delta: 45.00
11:50:51.934 -> Startime: 2639
11:50:51.934 -> Executiontime: 2687.00
11:50:51.934 -> Delta: 47.00
11:50:51.982 -> Startime: 2690
11:50:51.982 -> Executiontime: 2743.00
11:50:51.982 -> Delta: 52.00
11:50:52.078 -> Startime: 2757
11:50:52.078 -> Executiontime: 2814.00
11:50:52.078 -> Delta: 56.00
11:50:52.126 -> Startime: 2817
11:50:52.126 -> Executiontime: 2864.00
11:50:52.126 -> Delta: 46.00
11:50:52.174 -> Startime: 2867
11:50:52.174 -> Executiontime: 2915.00
11:50:52.174 -> Delta: 47.00
11:50:52.222 -> Startime: 2918
11:50:52.222 -> Executiontime: 2965.00
11:50:52.222 -> Delta: 46.00
11:50:52.268 -> Startime: 2968
11:50:52.268 -> Executiontime: 3021.00
11:50:52.268 -> Delta: 52.00
11:50:52.316 -> Startime: 3024
11:50:52.316 -> Executiontime: 3073.00
11:50:52.316 -> Delta: 48.00
11:50:52.364 -> Startime: 3076
11:50:52.364 -> Executiontime: 3123.00
11:50:52.411 -> Delta: 46.00
11:50:52.457 -> Startime: 3126
11:50:52.457 -> Executiontime: 3174.00
11:50:52.457 -> Delta: 47.00
11:50:52.504 -> Startime: 3198
11:50:52.504 -> Executiontime: 3230.00
11:50:52.504 -> Delta: 31.00
11:50:52.600 -> Startime: 3278
11:50:52.600 -> Executiontime: 3281.00
11:50:52.600 -> Delta: 2.00
11:50:52.647 -> Startime: 3338
11:50:52.647 -> Executiontime: 3332.00
11:50:52.647 -> Delta: -7.00
11:50:52.743 -> Startime: 3418
11:50:52.743 -> Executiontime: 3382.00
11:50:52.743 -> Delta: -37.00
11:50:52.791 -> Startime: 3478
11:50:52.791 -> Executiontime: 3438.00
11:50:52.791 -> Delta: -41.00
11:50:52.837 -> Startime: 3538
11:50:52.837 -> Executiontime: 3489.00
11:50:52.837 -> Delta: -50.00
11:50:52.885 -> Startime: 3578
11:50:52.885 -> Executiontime: 3541.00
11:50:52.885 -> Delta: -38.00
11:50:52.933 -> Startime: 3619
11:50:52.933 -> Executiontime: 3597.00
11:50:52.933 -> Delta: -22.00
11:50:52.980 -> Startime: 3669
11:50:52.980 -> Executiontime: 3668.00
11:50:52.980 -> Delta: -2.00
11:50:53.027 -> Startime: 3718
11:50:53.027 -> Executiontime: 3718.00
11:50:53.027 -> Delta: -1.00
11:50:53.075 -> Startime: 3759
11:50:53.075 -> Executiontime: 3769.00
11:50:53.075 -> Delta: 10.00
11:50:53.123 -> Startime: 3799
11:50:53.123 -> Executiontime: 3825.00
11:50:53.123 -> Delta: 25.00
11:50:53.171 -> Startime: 3858
11:50:53.171 -> Executiontime: 3876.00
11:50:53.171 -> Delta: 17.00
11:50:53.219 -> Startime: 3898
11:50:53.219 -> Executiontime: 3928.00
11:50:53.219 -> Delta: 29.00
11:50:53.267 -> Startime: 3959
11:50:53.267 -> Executiontime: 3984.00
11:50:53.267 -> Delta: 24.00
11:50:53.315 -> Startime: 4019
11:50:53.315 -> Executiontime: 4034.00
11:50:53.363 -> Delta: 15.00
11:50:53.411 -> Startime: 4078
11:50:53.411 -> Executiontime: 4098.00
11:50:53.411 -> Delta: 18.00
11:50:53.459 -> Startime: 4139
11:50:53.459 -> Executiontime: 4163.00
11:50:53.459 -> Delta: 23.00
11:50:53.552 -> Startime: 4219
11:50:53.552 -> Executiontime: 4214.00
11:50:53.552 -> Delta: -6.00
11:50:53.599 -> Startime: 4259
11:50:53.599 -> Executiontime: 4265.00
11:50:53.599 -> Delta: 5.00
11:50:53.599 -> Startime: 4299
11:50:53.599 -> Executiontime: 4322.00
11:50:53.646 -> Delta: 22.00
11:50:53.693 -> Startime: 4359
11:50:53.693 -> Executiontime: 4372.00
11:50:53.693 -> Delta: 12.00
11:50:53.741 -> Startime: 4399
11:50:53.741 -> Executiontime: 4423.00
11:50:53.741 -> Delta: 23.00
11:50:53.789 -> Startime: 4459
11:50:53.789 -> Executiontime: 4473.00
11:50:53.789 -> Delta: 13.00
11:50:53.838 -> Startime: 4510
11:50:53.838 -> Executiontime: 4543.00
11:50:53.838 -> Delta: 32.00
11:50:53.884 -> Startime: 4579
11:50:53.884 -> Executiontime: 4599.00
11:50:53.884 -> Delta: 19.00
11:50:53.980 -> Startime: 4640
11:50:53.980 -> Executiontime: 4651.00
11:50:53.980 -> Delta: 11.00
11:50:54.026 -> Startime: 4680
11:50:54.026 -> Executiontime: 4702.00
11:50:54.026 -> Delta: 21.00
11:50:54.074 -> Startime: 4739
11:50:54.074 -> Executiontime: 4752.00
11:50:54.074 -> Delta: 12.00
11:50:54.122 -> Startime: 4780
11:50:54.122 -> Executiontime: 4808.00
11:50:54.122 -> Delta: 28.00
11:50:54.122 -> Startime: 4811
11:50:54.122 -> Executiontime: 4860.00
11:50:54.122 -> Delta: 48.00
11:50:54.266 -> Startime: 4919
11:50:54.266 -> Executiontime: 4911.00
11:50:54.266 -> Delta: -9.00
11:50:54.266 -> Startime: 4940
11:50:54.266 -> Executiontime: 4967.00
11:50:54.266 -> Delta: 26.00
11:50:54.314 -> Startime: 4970
11:50:54.314 -> Executiontime: 5018.00
11:50:54.314 -> Delta: 47.00
11:50:54.362 -> Startime: 5040
11:50:54.362 -> Executiontime: 5068.00
11:50:54.362 -> Delta: 27.00
11:50:54.410 -> Startime: 5071
11:50:54.410 -> Executiontime: 5120.00
11:50:54.410 -> Delta: 48.00
11:50:54.458 -> Startime: 5139
11:50:54.458 -> Executiontime: 5176.00
11:50:54.458 -> Delta: 36.00
11:50:54.552 -> Startime: 5219
11:50:54.552 -> Executiontime: 5227.00
11:50:54.552 -> Delta: 7.00
11:50:54.598 -> Startime: 5259
11:50:54.598 -> Executiontime: 5277.00
11:50:54.598 -> Delta: 17.00
11:50:54.645 -> Startime: 5299
11:50:54.645 -> Executiontime: 5334.00
11:50:54.645 -> Delta: 34.00
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11:50:54.692 -> Executiontime: 5404.00
11:50:54.692 -> Delta: 56.00
11:50:54.740 -> Startime: 5420
11:50:54.740 -> Executiontime: 5456.00
11:50:54.740 -> Delta: 35.00
11:50:54.788 -> Startime: 5459
11:50:54.788 -> Executiontime: 5506.00
11:50:54.788 -> Delta: 46.00
11:50:54.835 -> Startime: 5519
11:50:54.835 -> Executiontime: 5562.00
11:50:54.835 -> Delta: 42.00
11:50:54.931 -> Startime: 5600
11:50:54.931 -> Executiontime: 5613.00
11:50:54.931 -> Delta: 12.00
11:50:54.979 -> Startime: 5660
11:50:54.979 -> Executiontime: 5663.00
11:50:54.979 -> Delta: 2.00
11:50:55.026 -> Startime: 5701
11:50:55.026 -> Executiontime: 5715.00
11:50:55.026 -> Delta: 13.00
11:50:55.072 -> Startime: 5760
11:50:55.072 -> Executiontime: 5771.00
11:50:55.119 -> Delta: 10.00
11:50:55.167 -> Startime: 5820
11:50:55.167 -> Executiontime: 5822.00
11:50:55.167 -> Delta: 1.00
11:50:55.215 -> Startime: 5860
11:50:55.215 -> Executiontime: 5873.00
11:50:55.215 -> Delta: 12.00
11:50:55.263 -> Startime: 5921
11:50:55.263 -> Executiontime: 5923.00
11:50:55.263 -> Delta: 1.00
11:50:55.311 -> Startime: 5961
11:50:55.311 -> Executiontime: 5980.00
11:50:55.311 -> Delta: 18.00
11:50:55.359 -> Startime: 6020
11:50:55.359 -> Executiontime: 6031.00
11:50:55.359 -> Delta: 10.00
11:50:55.407 -> Startime: 6061
11:50:55.407 -> Executiontime: 6082.00
11:50:55.407 -> Delta: 21.00
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11:50:55.455 -> Executiontime: 6143.00
11:50:55.455 -> Delta: 42.00
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11:50:55.503 -> Executiontime: 6229.00
11:50:55.503 -> Delta: 57.00
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11:50:55.598 -> Executiontime: 6279.00
11:50:55.598 -> Delta: 38.00
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11:50:55.645 -> Executiontime: 6330.00
11:50:55.645 -> Delta: 28.00
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11:50:55.691 -> Executiontime: 6386.00
11:50:55.691 -> Delta: 44.00
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11:50:55.739 -> Executiontime: 6438.00
11:50:55.739 -> Delta: 48.00
11:50:55.787 -> Startime: 6460
11:50:55.787 -> Executiontime: 6489.00
11:50:55.787 -> Delta: 28.00
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11:50:55.835 -> Executiontime: 6545.00
11:50:55.835 -> Delta: 52.00
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11:50:55.882 -> Executiontime: 6596.00
11:50:55.882 -> Delta: 47.00
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11:50:55.929 -> Executiontime: 6646.00
11:50:55.929 -> Delta: 44.00
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11:50:55.976 -> Executiontime: 6698.00
11:50:55.976 -> Delta: 48.00
11:50:56.023 -> Startime: 6702
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Furthermore: Will there by longer delays in case the CSV file gets bigger (currently i am testing with a file recorded 20sec of movement)?

Lastly: How do I read two lines of the CSV File ahead, so that I can determine the difference in angle and time to calculate the accelaration / duration of the movement?

8

You need to find out how long time it takes to load a records from SD-card into memory. When you know that, you create a buffer/array of records and pre-load as many records as possible (or needed) into that array before starting the sequence. Whenever the delta time is large enough to load one or more records, you do so. You will need to handle the array as a circular buffer where the beginning and end is defined by variables in order to know where to put new and get old data.

9

using parseFloat will be ok for the timestamp if you never exceed the limits of float (6 to 7 significant digits), but I would store it as an unsigned long in Record if you want to do calculations with millis.

It would have been better if you had stored the data on the SD card as binary data (actual unsigned long and floats) instead of ASCII, that avoids the need to parse the data, and allows you to index into the file if you want a specific record.

The SD card is read into a 512 byte buffer, there will always be a slight delay when that buffer needs to be refilled.

Looks like you are converting the floats to a number from 0 - 180 for the servo position - why not do that conversion when you read the data, then Record can store the data as byte instead of float, giving you the ability to store a much larger buffer of data. Also, if you never use certain data there is no need to store it at all - you never appear to use Record.lux or Record.AngZ, although that may be because you did not include it in the test code).

10

It looks like you are falling behind on your playback. The first two records below were read 80 milliseconds apart but the motion was supposed to be done in 50 milliseconds. After a few such, you will fall further and further behind.

I recommend you reduce the amount of text logging by not labeling each line and using one line per report:

  Serial.print((millis()-starttime));
  Serial.print(',');
  Serial.print(Record.timempu);
  Serial.print(',');
  Serial.println((Record.timempu)-(millis()-starttime));
11

if the file can be modified, you should go for a binary format (writing a struct of known size for each record).

That lets you read any record at any position pretty easily (record N is at file seek N x recorSize, starting with first record at index 0) and save a lot of conversion time.

12

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