Hey all,
I'm super new to the arduino environment, and the project I'm currently working on is for my University's Space Grant Consortium rocket challenge. Part of the competition requirements is that you must record rotational data (XYZ axes) over the duration of the flight. Currently I am stuck trying to slow down the data output rate of the IMU I'm using (Pololu - L3GD20H 3-Axis Gyro Carrier with Voltage Regulator) combined with my arduino pro micro (Pro Micro - 3.3V/8MHz - DEV-12587 - SparkFun Electronics). I need to slow down the data output rate because my max array size is like 200, and the flight duration is 25 seconds (roughly). My code is made so that once I hit the 1st button, a delay will start and then after the delay, there is a launch detect system code written. Once the launch is detected, then the arduino will read pitch, roll, and yaw data off the IMU. However, it appears as though the array fills up within a second or two, and I want it to sample slowly so that it fills up after 20 seconds and therefore my array will be filled upon completion. Once data is gathered, I have another button that once pressed, outputs the data to my computer and onto the serial port. Here is my code. Any help or advice would be appreciated!
#include <Wire.h>
#include <L3G.h>
L3G gyro;
const double convFactor = 8.75 / 1000;
double dc_offsetX = 0;
double dc_offsetY = 0;
double dc_offsetZ = 0;
int StartButton = 7;
int OutputButton = 8;
const int RXLED = 17;
void setup() {
pinMode(StartButton, INPUT_PULLUP);
pinMode(OutputButton, INPUT_PULLUP);
pinMode(RXLED, OUTPUT);
Serial.begin(9600);
Serial1.begin(9600);
Wire.begin(0x35);
gyro.init();
gyro.enableDefault();
gyro.writeReg(L3G::LOW_ODR, 0x01); //enables low ODR
gyro.writeReg(L3G::CTRL_REG4, 0x10); //changed to 500 dps
gyro.writeReg(L3G::CTRL_REG1, 0x2F); //changed to 12.5 Hz ODR
Serial.println("Initializing Setup ");
delay(3000); //30,000 milliseconds = 30 seconds (time delay before dc offset is calculated)
int sampleNum = 500;
//Calculate initial DC offset and noise level of gyro
for (int n = 0; n < sampleNum; n++) {
gyro.read();
dc_offsetX += (int)gyro.g.x;
dc_offsetY += (int)gyro.g.y;
dc_offsetZ += (int)gyro.g.z;
}
delay(1000);
dc_offsetX = convFactor * (dc_offsetX / sampleNum);
//print dc offsetX and noise level
Serial.print("DC OffsetX: ");
Serial.println(dc_offsetX);
dc_offsetY = convFactor * (dc_offsetY / sampleNum);
//print dc offsetY and noise level
Serial.print("DC OffsetY: ");
Serial.println(dc_offsetY);
dc_offsetZ = convFactor * (dc_offsetZ / sampleNum);
//print dc offsetZ and noise level
Serial.print("DC OffsetZ: ");
Serial.println(dc_offsetZ);
Serial.println("Waiting For Button To Be Pressed");
while (digitalRead(StartButton) == HIGH) true; //Sit here until button pressed
Serial.println("Delay Starting After 5th Blink");
delay(500);
for (int k = 1; k <= 5; k = k + 1) {
digitalWrite(RXLED, LOW);
TXLED0;
delay (500);
digitalWrite(RXLED, HIGH);
TXLED1;
delay(500);
}
}
void loop() {
gyro.read();
long totalI;
long totalF;
long totalA;
long total;
int AverageTotalI = 500;
int AverageTotalF = 500;
int counterPos = 0; //Position in sample array
int counterMax = 100; //Total Number of samples to store (40)...5 samples/sec * 20 seconds of flight data needed = 100
int vectorX[counterMax];
int vectorY[counterMax];
int vectorZ[counterMax];
// Insert Delay Here....delay(600000) = 10 minute delay
for (int m = 0; m < AverageTotalI; m++) { //Calculate Average Value for Total (Initial)
gyro.read();
totalI = abs(gyro.g.x) + abs(gyro.g.y) + abs(gyro.g.z);
}
Serial.print("Value for total (Initial) = ");
Serial.println(totalI);
do {
for (int p = 0; p < AverageTotalF; p++) { //Calculate Average Value for Total (Final)
gyro.read();
totalF = abs(gyro.g.x) + abs(gyro.g.y) + abs(gyro.g.z);
}
totalA = totalF - totalI;
total = abs(totalA);
Serial.print("Value for total (Final) = ");
Serial.println(totalF);
Serial.print("Difference Value is: ");
Serial.println(total);
} while (total <= 8000);
if (total >= 8000) {
Serial.println("Data Collection Starting");
//Data collection
//while (digitalRead(OutputButton) == HIGH) { //Button Not Pressed
if (counterPos >= counterMax) {
return; //Stop recording samples.
gyro.read();
vectorX[counterPos] = int(gyro.g.x);
vectorY[counterPos] = int(gyro.g.y);
vectorZ[counterPos] = int(gyro.g.z);
delay(5000); //SAMPLE DELAY BETWEEN SAMPLES (500)
++counterPos; //increment counter
}
//}
for (int jjj = 0; jjj <= counterMax; jjj++) {
Serial.print((vectorX[jjj]*convFactor) - dc_offsetX);
Serial.print(",");
Serial.print((vectorY[jjj]*convFactor) - dc_offsetY);
Serial.print(",");
Serial.println((vectorZ[jjj]*convFactor) - dc_offsetZ);
}
Serial.println("Arry Values Printed, Looping");
// delay(5000);
}
}
code.txt (3.9 KB)
