jremington:
Your code, posted in line as described in "How to use the forum".
Yes, it is a problem if two sensors have the same I2C address. If you have two BMP180 pressure sensors, remove one of them. Or replace the 10DOF module with a simple MPU6050 module.
Note: "goto" statements are unnecessary, and are generally viewed as bad programming practice.
#include <Adafruit_BMP085.h>
#include <MPU6050_tockn.h>
#include <Wire.h>
#include <Servo.h>
Servo servo1;
Servo servo2;
Adafruit_BMP085 bmp;
MPU6050 mpu6050(Wire);
float base;
int alti, xangle, zangle, yacc, gpslat, gpslon;
#define rx 11
#define tx 10
#define gpsbaud 9600
#define BuzzerPin 11
#define buzzerdelay 100 //ms
#define buzzererrordelay 100 //ms
#define buzzerbeeptime 2 //times
#define startingaltitude 600 //m
#define delaytime 2000 //ms
#define thresholdangle 30 //degree
#define thresholdacc 0 //m/s^2
#define servoangle 180 //degree
#define seconderaltitude1 1000 //m
#define seconderaltitude2 700 //m
#define seconderaltitude3 600 //m
#define afterdeploytime 3000 //ms
#define safeacc -3 //m/s^2
#define groundaltitude 3 //m
#define servo1pin 9
#define servo2pin 6
#define servoinitialposition 90 //degree
#include <TinyGPS++.h>
TinyGPSPlus gps;
#include <SoftwareSerial.h>
SoftwareSerial ss(rx, tx);
void setup() {
Serial.begin(9600);
ss.begin(gpsbaud);
Wire.begin();
mpu6050.begin();
mpu6050.calcGyroOffsets(true);
servo1.write(servoinitialposition);
servo2.write(servoinitialposition);
servo1.attach(servo1pin);
servo2.attach(servo2pin);
pinMode(BuzzerPin, OUTPUT);
digitalWrite(BuzzerPin, LOW);
if (bmp.begin()) {
Serial.println();
Serial.println("BMP180 initialization successful");
for (int i = 0; i <= buzzerbeeptime; i++) {
digitalWrite(BuzzerPin, HIGH);
delay(buzzerdelay);
digitalWrite(BuzzerPin, LOW);
delay(buzzerdelay);
}
}
else {
Serial.println();
Serial.println(" --- Could not find a valid BMP180 sensor, check wiring! --- ");
digitalWrite(BuzzerPin, HIGH);
delay(buzzererrordelay);
digitalWrite(BuzzerPin, LOW);
}
base = bmp.readPressure();
flight();
}
void loop() {}
int getAltitude() {
alti = round(bmp.readAltitude(base));
Serial.print(F("MAIN: "));
Serial.print(alti);
Serial.println(F("m"));
return alti;
}
void getNMEA() {
Serial.println();
while (ss.available() > 0) {
Serial.write(ss.read());
}
Serial.println();
}
int mpux() {
mpu6050.update();
xangle = abs(mpu6050.getAngleX());
return xangle;
}
int mpuz() {
mpu6050.update();
zangle = abs(mpu6050.getAngleZ());
return zangle;
}
int mpuaccy() {
mpu6050.update();
yacc = mpu6050.getAccY();
return yacc;
}
void flight () {
s1: delay(delaytime); getAltitude(); getNMEA();
Serial.print(F("MAIN: <=")); Serial.print(startingaltitude); Serial.print(F("m ")); Serial.print(F("(")); Serial.print(alti); Serial.println(F("m)"));
if (alti > startingaltitude) {
Serial.print(F("MAIN: THRESHOLD ALTITUDE EXCEEDED ")); Serial.print(F("(>")); Serial.print(startingaltitude); Serial.print(F("m)"));
s2: delay(delaytime); mpuaccy(); getAltitude(); getNMEA();
if ( yacc < thresholdacc) {
Serial.println(F("MAIN: ACCELERATION THRESHOLD EXCEEDED, SLOWING DOWN"));
s3: delay(delaytime); mpux(); mpuz(); getAltitude(); getNMEA();
if ( xangle > thresholdangle || zangle > thresholdangle) {
Serial.print(F("MAIN: ")); Serial.print(thresholdangle); Serial.println(F(" DEGREE DETECTED, MAIN 1 EJECTING"));
servo1.write(servoangle);
delay(afterdeploytime);
s4: delay(delaytime); getAltitude(); getNMEA();
if (alti < seconderaltitude1) {
Serial.print(F("MAIN: ALTITUDE <=")); Serial.print(seconderaltitude1); Serial.print(F("m"));
s5: delay(delaytime); getAltitude(); getNMEA();
if (alti < seconderaltitude2) {
Serial.print(F("MAIN: ALTITUDE <=")); Serial.print(seconderaltitude2); Serial.print(F("m"));
s6: delay(delaytime); getAltitude(); getNMEA();
if (alti < seconderaltitude3) {
Serial.print(F("MAIN: ALTITUDE <=")); Serial.print(seconderaltitude3); Serial.print(F("m, MAIN 2 EJECTING"));
servo2.write(servoangle);
delay(afterdeploytime);
s7: delay(delaytime); mpuaccy(); getAltitude(); getNMEA();
if (yacc > safeacc) {
Serial.print(F("MAIN: ACCELERATION ")); Serial.print(yacc); Serial.println(F("m/s^2, SAFE"));
s8: delay(delaytime); getAltitude(); getNMEA();
if (alti < groundaltitude) {
getAltitude(); getNMEA();
Serial.println(F("MAIN: LANDED"));
}
else {
goto s8;
}
}
else {
Serial.print(F("MAIN: ACCELERATION "));
Serial.print(yacc);
Serial.println(F("m/s^2, HIGH ACCELERATION"));
goto s7;
}
}
else {
goto s6;
}
}
else {
goto s5;
}
}
else {
goto s4;
}
}
else {
goto s3;
}
}
else {
goto s2;
}
}
else {
goto s1;
}
}
Thanks for editing. I attached a photo. The altitude data decreases violently. Can I solve this by replacing the BMP180 on 10DOF? I mean, just mechanically.
