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Merged MotionCorrection into Release (including InterfaceChange from motionDetection to motion.detection

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This commit is contained in:
hhaupt
2024-06-14 02:51:54 +02:00
parent aa06a3b6a7 2b0cd00ddd
commit 7bc1359d50
14 changed files with 521 additions and 486 deletions
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2
example/IMU/Back_to_Origin/Back_to_Origin.ino
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@ -18,7 +18,7 @@ void loop() {
int zvalue = 0;
for(int i = 0; i<30;i++){
zvalue += dezibot.motionDetection.getAcceleration().z;
zvalue += dezibot.motion.detection.getAcceleration().z;
}
zvalue = zvalue/30;

12
example/IMU/Detection_Print/Detection_Print.ino
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@ -3,8 +3,8 @@ Dezibot dezibot;
void setup() {
dezibot.begin();
dezibot.motionDetection.begin();
//dezibot.motionDetection.end();
dezibot.motion.detection.begin();
//dezibot.motion.detection.end();
// put your setup code here, to run once:
Serial.begin(115200);
}
@ -12,9 +12,9 @@ void setup() {
void loop() {
// put your main code here, to run repeatedly:
//Serial.println(dezibot.motionDetection.getTemperature());
Serial.println(dezibot.motionDetection.getAcceleration().z);
//Serial.println(dezibot.motionDetection.getRotation().x);
Serial.println(dezibot.motionDetection.getWhoAmI());
//Serial.println(dezibot.motion.detection.getTemperature());
Serial.println(dezibot.motion.detection.getAcceleration().z);
//Serial.println(dezibot.motion.detection.getRotation().x);
Serial.println(dezibot.motion.detection.getWhoAmI());
delay(5000);
}

8
example/IMU/Motion_Correction/motion_correction/.theia/launch.json Normal file
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@ -0,0 +1,8 @@
{
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
"version": "0.2.0",
"configurations": [
]
}

86
example/IMU/Motion_Correction/motion_correction/motion_correction.ino Normal file
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@ -0,0 +1,86 @@
#include "Dezibot.h"
Dezibot dezibot = Dezibot();
#define maxDuty 6000
#define minDuty 3500
#define baseDuty 3900
void setup() {
// put your setup code here, to run once:
dezibot.begin();
Serial.begin(115200);
//dezibot.motion.move();
//analogWrite(11, 2000);
//analogWrite(12, 2000);
}
uint16_t leftDuty= baseDuty;
uint16_t rightDuty = baseDuty;
unsigned long previous = millis();
unsigned long current = millis();
long averageZRotation = 0;
long averageXAccel = 0;
int left=0;
int right=0;
int difference = 0;
int changerate = 0;
int interval = 40;
int threshold = 150;
int resultcounter = 0;
void loop() {
// put your main code here, to run repeatedly:
current = millis();
IMUResult result = dezibot.motion.detection.getRotation();
averageXAccel += dezibot.motion.detection.getAcceleration().x;
averageZRotation += result.z;
//Serial.println(result.z);
if (result.z > threshold){
right++;
} else if(result.z < -threshold) {
left++;
}
resultcounter++;
if ((current - previous) > interval){
//averageZRotation = averageZRotation / resultcounter;
difference = abs(left-right);
if (difference>25){
changerate = 100;
} else if(difference>20){
changerate = 50;
} else if(difference >15){
changerate = 30;
} else if(difference > 10){
changerate = 10;
} else{
changerate = 5;
}
//Serial.print("Z:");
//Serial.println(averageZRotation);
dezibot.display.clearDisplay();
dezibot.display.setCursor(0, 0);
dezibot.display.setTextColor(WHITE);
dezibot.display.setTextSize(2); // Draw 2X-scale text
dezibot.display.println(averageZRotation);
//dezibot.display.println(resultcounter);
dezibot.display.print(left);
dezibot.display.print(" ");
dezibot.display.println(right);
if(left>right){ //rotates anticlock
leftDuty+=changerate;
rightDuty-=changerate;
} else if(left<right){
leftDuty-=changerate;
rightDuty+=changerate;
}
dezibot.motion.left.setSpeed(leftDuty);
dezibot.motion.right.setSpeed(rightDuty);
dezibot.display.println(leftDuty);
dezibot.display.println(rightDuty);
dezibot.display.display();
averageZRotation = 0;
averageXAccel = 0;
resultcounter = 0;
left = 0;
right = 0;
previous = current;
}
}