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Rewrote documentaton and support for gyroscope.

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Nolan Mascrier 2025-03-06 13:30:32 +01:00 committed by GitHub
parent 9b43f047a0
commit 67f0058c3a
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1 changed files with 28 additions and 39 deletions
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67
ArduinoCube/ArduinoCube.ino
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@ -12,8 +12,9 @@
*/
#include <Arduino_APDS9960.h>
#include "arduino_secrets.h"
#include <Arduino_LSM9DS1.h>
#include <Arduino.h>
#include "arduino_secrets.h"
#define TRIGG_BOTTOM D12
#define TRIGG_TOP D10
@ -29,30 +30,22 @@
#define ECHO_3 A3
#define ECHO_4 A5
#define STATUS_SAFE 0
#define STATUS_CLOSE 1
#define STATUS_DANGER 2
float x = 0;
float y = 0;
float z = 0;
#define DISTANCE_DANGER 40
#define DISTANCE_SAFE 120
int plusThreshold = 30;
int minusThreshold = -30;
int status = STATUS_SAFE;
//int wifi_status = WL_IDLE_STATUS;
int ledState = LOW;
//std::string sides[6];
std::string sides[6] = {"Bottom", "Top", "Right", "Front", "Left", "Back"};
int count = 0;
long duration = 0;
int distance = 0;
long durations[6];
long distances[6];
void setup() {
/**
* Sets up the Arduino.
*/
void setup()
{
Serial.begin(9600);
Serial.println("Starting up");
@ -62,10 +55,7 @@ void setup() {
Serial.println("Error initializing APDS-9960 sensor!");
while (1);
}
pinMode(LED_BUILTIN, OUTPUT);
//Init the sensors
pinMode(TRIGG_BOTTOM, OUTPUT);
pinMode(TRIGG_TOP, OUTPUT);
@ -84,7 +74,10 @@ void setup() {
/**
* Reads the data from the sensor and calculates the distance.
* /home/devel/arduino/.env
*
* @arg trigger Pin number for the trigger.
* @arg echo Pin number for the echo.
* @return calculated distance.
*/
int fire_sensor(int trigger, int echo)
@ -104,7 +97,8 @@ int fire_sensor(int trigger, int echo)
}
/**
* Sends the data to the server.
* Sends the data to the server. Writes it as a JSON parsable string
* and sends it to the Serial Monitor.
*/
void send_JSON()
{
@ -114,15 +108,22 @@ void send_JSON()
json += "\"" + sides[2] + "\":" + std::to_string(distances[2]) + ",";
json += "\"" + sides[3] + "\":" + std::to_string(distances[3]) + ",";
json += "\"" + sides[4] + "\":" + std::to_string(distances[4]) + ",";
json += "\"" + sides[5] + "\":" + std::to_string(distances[5]) + "";
json += "\"" + sides[5] + "\":" + std::to_string(distances[5]) + ",";
json += "\"X\":" + std::to_string(x) + ",";
json += "\"Y\":" + std::to_string(y) + ",";
json += "\"Z\":" + std::to_string(z) + "";
json += "}";
Serial.println(json.c_str());
}
void loop() {
unsigned long currentMillis = millis();
/**
* Main loop running inside the Arduino. Calls the sensors
* and the gyroscope, and sends the results to the Python server
* through the Serial as JSON.
*/
void loop()
{
distances[0] = fire_sensor(TRIGG_BOTTOM, ECHO_BOTTOM);
distances[1] = fire_sensor(TRIGG_TOP, ECHO_TOP);
distances[2] = fire_sensor(TRIGG_1, ECHO_1);
@ -130,17 +131,5 @@ void loop() {
distances[4] = fire_sensor(TRIGG_3, ECHO_3);
distances[5] = fire_sensor(TRIGG_4, ECHO_4);
send_JSON();
/*for (int i = 0; i < 6; i++)
{
Serial.print("Sensor {");
Serial.print(sides[i].c_str());
Serial.print("} : ");
Serial.print(distances[i]);
Serial.println("cm");
}*/
//update_status(distance);
// wait a bit before reading again
delayMicroseconds(10000);
count++;
}