task main(){
nxtDisplayCenteredTextLine(0, "Dexter Ind.");
nxtDisplayCenteredBigTextLine(1, "IMU");
nxtDisplayCenteredTextLine(3, "Test 1");
nxtDisplayCenteredTextLine(5, "Connect sensor");
nxtDisplayCenteredTextLine(6, "to S1");
wait1Msec(2000);
eraseDisplay();
// Fire up the gyro and initialize it. Only needs to be done once.
//DIMUconfigGyro(DIMU, DIMU_GYRO_RANGE_500);
if (!DIMUconfigAccel(DIMU, DIMU_ACC_RANGE_2G))
PlaySound(soundException);
if(!DIMUconfigGyro(DIMU, DIMU_GYRO_RANGE_250, true))
PlaySound(soundException);
for (int i = 0; i < 500; i++){
// Read the GYROSCOPE
// There are 3 ways to do this:
// All at once, very convenient if you need all 3
DIMUreadGyroAxes(DIMU, xvals[i], yvals[i], zvals[i]);
wait1Msec(5);
}
for (int i = 0; i< 500; i++) {
writeDebugStream("%f, %f", xvals[i], yvals[i]);
writeDebugStreamLine(", %f", zvals[i]);
wait1Msec(2);
}
}
/**
* The main task
*/
task main(){
nxtDisplayCenteredTextLine(0, "Dexter Ind.");
nxtDisplayCenteredBigTextLine(1, "IMU");
nxtDisplayCenteredTextLine(3, "Test 3");
nxtDisplayCenteredTextLine(5, "Connect sensor");
nxtDisplayCenteredTextLine(6, "to S1");
wait1Msec(2000);
eraseDisplay();
// If configuration fails, the program ends.
if (!DIMUconfigAccel(DIMU, DIMU_ACC_RANGE_2G))
{
PlaySound(soundException);
while(bSoundActive){}
StopAllTasks();
}
while(nNxtButtonPressed == kNoButton)
{
z_val = DIMUreadAccelZAxis10Bit(DIMU);
x_val = DIMUreadAccelXAxis10Bit(DIMU);
// Since the axes are constantly 90 degrees apart, we can use the sum of forces law,
// which looks like the pythagorean theorem, to discover the total force along both axes.
Gforce = sqrt(pow(z_val, 2) + pow(x_val, 2));
// Then we divide both values received by the total force to get numbers on the interval [-1,1].
// This way we can input them into the arcsine and arccosine functions.
z_val = z_val/Gforce;
x_val = x_val/Gforce;
pXrads[0] = asin(x_val);
pXrads[1] = PI-pXrads[0]; //other possible X tilt value.
pZrads[0] = acos(z_val);
pZrads[1] = -1*pZrads[0]; //other possible Z tilt value.
normalize();
displayArrow(radiansToDegrees(match()));
// This stops the screen from flashing.
wait1Msec(100);
}
}
task main(){
float x_val, y_val, z_val; // Gyro axis values
nxtDisplayCenteredTextLine(0, "Dexter Ind.");
nxtDisplayCenteredBigTextLine(1, "IMU");
nxtDisplayCenteredTextLine(3, "Test 1");
nxtDisplayCenteredTextLine(5, "Connect sensor");
nxtDisplayCenteredTextLine(6, "to S1");
wait1Msec(2000);
eraseDisplay();
// Fire up the gyro and initialize it. Only needs to be done once.
//DIMUconfigGyro(DIMU, DIMU_GYRO_RANGE_500);
if (!DIMUconfigAccel(DIMU, DIMU_ACC_RANGE_2G))
PlaySound(soundException);
if(!DIMUconfigGyro(DIMU, DIMU_GYRO_RANGE_500))
PlaySound(soundException);
while (true){
// Read the GYROSCOPE
// There are 3 ways to do this:
// All at once, very convenient if you need all 3
DIMUreadGyroAxes(DIMU, x_val, y_val, z_val);
// Via a single command with the axis specified as one of the arguments
//x_val = DIMUreadGyroAxis(DIMU, DIMU_GYRO_X_AXIS); // Get x-axis in dps.
//y_val = DIMUreadGyroAxis(DIMU, DIMU_GYRO_Y_AXIS); // Get y-axis in dps.
//z_val = DIMUreadGyroAxis(DIMU, DIMU_GYRO_Z_AXIS); // Get z-axis in dps.
// Using a macro that calls the above function with the right argument
// x_val = DIMUreadGyroXAxis(DIMU); // Get x-axis in dps.
// y_val = DIMUreadGyroYAxis(DIMU); // Get y-axis in dps.
// z_val = DIMUreadGyroZAxis(DIMU); // Get z-axis in dps.
nxtDisplayTextLine(1, "%f", x_val);
nxtDisplayTextLine(2, "%f", y_val);
nxtDisplayTextLine(3, "%f", z_val);
// Read the accelerometer
// Again, there are multiple ways to do this:
// All at once, in either 8 bit or 10 bit format
// DIMUreadAccelAxes8Bit(DIMU, x_val, y_val, z_val);
// DIMUreadAccelAxes10Bit(DIMU, x_val, y_val, z_val);
// One by one, specifying the axis as an argument, available in 8 and 10 bit.
//
// 8 bit
//x_val = DIMUreadAccelAxis8Bit(DIMU, DIMU_ACC_X_AXIS);
// y_val = DIMUreadAccelAxis8Bit(DIMU, DIMU_ACC_Y_AXIS);
// z_val = DIMUreadAccelAxis8Bit(DIMU, DIMU_ACC_Z_AXIS);
//
// 10 bit
x_val = DIMUreadAccelAxis10Bit(DIMU, DIMU_ACC_X_AXIS);
y_val = DIMUreadAccelAxis10Bit(DIMU, DIMU_ACC_Y_AXIS);
z_val = DIMUreadAccelAxis10Bit(DIMU, DIMU_ACC_Z_AXIS);
// Function that doesn't require a specified axis, this is just a macro
// x_val = DIMUreadAccelXAxis8Bit(DIMU);
// y_val = DIMUreadAccelYAxis8Bit(DIMU);
// z_val = DIMUreadAccelZAxis8Bit(DIMU);
// x_val = DIMUreadAccelXAxis10Bit(DIMU);
// y_val = DIMUreadAccelYAxis10Bit(DIMU);
// z_val = DIMUreadAccelZAxis10Bit(DIMU);
nxtDisplayTextLine(5, "%f", x_val);
nxtDisplayTextLine(6, "%f", y_val);
nxtDisplayTextLine(7, "%f", z_val);
wait1Msec(50);
}
}