Rocket Auto Abort System!

1//DeltaSpaceSystems2019//
2
3#include <elapsedMillis.h>
4#include  "Wire.h" // This library allows you to communicate with I2C devices.
5int led  = 3;
6int relay = 2;
7int a;
8int ax;
9int ay;
10int az;
11int i;
12const  int MPU_ADDR = 0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH,  the I2C address will be 0x69.
13int16_t accelerometer_x, accelerometer_y, accelerometer_z;  // variables for accelerometer raw data
14int16_t gyro_x, gyro_y, gyro_z; // variables  for gyro raw data
15int16_t temperature; // variables for temperature data
16char  tmp_str[7]; // temporary variable used in convert function
17char* convert_int16_to_str(int16_t  i) { // converts int16 to string. Moreover, resulting strings will have the same  length in the debug monitor.
18  sprintf(tmp_str, "%6d", i);
19  return tmp_str;
20  
21}
22void setup() {
23  Serial.begin(9600);
24  pinMode(relay, OUTPUT);
25  digitalWrite(relay, LOW);
26   pinMode(led, OUTPUT);
27  digitalWrite(led, LOW);
28  Wire.begin();
29  Wire.beginTransmission(MPU_ADDR); // Begins a transmission  to the I2C slave (GY-521 board)
30  Wire.write(0x6B); // PWR_MGMT_1 register
31  Wire.write(0); // set to zero (wakes up the MPU-6050)
32  Wire.endTransmission(true);
33}
34void  loop() {
35  Wire.beginTransmission(MPU_ADDR);
36  Wire.write(0x3B); // starting  with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions  Revision 4.2, p.40]
37  Wire.endTransmission(false); // the parameter indicates  that the Arduino will send a restart. As a result, the connection is kept active.
38  Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers
39  
40  // "Wire.read()<<8 | Wire.read();" means two registers are read and stored  in the same variable
41  accelerometer_x = Wire.read()<<8 | Wire.read(); // reading  registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
42  accelerometer_y = Wire.read()<<8  | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
43  accelerometer_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H)  and 0x40 (ACCEL_ZOUT_L)
44  temperature = Wire.read()<<8 | Wire.read(); // reading  registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
45  gyro_x = Wire.read()<<8  | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
46  gyro_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H)  and 0x46 (GYRO_YOUT_L)
47  gyro_z = Wire.read()<<8 | Wire.read(); // reading registers:  0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
48  
49  // print out data
50  Serial.print("aX,");  Serial.print(convert_int16_to_str(accelerometer_x));
51  Serial.print(",aY,");  Serial.print(convert_int16_to_str(accelerometer_y));
52  Serial.print(",aZ,");  Serial.print(convert_int16_to_str(accelerometer_z));
53  // the following equation  was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description,  p.30]
54  Serial.print(",tmp,"); Serial.print(temperature/340.00+36.53);
55  Serial.print(",gX,"); Serial.print(convert_int16_to_str(gyro_x));
56  Serial.print(",gY,");  Serial.print(convert_int16_to_str(gyro_y));
57  Serial.print(",gZ,"); Serial.print(convert_int16_to_str(gyro_z));
58ax=accelerometer_x/100;
59ay=accelerometer_y/100;
60az=accelerometer_z/100;
61
62  a=(sq(ax)+sq(ay));    //gets tilt calc
63  Serial.print(",Calculation,"); Serial.print(a);
64  Serial.println();
65
66  if (a>8000){    // this detects launch acceleration
67    digitalWrite(relay, HIGH);
68 delay(5000);
69 digitalWrite(relay, LOW);}
70  Serial.print("Fire Pyro");
71    Serial.println();
72    digitalWrite(led,  HIGH);
73  delay(100);
74 digitalWrite(led, LOW);
75
76  }
77