Fire punch!

Inspired by Allen Pan's project, I decided to recreate in my own a fire-gun, with different components (for ex. mpu5060) and code.

Jul 31, 2021

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Components and supplies

Jumper wires (generic)

Arduino Nano R3

6 DOF Sensor - MPU6050

Resistor 100 ohm

General Purpose Transistor NPN

Relay (generic)

Tools and machines

Soldering iron (generic)

Project description

Code

Fire_punch

c_cpp

1
2
3#include "I2Cdev.h"
4
5#include "MPU6050_6Axis_MotionApps20.h"
6
7#if   I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
8    #include "Wire.h"
9#endif
10
11
12MPU6050   mpu;
13
14
15
16
17
18
19#define OUTPUT_READABLE_REALACCEL
20
21
22
23
24
25
26#define   INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards
27#define LED_PIN 13   // (Arduino is 13, Teensy is 11, Teensy++ is 6)
28bool blinkState = false;
29
30//   MPU control/status vars
31bool dmpReady = false;  // set true if DMP init was successful
32uint8_t   mpuIntStatus;   // holds actual interrupt status byte from MPU
33uint8_t devStatus;       // return status after each device operation (0 = success, !0 = error)
34uint16_t   packetSize;    // expected DMP packet size (default is 42 bytes)
35uint16_t fifoCount;      // count of all bytes currently in FIFO
36uint8_t fifoBuffer[64]; // FIFO   storage buffer
37
38// orientation/motion vars
39Quaternion q;           // [w,   x, y, z]         quaternion container
40VectorInt16 aa;         // [x, y, z]            accel   sensor measurements
41VectorInt16 aaReal;     // [x, y, z]            gravity-free   accel sensor measurements
42VectorInt16 aaWorld;    // [x, y, z]            world-frame   accel sensor measurements
43VectorFloat gravity;    // [x, y, z]            gravity   vector
44float euler[3];         // [psi, theta, phi]    Euler angle container
45float   ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
46
47//   packet structure for InvenSense teapot demo
48uint8_t teapotPacket[14] = { '$',   0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\
', '\
49' };
50
51
52
53
54
55//   ================================================================
56// ===                      INITIAL   SETUP                       ===
57// ================================================================
58
59void   setup() {
60  pinMode(2, OUTPUT);
61  
62    // join I2C bus (I2Cdev library   doesn't do this automatically)
63    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
64         Wire.begin();
65//        Wire.setClock(400000); // 400kHz I2C clock. Comment   this line if having compilation difficulties
66    #elif I2CDEV_IMPLEMENTATION   == I2CDEV_BUILTIN_FASTWIRE
67        Fastwire::setup(400, true);
68    #endif
69
70     // initialize serial communication
71    // (115200 chosen because it is required   for Teapot Demo output, but it's
72    // really up to you depending on your project)
73     Serial.begin(9600);
74   
75
76    // initialize device
77    Serial.println(F("Initializing   I2C devices..."));
78    mpu.initialize();
79    pinMode(INTERRUPT_PIN, INPUT);
80
81     // verify connection
82    Serial.println(F("Testing device connections..."));
83     Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") :   F("MPU6050 connection failed"));
84
85  
86
87    // load and configure the   DMP
88    Serial.println(F("Initializing DMP..."));
89    devStatus = mpu.dmpInitialize();
90
91     // supply your own gyro offsets here, scaled for min sensitivity
92    mpu.setXGyroOffset(220);
93     mpu.setYGyroOffset(76);
94    mpu.setZGyroOffset(-85);
95    mpu.setZAccelOffset(1788);   // 1688 factory default for my test chip
96
97    // make sure it worked (returns   0 if so)
98    if (devStatus == 0) {
99        // Calibration Time: generate offsets   and calibrate our MPU6050
100        mpu.CalibrateAccel(6);
101        mpu.CalibrateGyro(6);
102         mpu.PrintActiveOffsets();
103        // turn on the DMP, now that it's ready
104         Serial.println(F("Enabling DMP..."));
105        mpu.setDMPEnabled(true);
106
107
108
109        
110        Serial.println(F("DMP ready! Waiting for first interrupt..."));
111         dmpReady = true;
112
113        // get expected DMP packet size for later   comparison
114        packetSize = mpu.dmpGetFIFOPacketSize();
115    } else {
116         // ERROR!
117        // 1 = initial memory load failed
118        // 2 =   DMP configuration updates failed
119        // (if it's going to break, usually   the code will be 1)
120        Serial.print(F("DMP Initialization failed (code   "));
121        Serial.print(devStatus);
122        Serial.println(F(")"));
123     }
124
125}
126
127
128
129// ================================================================
130//   ===                    MAIN PROGRAM LOOP                     ===
131// ================================================================
132
133void   loop() {
134  
135    // if programming failed, don't try to do anything
136    if   (!dmpReady) return;
137    // read a packet from FIFO
138    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer))   { // Get the Latest packet 
139        
140
141       
142
143        #ifdef OUTPUT_READABLE_REALACCEL
144             // display real acceleration, adjusted to remove gravity
145            mpu.dmpGetQuaternion(&q,   fifoBuffer);
146            mpu.dmpGetAccel(&aa, fifoBuffer);
147            mpu.dmpGetGravity(&gravity,   &q);
148            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
149            Serial.print("areal\	");
150             Serial.print(aaReal.x);
151            Serial.print("\	");
152            Serial.print(aaReal.y);
153             Serial.print("\	");
154            Serial.println(aaReal.z);
155         #endif
156
157
158        
159 if (aaReal.y <= -9500 ){
160   digitalWrite(2,   HIGH);   
161  delay(175);                      
162  digitalWrite(2, LOW);   
163   delay(175);    
164   }
165
166    }
167   
168}
169


#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"

#if   I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif


MPU6050   mpu;






#define OUTPUT_READABLE_REALACCEL






#define   INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards
#define LED_PIN 13   // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;

//   MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t   mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;       // return status after each device operation (0 = success, !0 = error)
uint16_t   packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;      // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO   storage buffer

// orientation/motion vars
Quaternion q;           // [w,   x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel   sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free   accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame   accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity   vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float   ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

//   packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$',   0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\
', '\
' };





//   ================================================================
// ===                      INITIAL   SETUP                       ===
// ================================================================

void   setup() {
  pinMode(2, OUTPUT);
  
    // join I2C bus (I2Cdev library   doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
         Wire.begin();
//        Wire.setClock(400000); // 400kHz I2C clock. Comment   this line if having compilation difficulties
    #elif I2CDEV_IMPLEMENTATION   == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

     // initialize serial communication
    // (115200 chosen because it is required   for Teapot Demo output, but it's
    // really up to you depending on your project)
     Serial.begin(9600);
   

    // initialize device
    Serial.println(F("Initializing   I2C devices..."));
    mpu.initialize();
    pinMode(INTERRUPT_PIN, INPUT);

     // verify connection
    Serial.println(F("Testing device connections..."));
     Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") :   F("MPU6050 connection failed"));

  

    // load and configure the   DMP
    Serial.println(F("Initializing DMP..."));
    devStatus = mpu.dmpInitialize();

     // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
     mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788);   // 1688 factory default for my test chip

    // make sure it worked (returns   0 if so)
    if (devStatus == 0) {
        // Calibration Time: generate offsets   and calibrate our MPU6050
        mpu.CalibrateAccel(6);
        mpu.CalibrateGyro(6);
         mpu.PrintActiveOffsets();
        // turn on the DMP, now that it's ready
         Serial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);



        
        Serial.println(F("DMP ready! Waiting for first interrupt..."));
         dmpReady = true;

        // get expected DMP packet size for later   comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
         // ERROR!
        // 1 = initial memory load failed
        // 2 =   DMP configuration updates failed
        // (if it's going to break, usually   the code will be 1)
        Serial.print(F("DMP Initialization failed (code   "));
        Serial.print(devStatus);
        Serial.println(F(")"));
     }

}



// ================================================================
//   ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void   loop() {
  
    // if programming failed, don't try to do anything
    if   (!dmpReady) return;
    // read a packet from FIFO
    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer))   { // Get the Latest packet 
        

       

        #ifdef OUTPUT_READABLE_REALACCEL
             // display real acceleration, adjusted to remove gravity
            mpu.dmpGetQuaternion(&q,   fifoBuffer);
            mpu.dmpGetAccel(&aa, fifoBuffer);
            mpu.dmpGetGravity(&gravity,   &q);
            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
            Serial.print("areal\	");
             Serial.print(aaReal.x);
            Serial.print("\	");
            Serial.print(aaReal.y);
             Serial.print("\	");
            Serial.println(aaReal.z);
         #endif


        
 if (aaReal.y <= -9500 ){
   digitalWrite(2,   HIGH);   
  delay(175);                      
  digitalWrite(2, LOW);   
   delay(175);    
   }

    }
   
}

Fire_punch

c_cpp

1
2
3#include "I2Cdev.h"
4
5#include "MPU6050_6Axis_MotionApps20.h"
6
7#if  I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
8    #include "Wire.h"
9#endif
10
11
12MPU6050  mpu;
13
14
15
16
17
18
19#define OUTPUT_READABLE_REALACCEL
20
21
22
23
24
25
26#define  INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards
27#define LED_PIN 13  // (Arduino is 13, Teensy is 11, Teensy++ is 6)
28bool blinkState = false;
29
30//  MPU control/status vars
31bool dmpReady = false;  // set true if DMP init was successful
32uint8_t  mpuIntStatus;   // holds actual interrupt status byte from MPU
33uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
34uint16_t  packetSize;    // expected DMP packet size (default is 42 bytes)
35uint16_t fifoCount;     // count of all bytes currently in FIFO
36uint8_t fifoBuffer[64]; // FIFO  storage buffer
37
38// orientation/motion vars
39Quaternion q;           // [w,  x, y, z]         quaternion container
40VectorInt16 aa;         // [x, y, z]            accel  sensor measurements
41VectorInt16 aaReal;     // [x, y, z]            gravity-free  accel sensor measurements
42VectorInt16 aaWorld;    // [x, y, z]            world-frame  accel sensor measurements
43VectorFloat gravity;    // [x, y, z]            gravity  vector
44float euler[3];         // [psi, theta, phi]    Euler angle container
45float  ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
46
47//  packet structure for InvenSense teapot demo
48uint8_t teapotPacket[14] = { '$',  0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
49
50
51
52
53
54//  ================================================================
55// ===                      INITIAL  SETUP                       ===
56// ================================================================
57
58void  setup() {
59  pinMode(2, OUTPUT);
60  
61    // join I2C bus (I2Cdev library  doesn't do this automatically)
62    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
63        Wire.begin();
64//        Wire.setClock(400000); // 400kHz I2C clock. Comment  this line if having compilation difficulties
65    #elif I2CDEV_IMPLEMENTATION  == I2CDEV_BUILTIN_FASTWIRE
66        Fastwire::setup(400, true);
67    #endif
68
69    // initialize serial communication
70    // (115200 chosen because it is required  for Teapot Demo output, but it's
71    // really up to you depending on your project)
72    Serial.begin(9600);
73   
74
75    // initialize device
76    Serial.println(F("Initializing  I2C devices..."));
77    mpu.initialize();
78    pinMode(INTERRUPT_PIN, INPUT);
79
80    // verify connection
81    Serial.println(F("Testing device connections..."));
82    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") :  F("MPU6050 connection failed"));
83
84  
85
86    // load and configure the  DMP
87    Serial.println(F("Initializing DMP..."));
88    devStatus = mpu.dmpInitialize();
89
90    // supply your own gyro offsets here, scaled for min sensitivity
91    mpu.setXGyroOffset(220);
92    mpu.setYGyroOffset(76);
93    mpu.setZGyroOffset(-85);
94    mpu.setZAccelOffset(1788);  // 1688 factory default for my test chip
95
96    // make sure it worked (returns  0 if so)
97    if (devStatus == 0) {
98        // Calibration Time: generate offsets  and calibrate our MPU6050
99        mpu.CalibrateAccel(6);
100        mpu.CalibrateGyro(6);
101        mpu.PrintActiveOffsets();
102        // turn on the DMP, now that it's ready
103        Serial.println(F("Enabling DMP..."));
104        mpu.setDMPEnabled(true);
105
106
107
108       
109        Serial.println(F("DMP ready! Waiting for first interrupt..."));
110        dmpReady = true;
111
112        // get expected DMP packet size for later  comparison
113        packetSize = mpu.dmpGetFIFOPacketSize();
114    } else {
115        // ERROR!
116        // 1 = initial memory load failed
117        // 2 =  DMP configuration updates failed
118        // (if it's going to break, usually  the code will be 1)
119        Serial.print(F("DMP Initialization failed (code  "));
120        Serial.print(devStatus);
121        Serial.println(F(")"));
122    }
123
124}
125
126
127
128// ================================================================
129//  ===                    MAIN PROGRAM LOOP                     ===
130// ================================================================
131
132void  loop() {
133  
134    // if programming failed, don't try to do anything
135    if  (!dmpReady) return;
136    // read a packet from FIFO
137    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer))  { // Get the Latest packet 
138        
139
140       
141
142        #ifdef OUTPUT_READABLE_REALACCEL
143            // display real acceleration, adjusted to remove gravity
144            mpu.dmpGetQuaternion(&q,  fifoBuffer);
145            mpu.dmpGetAccel(&aa, fifoBuffer);
146            mpu.dmpGetGravity(&gravity,  &q);
147            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
148            Serial.print("areal\	");
149            Serial.print(aaReal.x);
150            Serial.print("\	");
151            Serial.print(aaReal.y);
152            Serial.print("\	");
153            Serial.println(aaReal.z);
154        #endif
155
156
157        
158 if (aaReal.y <= -9500 ){
159   digitalWrite(2,  HIGH);   
160  delay(175);                      
161  digitalWrite(2, LOW);   
162  delay(175);    
163   }
164
165    }
166   
167}
168


#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"

#if  I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif


MPU6050  mpu;






#define OUTPUT_READABLE_REALACCEL






#define  INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards
#define LED_PIN 13  // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;

//  MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t  mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t  packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO  storage buffer

// orientation/motion vars
Quaternion q;           // [w,  x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel  sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free  accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame  accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity  vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float  ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

//  packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$',  0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };





//  ================================================================
// ===                      INITIAL  SETUP                       ===
// ================================================================

void  setup() {
  pinMode(2, OUTPUT);
  
    // join I2C bus (I2Cdev library  doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
//        Wire.setClock(400000); // 400kHz I2C clock. Comment  this line if having compilation difficulties
    #elif I2CDEV_IMPLEMENTATION  == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    // initialize serial communication
    // (115200 chosen because it is required  for Teapot Demo output, but it's
    // really up to you depending on your project)
    Serial.begin(9600);
   

    // initialize device
    Serial.println(F("Initializing  I2C devices..."));
    mpu.initialize();
    pinMode(INTERRUPT_PIN, INPUT);

    // verify connection
    Serial.println(F("Testing device connections..."));
    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") :  F("MPU6050 connection failed"));

  

    // load and configure the  DMP
    Serial.println(F("Initializing DMP..."));
    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788);  // 1688 factory default for my test chip

    // make sure it worked (returns  0 if so)
    if (devStatus == 0) {
        // Calibration Time: generate offsets  and calibrate our MPU6050
        mpu.CalibrateAccel(6);
        mpu.CalibrateGyro(6);
        mpu.PrintActiveOffsets();
        // turn on the DMP, now that it's ready
        Serial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);



       
        Serial.println(F("DMP ready! Waiting for first interrupt..."));
        dmpReady = true;

        // get expected DMP packet size for later  comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
        // ERROR!
        // 1 = initial memory load failed
        // 2 =  DMP configuration updates failed
        // (if it's going to break, usually  the code will be 1)
        Serial.print(F("DMP Initialization failed (code  "));
        Serial.print(devStatus);
        Serial.println(F(")"));
    }

}



// ================================================================
//  ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void  loop() {
  
    // if programming failed, don't try to do anything
    if  (!dmpReady) return;
    // read a packet from FIFO
    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer))  { // Get the Latest packet 
        

       

        #ifdef OUTPUT_READABLE_REALACCEL
            // display real acceleration, adjusted to remove gravity
            mpu.dmpGetQuaternion(&q,  fifoBuffer);
            mpu.dmpGetAccel(&aa, fifoBuffer);
            mpu.dmpGetGravity(&gravity,  &q);
            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
            Serial.print("areal\	");
            Serial.print(aaReal.x);
            Serial.print("\	");
            Serial.print(aaReal.y);
            Serial.print("\	");
            Serial.println(aaReal.z);
        #endif


        
 if (aaReal.y <= -9500 ){
   digitalWrite(2,  HIGH);   
  delay(175);                      
  digitalWrite(2, LOW);   
  delay(175);    
   }

    }
   
}

Downloadable files

arduino, mpu6050, realy

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