F1 in Schools Car - Safety Modulation

Programming Adafruit Feather 32u4 to write acceleration and gyroscopic variables onto an SD card.

Aug 7, 2018

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roy_boy.ino

c_cpp

The code for the accelerometer and gyroscope

1// (c) Michael Schoeffler 2017, http://www.mschoeffler.de
2#include   "Wire.h" // This library allows you to communicate with I2C devices.
3#include   <SPI.h>
4#include <SD.h>
5const int MPU_ADDR = 0x68; // I2C address of the MPU-6050.   If AD0 pin is set to HIGH, the I2C address will be 0x69.
6int16_t accelerometer_x,   accelerometer_y, accelerometer_z; // variables for accelerometer raw data
7int16_t   gyro_x, gyro_y, gyro_z; // variables for gyro raw data
8int16_t temperature; //   variables for temperature data
9char tmp_str[7]; // temporary variable used in   convert function
10char* convert_int16_to_str(int16_t i) { // converts int16 to   string. Moreover, resulting strings will have the same length in the debug monitor.
11sprintf(tmp_str,   "%6d", i);
12return tmp_str;
13const int chipSelect = 4;
14}
15void setup()   {
16Serial.begin(9600);
17while (!Serial) {
18; // wait for serial port to connect.   Needed for native USB port only
19}
20
21
22Serial.print("Initializing SD card...");
23
24//   see if the card is present and can be initialized:
25if (!SD.begin(4)) {
26Serial.println("Card   failed, or not present");
27// don't do anything more:
28while (1);
29}
30Serial.println("card   initialized.");
31Wire.begin();
32Wire.beginTransmission(MPU_ADDR); // Begins   a transmission to the I2C slave (GY-521 board)
33Wire.write(0x6B); // PWR_MGMT_1   register
34Wire.write(0); // set to zero (wakes up the MPU-6050)
35Wire.endTransmission(true);
36}
37
38void   loop() {
39// make a string for assembling the data to log:
40String dataString   = "";
41
42// read three sensors and append to the string:
43for (int analogPin   = 0; analogPin < 3; analogPin++) {
44int sensor = analogRead(analogPin);
45dataString   += String(sensor);
46if (analogPin < 2) {
47dataString += ",";
48}
49}
50
51//   open the file. note that only one file can be open at a time,
52// so you have   to close this one before opening another.
53File dataFile = SD.open("datalog.txt",   FILE_WRITE);
54
55// if the file is available, write to it:
56if (dataFile) {
57dataFile.println(dataString);
58dataFile.close();
59//   print to the serial port too:
60Serial.println(dataString);
61}
62// if the file   isn't open, pop up an error:
63else {
64Serial.println("error opening datalog.txt");
65}
66Wire.beginTransmission(MPU_ADDR);
67Wire.write(0x3B);   // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map   and Descriptions Revision 4.2, p.40]
68Wire.endTransmission(false); // the parameter   indicates that the Arduino will send a restart. As a result, the connection is kept   active.
69Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers
70
71//   "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the   same variable
72accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers:   0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
73accelerometer_y = Wire.read()<<8   | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
74accelerometer_z   = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40   (ACCEL_ZOUT_L)
75temperature = Wire.read()<<8 | Wire.read(); // reading registers:   0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
76gyro_x = Wire.read()<<8 | Wire.read();   // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
77gyro_y = Wire.read()<<8   | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
78gyro_z   = Wire.read()<<8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48   (GYRO_ZOUT_L)
79
80// print out data
81Serial.print("aX = "); Serial.print(convert_int16_to_str(accelerometer_x));
82Serial.print("   | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));
83Serial.print("   | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));
84// the following   equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description,   p.30]
85Serial.print(" | tmp = "); Serial.print(temperature/340.00+36.53);
86Serial.print("   | gX = "); Serial.print(convert_int16_to_str(gyro_x));
87Serial.print(" | gY   = "); Serial.print(convert_int16_to_str(gyro_y));
88Serial.print(" | gZ = ");   Serial.print(convert_int16_to_str(gyro_z));
89Serial.println();
90
91// delay
92delay(50);
93}
94

// (c) Michael Schoeffler 2017, http://www.mschoeffler.de
#include   "Wire.h" // This library allows you to communicate with I2C devices.
#include   <SPI.h>
#include <SD.h>
const int MPU_ADDR = 0x68; // I2C address of the MPU-6050.   If AD0 pin is set to HIGH, the I2C address will be 0x69.
int16_t accelerometer_x,   accelerometer_y, accelerometer_z; // variables for accelerometer raw data
int16_t   gyro_x, gyro_y, gyro_z; // variables for gyro raw data
int16_t temperature; //   variables for temperature data
char tmp_str[7]; // temporary variable used in   convert function
char* convert_int16_to_str(int16_t i) { // converts int16 to   string. Moreover, resulting strings will have the same length in the debug monitor.
sprintf(tmp_str,   "%6d", i);
return tmp_str;
const int chipSelect = 4;
}
void setup()   {
Serial.begin(9600);
while (!Serial) {
; // wait for serial port to connect.   Needed for native USB port only
}


Serial.print("Initializing SD card...");

//   see if the card is present and can be initialized:
if (!SD.begin(4)) {
Serial.println("Card   failed, or not present");
// don't do anything more:
while (1);
}
Serial.println("card   initialized.");
Wire.begin();
Wire.beginTransmission(MPU_ADDR); // Begins   a transmission to the I2C slave (GY-521 board)
Wire.write(0x6B); // PWR_MGMT_1   register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
}

void   loop() {
// make a string for assembling the data to log:
String dataString   = "";

// read three sensors and append to the string:
for (int analogPin   = 0; analogPin < 3; analogPin++) {
int sensor = analogRead(analogPin);
dataString   += String(sensor);
if (analogPin < 2) {
dataString += ",";
}
}

//   open the file. note that only one file can be open at a time,
// so you have   to close this one before opening another.
File dataFile = SD.open("datalog.txt",   FILE_WRITE);

// if the file is available, write to it:
if (dataFile) {
dataFile.println(dataString);
dataFile.close();
//   print to the serial port too:
Serial.println(dataString);
}
// if the file   isn't open, pop up an error:
else {
Serial.println("error opening datalog.txt");
}
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x3B);   // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map   and Descriptions Revision 4.2, p.40]
Wire.endTransmission(false); // the parameter   indicates that the Arduino will send a restart. As a result, the connection is kept   active.
Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers

//   "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the   same variable
accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers:   0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
accelerometer_y = Wire.read()<<8   | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
accelerometer_z   = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40   (ACCEL_ZOUT_L)
temperature = Wire.read()<<8 | Wire.read(); // reading registers:   0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
gyro_x = Wire.read()<<8 | Wire.read();   // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
gyro_y = Wire.read()<<8   | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
gyro_z   = Wire.read()<<8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48   (GYRO_ZOUT_L)

// print out data
Serial.print("aX = "); Serial.print(convert_int16_to_str(accelerometer_x));
Serial.print("   | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));
Serial.print("   | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));
// the following   equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description,   p.30]
Serial.print(" | tmp = "); Serial.print(temperature/340.00+36.53);
Serial.print("   | gX = "); Serial.print(convert_int16_to_str(gyro_x));
Serial.print(" | gY   = "); Serial.print(convert_int16_to_str(gyro_y));
Serial.print(" | gZ = ");   Serial.print(convert_int16_to_str(gyro_z));
Serial.println();

// delay
delay(50);
}

roy_boy.ino

c_cpp

The code for the accelerometer and gyroscope

1// (c) Michael Schoeffler 2017, http://www.mschoeffler.de
2#include  "Wire.h" // This library allows you to communicate with I2C devices.
3#include  <SPI.h>
4#include <SD.h>
5const int MPU_ADDR = 0x68; // I2C address of the MPU-6050.  If AD0 pin is set to HIGH, the I2C address will be 0x69.
6int16_t accelerometer_x,  accelerometer_y, accelerometer_z; // variables for accelerometer raw data
7int16_t  gyro_x, gyro_y, gyro_z; // variables for gyro raw data
8int16_t temperature; //  variables for temperature data
9char tmp_str[7]; // temporary variable used in  convert function
10char* convert_int16_to_str(int16_t i) { // converts int16 to  string. Moreover, resulting strings will have the same length in the debug monitor.
11sprintf(tmp_str,  "%6d", i);
12return tmp_str;
13const int chipSelect = 4;
14}
15void setup()  {
16Serial.begin(9600);
17while (!Serial) {
18; // wait for serial port to connect.  Needed for native USB port only
19}
20
21
22Serial.print("Initializing SD card...");
23
24//  see if the card is present and can be initialized:
25if (!SD.begin(4)) {
26Serial.println("Card  failed, or not present");
27// don't do anything more:
28while (1);
29}
30Serial.println("card  initialized.");
31Wire.begin();
32Wire.beginTransmission(MPU_ADDR); // Begins  a transmission to the I2C slave (GY-521 board)
33Wire.write(0x6B); // PWR_MGMT_1  register
34Wire.write(0); // set to zero (wakes up the MPU-6050)
35Wire.endTransmission(true);
36}
37
38void  loop() {
39// make a string for assembling the data to log:
40String dataString  = "";
41
42// read three sensors and append to the string:
43for (int analogPin  = 0; analogPin < 3; analogPin++) {
44int sensor = analogRead(analogPin);
45dataString  += String(sensor);
46if (analogPin < 2) {
47dataString += ",";
48}
49}
50
51//  open the file. note that only one file can be open at a time,
52// so you have  to close this one before opening another.
53File dataFile = SD.open("datalog.txt",  FILE_WRITE);
54
55// if the file is available, write to it:
56if (dataFile) {
57dataFile.println(dataString);
58dataFile.close();
59//  print to the serial port too:
60Serial.println(dataString);
61}
62// if the file  isn't open, pop up an error:
63else {
64Serial.println("error opening datalog.txt");
65}
66Wire.beginTransmission(MPU_ADDR);
67Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map  and Descriptions Revision 4.2, p.40]
68Wire.endTransmission(false); // the parameter  indicates that the Arduino will send a restart. As a result, the connection is kept  active.
69Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers
70
71//  "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the  same variable
72accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers:  0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
73accelerometer_y = Wire.read()<<8  | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
74accelerometer_z  = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40  (ACCEL_ZOUT_L)
75temperature = Wire.read()<<8 | Wire.read(); // reading registers:  0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
76gyro_x = Wire.read()<<8 | Wire.read();  // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
77gyro_y = Wire.read()<<8  | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
78gyro_z  = Wire.read()<<8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48  (GYRO_ZOUT_L)
79
80// print out data
81Serial.print("aX = "); Serial.print(convert_int16_to_str(accelerometer_x));
82Serial.print("  | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));
83Serial.print("  | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));
84// the following  equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description,  p.30]
85Serial.print(" | tmp = "); Serial.print(temperature/340.00+36.53);
86Serial.print("  | gX = "); Serial.print(convert_int16_to_str(gyro_x));
87Serial.print(" | gY  = "); Serial.print(convert_int16_to_str(gyro_y));
88Serial.print(" | gZ = ");  Serial.print(convert_int16_to_str(gyro_z));
89Serial.println();
90
91// delay
92delay(50);
93}
94

// (c) Michael Schoeffler 2017, http://www.mschoeffler.de
#include  "Wire.h" // This library allows you to communicate with I2C devices.
#include  <SPI.h>
#include <SD.h>
const int MPU_ADDR = 0x68; // I2C address of the MPU-6050.  If AD0 pin is set to HIGH, the I2C address will be 0x69.
int16_t accelerometer_x,  accelerometer_y, accelerometer_z; // variables for accelerometer raw data
int16_t  gyro_x, gyro_y, gyro_z; // variables for gyro raw data
int16_t temperature; //  variables for temperature data
char tmp_str[7]; // temporary variable used in  convert function
char* convert_int16_to_str(int16_t i) { // converts int16 to  string. Moreover, resulting strings will have the same length in the debug monitor.
sprintf(tmp_str,  "%6d", i);
return tmp_str;
const int chipSelect = 4;
}
void setup()  {
Serial.begin(9600);
while (!Serial) {
; // wait for serial port to connect.  Needed for native USB port only
}


Serial.print("Initializing SD card...");

//  see if the card is present and can be initialized:
if (!SD.begin(4)) {
Serial.println("Card  failed, or not present");
// don't do anything more:
while (1);
}
Serial.println("card  initialized.");
Wire.begin();
Wire.beginTransmission(MPU_ADDR); // Begins  a transmission to the I2C slave (GY-521 board)
Wire.write(0x6B); // PWR_MGMT_1  register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
}

void  loop() {
// make a string for assembling the data to log:
String dataString  = "";

// read three sensors and append to the string:
for (int analogPin  = 0; analogPin < 3; analogPin++) {
int sensor = analogRead(analogPin);
dataString  += String(sensor);
if (analogPin < 2) {
dataString += ",";
}
}

//  open the file. note that only one file can be open at a time,
// so you have  to close this one before opening another.
File dataFile = SD.open("datalog.txt",  FILE_WRITE);

// if the file is available, write to it:
if (dataFile) {
dataFile.println(dataString);
dataFile.close();
//  print to the serial port too:
Serial.println(dataString);
}
// if the file  isn't open, pop up an error:
else {
Serial.println("error opening datalog.txt");
}
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map  and Descriptions Revision 4.2, p.40]
Wire.endTransmission(false); // the parameter  indicates that the Arduino will send a restart. As a result, the connection is kept  active.
Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers

//  "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the  same variable
accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers:  0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
accelerometer_y = Wire.read()<<8  | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
accelerometer_z  = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40  (ACCEL_ZOUT_L)
temperature = Wire.read()<<8 | Wire.read(); // reading registers:  0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
gyro_x = Wire.read()<<8 | Wire.read();  // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
gyro_y = Wire.read()<<8  | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
gyro_z  = Wire.read()<<8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48  (GYRO_ZOUT_L)

// print out data
Serial.print("aX = "); Serial.print(convert_int16_to_str(accelerometer_x));
Serial.print("  | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));
Serial.print("  | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));
// the following  equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description,  p.30]
Serial.print(" | tmp = "); Serial.print(temperature/340.00+36.53);
Serial.print("  | gX = "); Serial.print(convert_int16_to_str(gyro_x));
Serial.print(" | gY  = "); Serial.print(convert_int16_to_str(gyro_y));
Serial.print(" | gZ = ");  Serial.print(convert_int16_to_str(gyro_z));
Serial.println();

// delay
delay(50);
}

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