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candlejoust.ino
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candlejoust.ino
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// https://github.com/ElectronicCats/mpu6050
#include "MPU6050_6Axis_MotionApps20.h"
#include "I2Cdev.h"
#include <Wire.h>
#include <Adafruit_NeoPixel.h>
const int MPU_addr=0x68; // I2C address of the MPU-6050
const int ACCEL_ADDR = 0x3B;
const int POWER_ADDR = 0x6B; // PWR_MGMT_1 register
const int LED_DATA_PIN = 16; // Pin to communicate with LED; old values of 16, 5
#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards
const int BUTTON_PIN = 6; // button pin used to restart game
const double WARN_ACCEL = 2800;
const double MAX_ACCEL = 3500;
const int16_t BRIGHTNESS = 200;
bool running;
Adafruit_NeoPixel strip(1, LED_DATA_PIN, NEO_GRB + NEO_KHZ800);
// I'm colorblind lol. fetched from here: https://rgbcolorcode.com/color/flame
const uint32_t FLAME = strip.gamma32(strip.Color(88, 226, 34));
const uint32_t BLUE = strip.Color(0, 0, 255);
const uint32_t BLANK = strip.Color(0, 0, 0);
// These chunks were copied from examples in https://github.com/ElectronicCats/mpu6050
MPU6050 accelerometer;
// 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
// A class to represent the acceleration vectors and interact with the accelerometer. This covers way too many concerns - imo accelerometer logic shouldn't be baked into here - but hey, this entire project is a hack and it's small & functional ;)
class xyz {
public:
int16_t X, Y, Z;
double totalAccel;
xyz(void) {
X = Y = Z = 0;
}
xyz get_values() {
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
accelerometer.dmpGetQuaternion(&q, fifoBuffer);
accelerometer.dmpGetAccel(&aa, fifoBuffer);
accelerometer.dmpGetGravity(&gravity, &q);
accelerometer.dmpGetLinearAccel(&aaReal, &aa, &gravity);
accelerometer.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aaWorld\t");
Serial.print(aaWorld.x);
Serial.print("\t");
Serial.print(aaWorld.y);
Serial.print("\t");
Serial.println(aaWorld.z);
X = aaWorld.x;
Y = aaWorld.y;
Z = aaWorld.z;
// display real acceleration, adjusted to remove gravity
/*accelerometer.dmpGetQuaternion(&q, fifoBuffer);
accelerometer.dmpGetAccel(&aa, fifoBuffer);
accelerometer.dmpGetGravity(&gravity, &q);
accelerometer.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
Serial.print(aaReal.x);
Serial.print("\t");
Serial.print(aaReal.y);
Serial.print("\t");
Serial.println(aaReal.z);
X = aaReal.x;
Y = aaReal.y;
Z = aaReal.z;
*/
totalAccel = total_accel();
return *this;
}
xyz& operator=(xyz volatile& rhs) {
X = rhs.X;
Y = rhs.Y;
Z = rhs.Z;
return *this;
}
// de gua's theorem, applied to acceleration vectors
double total_accel() {
double t;
t = sqrt(pow(X, 2) + pow(Y, 2) + pow(Z, 2));
//Serial.print("total_accel(): ");
//Serial.println(t);
return t;
}
bool warn() {
if(totalAccel > WARN_ACCEL) {
Serial.print("totalAccel: ");
Serial.println(totalAccel);
return true;
}
else
return false;
}
bool fail() {
if(totalAccel > MAX_ACCEL) {
Serial.print("totalAccel: ");
Serial.println(totalAccel);
return true;
}
else
return false;
}
};
xyz accel;
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
// a great deal of this code was copied & pasted from the MPU-6050 examples in the ElectronicCats library: https://github.com/ElectronicCats/mpu6050
void init_gyro(){
Serial.print("init_gyro() called\n");
Wire.begin();
accelerometer.initialize();
// verify connection
Serial.println("Testing device connections...");
Serial.println(accelerometer.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
// load and configure the DMP
Serial.println(F("Initializing DMP..."));
devStatus = accelerometer.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
accelerometer.setXGyroOffset(220);
accelerometer.setYGyroOffset(76);
accelerometer.setZGyroOffset(-85);
accelerometer.setZAccelOffset(1688); // 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
accelerometer.CalibrateAccel(6);
accelerometer.CalibrateGyro(6);
accelerometer.PrintActiveOffsets();
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
accelerometer.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
Serial.println(F(")..."));
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
mpuIntStatus = accelerometer.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = accelerometer.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(")"));
}
Serial.print("MPU-6050 initialized\n");
}
// stop the game.
// TODO: set gyro/accel to low power mode, provided
// we don't have to re-calibrate
void stop(){
Serial.println("stop() called\n");
running = false;
strip.show();
strip.setPixelColor(0, BLUE);
strip.show();
Serial.print("Ending. Press the reset button to continue\n");
}
// use the LED to warn the player that you're close
// to being too fast. there are some timing oddities -
// the game is effectively paused when this is happening.
void warning(){
Serial.println("warning() called");
strip.show();
for (int i=0; i < 4; i++) {
strip.setPixelColor(0, BLANK);
strip.show();
delay(50);
strip.setPixelColor(0, FLAME);
strip.show();
delay(50);
}
}
void start() {
Serial.println("start() called");
running = true;
strip.setPixelColor(0, FLAME);
strip.show();
}
void setup(){
Serial.begin(9600); // this is for the board output for testing
Serial.print("started serial port in setup();\n");
strip.begin();
strip.setBrightness(BRIGHTNESS);
strip.setPixelColor(0, BLANK);
strip.show();
init_gyro();
pinMode(BUTTON_PIN, INPUT_PULLUP);
start();
delay(150); // initial readings for the Z axis take some time to normalize
Serial.print("setup() exiting\n");
}
void loop(){
if (!dmpReady) return;
// if the button has been pressed, restart the game (without all the pesky
// hardware calibration)
if (!running && digitalRead(BUTTON_PIN) == LOW) {
start();
}
// the timing here is still a bit wacky (there are edge cases) but should be good enough
if(running && accelerometer.dmpGetCurrentFIFOPacket(fifoBuffer)) { // gets current packet from DMP
accel.get_values();
if(accel.fail()){
stop();
return;
}
if(accel.warn()){
warning();
// discard latest data, as it seems cumulative over the course of the warning sequence
accelerometer.dmpGetCurrentFIFOPacket(fifoBuffer);
return;
}
// scale brightness down, like a real candle
strip.setPixelColor(0, FLAME); // https://github.com/adafruit/Adafruit_NeoPixel/blob/7f3ebe002a270ebf5298200c411085bba6ad131d/Adafruit_NeoPixel.cpp#L3359
strip.setBrightness(BRIGHTNESS - ( BRIGHTNESS * (accel.total_accel() / MAX_ACCEL )));
strip.show();
}
}