Omega Flight Computer

1//RocketryUniverse2019//
2
3
4#include "Wire.h" // This library  allows you to communicate with I2C devices.
5int bluePin = 3;
6
7const int  MPU_ADDR = 0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the  I2C address will be 0x69.
8int16_t accelerometer_x, accelerometer_y, accelerometer_z;  // variables for accelerometer raw data
9int16_t gyro_x, gyro_y, gyro_z; // variables  for gyro raw data
10int16_t temperature; // variables for temperature data
11char  tmp_str[7]; // temporary variable used in convert function
12char* convert_int16_to_str(int16_t  i) { // converts int16 to string. Moreover, resulting strings will have the same  length in the debug monitor.
13  sprintf(tmp_str, "%6d", i);
14  return tmp_str;
15}
16void  setup() {
17  Serial.begin(9600);
18  pinMode(bluePin, OUTPUT);
19  digitalWrite(bluePin,  LOW);
20  
21  Wire.begin();
22  Wire.beginTransmission(MPU_ADDR); // Begins  a transmission to the I2C slave (GY-521 board)
23  Wire.write(0x6B); // PWR_MGMT_1  register
24  Wire.write(0); // set to zero (wakes up the MPU-6050)
25  Wire.endTransmission(true);
26}
27void  loop() {
28  Wire.beginTransmission(MPU_ADDR);
29  Wire.write(0x3B); // starting  with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions  Revision 4.2, p.40]
30  Wire.endTransmission(false); // the parameter indicates  that the Arduino will send a restart. As a result, the connection is kept active.
31  Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers
32  
33  // "Wire.read()<<8 | Wire.read();" means two registers are read and stored  in the same variable
34  accelerometer_x = Wire.read()<<8 | Wire.read(); // reading  registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
35  accelerometer_y = Wire.read()<<8  | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
36  accelerometer_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H)  and 0x40 (ACCEL_ZOUT_L)
37  temperature = Wire.read()<<8 | Wire.read(); // reading  registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
38  gyro_x = Wire.read()<<8  | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
39  gyro_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H)  and 0x46 (GYRO_YOUT_L)
40  gyro_z = Wire.read()<<8 | Wire.read(); // reading registers:  0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
41  
42  // print out data
43  Serial.print("aX  = "); Serial.print(convert_int16_to_str(accelerometer_x));
44  Serial.print("  | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));
45  Serial.print("  | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));
46  // the following  equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description,  p.30]
47  Serial.print(" | tmp = "); Serial.print(temperature/340.00+36.53);
48  Serial.print(" | gX = "); Serial.print(convert_int16_to_str(gyro_x));
49  Serial.print("  | gY = "); Serial.print(convert_int16_to_str(gyro_y));
50  Serial.print(" | gZ  = "); Serial.print(convert_int16_to_str(gyro_z));
51  Serial.println();
52
53  if (accelerometer_x < 1000 && accelerometer_y < -8000) {
54    digitalWrite(bluePin,  HIGH);
55    
56  } else if (accelerometer_x < 1000 && accelerometer_y > 8000)  {
57    digitalWrite(bluePin, HIGH);
58    
59     } else if (accelerometer_x  > 8000 && accelerometer_y < 1000) {
60    digitalWrite(bluePin, HIGH);
61    
62    } else if (accelerometer_x < -8000 && accelerometer_y < 1000) {
63    digitalWrite(bluePin,  HIGH);
64    
65  } else {
66  digitalWrite(bluePin, LOW);
67  
68  }
69  //  delay
70  delay(200);
71}
72

1//RocketryUniverse2019//
2
3
4#include "Wire.h" // This library
5  allows you to communicate with I2C devices.
6int bluePin = 3;
7
8const int
9  MPU_ADDR = 0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the
10  I2C address will be 0x69.
11int16_t accelerometer_x, accelerometer_y, accelerometer_z;
12  // variables for accelerometer raw data
13int16_t gyro_x, gyro_y, gyro_z; // variables
14  for gyro raw data
15int16_t temperature; // variables for temperature data
16char
17  tmp_str[7]; // temporary variable used in convert function
18char* convert_int16_to_str(int16_t
19  i) { // converts int16 to string. Moreover, resulting strings will have the same
20  length in the debug monitor.
21  sprintf(tmp_str, "%6d", i);
22  return tmp_str;
23}
24void
25  setup() {
26  Serial.begin(9600);
27  pinMode(bluePin, OUTPUT);
28  digitalWrite(bluePin,
29  LOW);
30  
31  Wire.begin();
32  Wire.beginTransmission(MPU_ADDR); // Begins
33  a transmission to the I2C slave (GY-521 board)
34  Wire.write(0x6B); // PWR_MGMT_1
35  register
36  Wire.write(0); // set to zero (wakes up the MPU-6050)
37  Wire.endTransmission(true);
38}
39void
40  loop() {
41  Wire.beginTransmission(MPU_ADDR);
42  Wire.write(0x3B); // starting
43  with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions
44  Revision 4.2, p.40]
45  Wire.endTransmission(false); // the parameter indicates
46  that the Arduino will send a restart. As a result, the connection is kept active.
47
48  Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers
49
50  
51  // "Wire.read()<<8 | Wire.read();" means two registers are read and stored
52  in the same variable
53  accelerometer_x = Wire.read()<<8 | Wire.read(); // reading
54  registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
55  accelerometer_y = Wire.read()<<8
56  | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
57
58  accelerometer_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H)
59  and 0x40 (ACCEL_ZOUT_L)
60  temperature = Wire.read()<<8 | Wire.read(); // reading
61  registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
62  gyro_x = Wire.read()<<8
63  | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
64
65  gyro_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H)
66  and 0x46 (GYRO_YOUT_L)
67  gyro_z = Wire.read()<<8 | Wire.read(); // reading registers:
68  0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
69  
70  // print out data
71  Serial.print("aX
72  = "); Serial.print(convert_int16_to_str(accelerometer_x));
73  Serial.print("
74  | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));
75  Serial.print("
76  | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));
77  // the following
78  equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description,
79  p.30]
80  Serial.print(" | tmp = "); Serial.print(temperature/340.00+36.53);
81
82  Serial.print(" | gX = "); Serial.print(convert_int16_to_str(gyro_x));
83  Serial.print("
84  | gY = "); Serial.print(convert_int16_to_str(gyro_y));
85  Serial.print(" | gZ
86  = "); Serial.print(convert_int16_to_str(gyro_z));
87  Serial.println();
88
89
90  if (accelerometer_x < 1000 && accelerometer_y < -8000) {
91    digitalWrite(bluePin,
92  HIGH);
93    
94  } else if (accelerometer_x < 1000 && accelerometer_y > 8000)
95  {
96    digitalWrite(bluePin, HIGH);
97    
98     } else if (accelerometer_x
99  > 8000 && accelerometer_y < 1000) {
100    digitalWrite(bluePin, HIGH);
101    
102
103    } else if (accelerometer_x < -8000 && accelerometer_y < 1000) {
104    digitalWrite(bluePin,
105  HIGH);
106    
107  } else {
108  digitalWrite(bluePin, LOW);
109  
110  }
111  //
112  delay
113  delay(200);
114}
115