Gyroscope and Serial_interface

Claw/thruster code

@@ -0,0 +1,40 @@
+
+
+
+
+
+
+#include <Servo.h>
+Servo myservo;
+
+int thruster_Speed = 1500;
+Servo mythruster;
+int pos = 0;
+void setup() {
+  mythruster.attach(7);
+  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
+  mythruster.writeMicroseconds(1500);
+  delay(200);
+  Serial.begin(9600);
+
+
+}
+
+void loop() {
+  myservo.write(0);              // tell servo to go to position in variable 'pos'
+
+
+  Serial.print("Enter thruster speed: ");
+  int temp = Serial.parseInt();
+  if (temp != 0) thruster_Speed = temp;
+  //changing the fan speed
+  Serial.print("thruster_speed = ");
+  Serial.println(thruster_Speed);
+  mythruster.writeMicroseconds(thruster_Speed);
+  Serial.write(9600);
+  Serial.available();
+  myservo.write(45);              // tell servo to go to position in variable 'pos'
+  delay(300);
+
+}
+

Serial_Interface_Code/Serial_Interface_Code + gyro.ino

@@ -1,22 +1,21 @@
-
-
-import serial
 #include <Wire.h>
 #include <Adafruit_Sensor.h>
 #include <Adafruit_BNO055.h>
 #include <utility/imumaths.h>
 #include <Servo.h>
 char header = 1
 char footer = 10
+
 
 Servo mythruster_FR;
+##declaring each thruster as a servo
 Servo mythruster_BR;
 Servo mythruster_BL;
 Servo mythruster_FL;
 Servo mythruster_R;
 Servo mythruster_L;
 Servo myservo_rotate;
-Servo myservo_grab;  
+Servo myservo_grab;
 
 
 void setup() {
@@ -28,6 +27,7 @@ void setup() {
 
   mythruster_BR.attach(8,1000,2000);
   mythruster_BR.writeMicroseconds(1500);
+  ##assigns a signal number on the itsybitsy to each thruster and sets it at 1500 so that we don't need to input 1500 before inputing the microsecond that we want it set at
 
   mythruster_BL.attach(9,1000,2000);
   mythruster_BL.writeMicroseconds(1500);
@@ -46,15 +46,6 @@ void setup() {
 }
 
 void loop() {
-  sensors_event_t orientationData , angVelocityData , linearAccelData;
-  bno.getEvent(&orientationData, Adafruit_BNO055::VECTOR_EULER);
-  bno.getEvent(&angVelocityData, Adafruit_BNO055::VECTOR_GYROSCOPE);
-  bno.getEvent(&linearAccelData, Adafruit_BNO055::VECTOR_LINEARACCEL);
-
-  Serial.write(&orientationData);
-  Serial.write(&angVelocityData);
-  Serial.write(&linearAccelData);
-
 
     if (Serial.available>=4){
       byte packetheader = Serial.read();
@@ -64,130 +55,52 @@ void loop() {
         int motor_speed = (int) (1500 + speed * (500 / 127));
         byte motor_servo = serial.read();
         int8_t servo_speed = Serial.read();
-         int servo_speed_convert = (int)((servo_speed * 0.73)-255);
-
+        int servo_speed_convert = (int)((servo_speed * 0.73)-255);
+        ##determines the motor speed based in bytes recieved from backend
         if (incomingByte[2] == 2){
           mythruster_FR.writeMicroseconds(motor_speed);
         } else if (incomingByte[2] == 3){
-          mythruster_FL.writeMicroseconds(motor_speed);
+            mythruster_FL.writeMicroseconds(motor_speed);
         } else if (incomingByte[2] == 4){
-          mythruster_BR.writeMicroseconds(motor_speed);
+            mythruster_BR.writeMicroseconds(motor_speed);
         } else if (incomingByte[2] == 5){
-          mythruster_BL.writeMicroseconds(motor_speed);
+            mythruster_BL.writeMicroseconds(motor_speed);
         } else if (incomingByte[2] == 6){
-          mythruster_R.writeMicroseconds(motor_speed);
+            mythruster_R.writeMicroseconds(motor_speed);
         } else if (incomingByte[2] == 7){
-          mythruster_L.writeMicroseconds(motor_speed);
+            mythruster_L.writeMicroseconds(motor_speed);
         } else if (incomingByte[2] == 8){
-         myservo_rotate.write(servo_speed_convert);
+            myservo_rotate.write(servo_speed_convert);
         } else if (incomingByte[2] == 9){
-         myservo_grab.write(servo_speed_convert);
+            myservo_grab.write(servo_speed_convert);
         }
         }
       }
-    }
-
-    header_gyro = header_control[0]
-    orientation = orientation_control[1]
-    rotation_vector = rotation_vector_control[2]
-    linear_acceleration = linear_acceleration_control[3]
-    footer_gyro = footer_control[4]
-    Serial.write(linear_acceleration)
-    Serial.write(rotation_vector)
-    Serial.write(orientation)
-
-    if (Serial.available>=4){
-
-          if (incomingByte[2] == 2){
-          mythruster_FR.writeMicroseconds(motor_speed);
-        } else if (incomingByte[2] == 3){
-          mythruster_FL.writeMicroseconds(motor_speed);
-        } else if (incomingByte[2] == 4){
-          mythruster_BR.writeMicroseconds(motor_speed);
-        } else if (incomingByte[2] == 5){
-          mythruster_BL.writeMicroseconds(motor_speed);
-        } else if (incomingByte[2] == 6){
-          mythruster_R.writeMicroseconds(motor_speed);
-        } else if (incomingByte[2] == 7){
-          mythruster_L.writeMicroseconds(motor_speed);
-        } 
-
-
     }
 
-      if (Serial.available>=4){
-
-          if (incomingByte[2] == 2){
-          mythruster_FR.writeMicroseconds();
-        } else if (incomingByte[2] == 3){
-          mythruster_FL.writeMicroseconds();
-        } else if (incomingByte[2] == 4){
-          mythruster_BR.writeMicroseconds();
-        } else if (incomingByte[2] == 5){
-          mythruster_BL.writeMicroseconds();
-        } else if (incomingByte[2] == 6){
-          mythruster_R.writeMicroseconds();
-        } else if (incomingByte[2] == 7){
-          mythruster_L.writeMicroseconds();
-        } 
-
-    }
 
+   reportIMUData();
+}
 
-     if (Serial.available>=4){
-
-          if (incomingByte[2] == 2){
-          mythruster_FR.writeMicroseconds();
-        } else if (incomingByte[2] == 3){
-          mythruster_FL.writeMicroseconds();
-        } else if (incomingByte[2] == 4){
-          mythruster_BR.writeMicroseconds();
-        } else if (incomingByte[2] == 5){
-          mythruster_BL.writeMicroseconds();
-        } else if (incomingByte[2] == 6){
-          mythruster_R.writeMicroseconds();
-        } else if (incomingByte[2] == 7){
-          mythruster_L.writeMicroseconds();
-        } 
-
-    }
+void reportIMUData() {
+    sensors_event_t orientation , gyro , accel;
+    bno.getEvent(&orientation, Adafruit_BNO055::VECTOR_EULER);
+    bno.getEvent(&gyro, Adafruit_BNO055::VECTOR_GYROSCOPE);
+    bno.getEvent(&accel, Adafruit_BNO055::VECTOR_LINEARACCEL);
 
+    Serial.write(gyro->orientation.x);
+    Serial.write(gyro->orientation.y);
+    Serial.write(gyro->orientation.z);
+    Serial.write(gyro->gyro.x);
+    Serial.write(gyro->gyro.y);
+    ## sends the information from getEvent to backend
+    Serial.write(gyro->gyro.z);
+    Serial.write(gyro->accel.x);
+    Serial.write(gyro->accel.y);
+    Serial.write(gyro->accel.z);
 
-
-
 
-}
-
-void printEvent(sensors_event_t* event) {
-  double x = -1000000, y = -1000000 , z = -1000000; 
-  else if (event->type == SENSOR_TYPE_ORIENTATION) {
-    Serial.print("Orient:");
-    x = event->orientation.x;
-    y = event->orientation.y;
-    z = event->orientation.z;
-  }
-  else if (event->type == SENSOR_TYPE_ROTATION_VECTOR) {
-    Serial.print("Rot:");
-    x = event->gyro.x;
-    y = event->gyro.y;
-    z = event->gyro.z;
-  }
-  else if (event->type == SENSOR_TYPE_LINEAR_ACCELERATION) {
-    Serial.print("Linear:");
-    x = event->acceleration.x;
-    y = event->acceleration.y;
-    z = event->acceleration.z;
-  }
-  else {
-    Serial.print("Unk:");
-  }
 
-  Serial.print("\tx= ");
-  Serial.print(x);
-  Serial.print(" |\ty= ");
-  Serial.print(y);
-  Serial.print(" |\tz= ");
-  Serial.println(z);
+
 }
 
-