Add arduino code

keeruti.ino

@@ -0,0 +1,125 @@
+// Basic demo for accelerometer readings from Adafruit MPU6050
+
+#include <Adafruit_MPU6050.h>
+#include <Adafruit_Sensor.h>
+#include <Wire.h>
+#include <CircularBuffer.h>
+
+#define LED1_RED 3
+#define LED1_GRN 5
+#define LED1_BLU 6
+
+#define LED2_RED 9
+#define LED2_GRN 10
+#define LED2_BLU 11
+
+#define LED_BRIGHT 100
+
+Adafruit_MPU6050 mpu;
+
+double x_Buff;
+double y_Buff;
+double z_Buff;
+int roll;
+int pitch;
+int prevRoll = 0;
+
+CircularBuffer<int,10> values;
+CircularBuffer<int,10> averageDifferences;
+
+void setup(void) {
+
+  pinMode(LED1_RED, OUTPUT);
+  pinMode(LED1_GRN, OUTPUT);
+  pinMode(LED1_BLU, OUTPUT);
+  pinMode(LED2_RED, OUTPUT);
+  pinMode(LED2_GRN, OUTPUT);
+  pinMode(LED2_BLU, OUTPUT);
+  set_led(0,0,0);
+  
+  
+  Serial.begin(115200);
+  while (!Serial) {
+    delay(10); // will pause Zero, Leonardo, etc until serial console opens
+  }
+
+  // Try to initialize!
+  if (!mpu.begin()) {
+    //Serial.println("Failed to find MPU6050 chip");
+    while (1) {
+      delay(10);
+    }
+  }
+
+  mpu.setAccelerometerRange(MPU6050_RANGE_16_G);
+  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
+  mpu.setFilterBandwidth(MPU6050_BAND_10_HZ);
+  //Serial.println("");
+  delay(100);
+  set_led(0,0,0);
+}
+
+void loop() {
+
+  /* Get new sensor events with the readings */
+  sensors_event_t a, g, temp;
+  mpu.getEvent(&a, &g, &temp);
+  
+  /* Print out the values */
+  /*Serial.print(a.acceleration.x);
+  Serial.print(",");
+  Serial.print(a.acceleration.y);
+  Serial.print(",");
+  Serial.print(a.acceleration.z);
+  Serial.print(", ");
+  Serial.print(g.gyro.x);
+  Serial.print(",");
+  Serial.print(g.gyro.y);
+  Serial.print(",");
+  Serial.print(g.gyro.z);
+  Serial.println("");
+  */
+
+  x_Buff = float(a.acceleration.x);
+  y_Buff = float(a.acceleration.y);
+  z_Buff = float(a.acceleration.z);
+  roll = atan2(y_Buff , z_Buff) * 57.3;
+  //pitch = atan2((- x_Buff) , sqrt(y_Buff * y_Buff + z_Buff * z_Buff)) * 57.3;
+
+  values.push(roll);
+  int average = (values[0]+values[1]+values[2]+values[3]+values[4]+values[5]+values[6]+values[7]+values[8]+values[9])/10;
+
+  for (int i=0; i<10; i++)
+  {
+    averageDifferences.push(abs(values[i] - average));
+  }
+
+  int differences = averageDifferences[0]+averageDifferences[1]+averageDifferences[2]+averageDifferences[3]+averageDifferences[4]+averageDifferences[5]+averageDifferences[6]+averageDifferences[7]+averageDifferences[8]+averageDifferences[9];
+  
+  if (differences < 2 && abs(prevRoll - average)>1)
+  {
+    prevRoll = average;
+    Serial.print(roll+180);
+    set_led(0,LED_BRIGHT,0);
+  }
+  else if (differences >= 2)
+  {
+    set_led(LED_BRIGHT,0,0);
+  }
+  else
+  {
+    set_led(0,0,LED_BRIGHT);
+  }
+
+  delay(50);
+}
+
+void set_led(uint8_t r, uint8_t g, uint8_t b)
+{
+  analogWrite(LED1_RED, 255-r);
+  analogWrite(LED1_GRN, 255-g);
+  analogWrite(LED1_BLU, 255-b);
+  analogWrite(LED2_RED, 255-r);
+  analogWrite(LED2_GRN, 255-g);
+  analogWrite(LED2_BLU, 255-b);
+}