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Add capturable calibration, change haeding led to dim read

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This commit is contained in:
Dave Astels 2018-09-11 15:14:02 -04:00
parent 4805c164c0
commit 70e67e7b55
1 changed files with 44 additions and 16 deletions
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60
CPX_Compass/CPX_Compass.ino
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@ -19,8 +19,12 @@
/* Assign a unique ID to this sensor at the same time */
Adafruit_LSM303_Mag_Unified mag = Adafruit_LSM303_Mag_Unified(12345);
// Replace these two lines with the results of calibration
//---------------------------------------------------------------------------
float raw_mins[2] = {1000.0, 1000.0};
float raw_maxes[2] = {-1000.0, -1000.0};
//---------------------------------------------------------------------------
float mins[2];
float maxes[2];
@ -58,7 +62,7 @@ void fill(int red, int green, int blue) {
void warm_up(void)
{
sensors_event_t event;
fill(0, 0, 128);
fill(0, 0, 64);
for (int ignore = 0; ignore < 100; ignore++) {
mag.getEvent(&event);
delay(10);
@ -70,27 +74,30 @@ void warm_up(void)
// User needs to rotate the CPX a bunch during this.
// Can be refined by doing more of the saem by pressing the A button.
// Indicated to the user by green LEDs.
void calibrate(void)
void calibrate(bool do_the_readings)
{
sensors_event_t event;
float values[2];
fill(0, 128, 0);
fill(0, 64, 0);
unsigned long start_time = millis();
while (millis() - start_time < 5000) {
if (do_the_readings) {
unsigned long start_time = millis();
while (millis() - start_time < 5000) {
mag.getEvent(&event);
values[0] = event.magnetic.x;
values[1] = event.magnetic.y * -1;
if (values[0] != 0.0 && values[1] != 0.0) { /* ignore the random zero readings... it's bogus */
for (int i = 0; i < 2; i++) {
raw_mins[i] = values[i] < raw_mins[i] ? values[i] : raw_mins[i];
raw_maxes[i] = values[i] > raw_maxes[i] ? values[i] : raw_maxes[i];
mag.getEvent(&event);
values[0] = event.magnetic.x;
values[1] = event.magnetic.y * -1;
if (values[0] != 0.0 && values[1] != 0.0) { /* ignore the random zero readings... it's bogus */
for (int i = 0; i < 2; i++) {
raw_mins[i] = values[i] < raw_mins[i] ? values[i] : raw_mins[i];
raw_maxes[i] = values[i] > raw_maxes[i] ? values[i] : raw_maxes[i];
}
}
delay(5);
}
delay(5);
}
for (int i = 0; i < 2; i++) {
corrections[i] = (raw_maxes[i] + raw_mins[i]) / 2;
mins[i] = raw_mins[i] - corrections[i];
@ -119,7 +126,28 @@ void setup(void)
}
warm_up();
calibrate();
// If reset with button A pressed or calibration hasn't been done, run calibration and report the results
if (digitalRead(BUTTON_A) || (raw_mins[0] == 1000.0 && raw_mins[1] == 1000.0)) {
while (!Serial);
Serial.begin(9600);
Serial.println("Compass calibration\n");
raw_mins[0] = 1000.0;
raw_mins[1] = 1000.0;
raw_maxes[0] = -1000.0;
raw_maxes[1] = -1000.0;
calibrate(true);
Serial.println("Calibration results\n");
Serial.println("Update the corresponding lines near the top of the code\n");
Serial.print("float raw_mins[2] = {"); Serial.print(raw_mins[0]); Serial.print(", "); Serial.print(raw_mins[1]); Serial.println("};");
Serial.print("float raw_maxes[2] = {"); Serial.print(raw_maxes[0]); Serial.print(", "); Serial.print(raw_maxes[1]); Serial.println("};\n");
while(1);
} else {
calibrate(false);
}
}
@ -137,7 +165,7 @@ void loop(void)
{
// Pressing button A does another round of calibration.
if (digitalRead(BUTTON_A)) {
calibrate();
calibrate(true);
}
sensors_event_t event;
@ -169,7 +197,7 @@ void loop(void)
leds = led_patterns[direction_index];
for (int pixel = 0; pixel < 10; pixel++) {
if (pixel == leds[0] || pixel == leds[1]) {
strip.setPixelColor(pixel, 255, 255, 255);
strip.setPixelColor(pixel, 4, 0, 0);
} else {
strip.setPixelColor(pixel, 0, 0, 0);
}