This is a quick lesson where we show you how to install Python on a Windows 10 machine. We have gone about as far as we can go on our 9-axis IMU project using only the arduino. What we want to do now is to pass the data we are taking from arduino to Python, and then use python to do animations and 3D renderings. So, to move forward, we will need to install Python, which is explained in the video.
Arduino Tutorial 33: Understanding How to Control Servos with a Joystick
In this lesson we show you how to precisely control the position of two servos using a joystick. We derive the math equations which will allow you to get smooth and precise control of the servo. We also add a buzzer to the project to create an audible alarm when the button the joystick is pressed.
If you want to follow along at home, an official Arduino Uno R3 is available HERE. In this new series of lessons, I will be using the sensor and other components found in this KIT.
Typically, the servos in electronics kits are not the best ones, but are suitable to learn with. If you want a more stable and better quality servo, this is the one I user in more of my projects: HiTEC
Below is the code we developed in this project.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 | #include <Servo.h> Servo Xservo; Servo Yservo; int Xpin=A0; int Ypin=A1; int Spin=2; int XSpin=9; int YSpin=10; int buzzPin=7; int WVx; int WVy; int Xval; int Yval; int Sval; int dt=200; void setup() { // put your setup code here, to run once: Serial.begin(9600); pinMode(Xpin,INPUT); pinMode(Ypin,INPUT); pinMode(Spin,INPUT); pinMode(XSpin,OUTPUT); pinMode(YSpin,OUTPUT); pinMode(buzzPin,OUTPUT); Xservo.attach(XSpin); Yservo.attach(YSpin); digitalWrite(Spin,HIGH); } void loop() { Xval=analogRead(Xpin); WVx=(180./1023.)*Xval; Yval=analogRead(Ypin); WVy=(180./1023.)*Yval; Sval=digitalRead(Spin); Xservo.write(WVx); Yservo.write(WVy); if (Sval==0){ digitalWrite(buzzPin, HIGH); } else { digitalWrite(buzzPin, LOW); } delay(dt); Serial.print("X Value = "); Serial.print(Xval); Serial.print(" Y Value = "); Serial.print(Yval); Serial.print(" Switch State is "); Serial.println(Sval); } |
9-Axis IMU LESSON 10: Making a Tilt Compensated Compass with Arduino
In this lesson we show you how to build a demo tilt compensated compass using the BNO055 9-axis sensor. We go through some trigonometry to help you understand conceptually how the device works.
To play along at home, you will need an Arduino Nano, and an Adafruit BNO055 Inertial Measurement Sensor.
The code below is provided for your convenience. It is intended only for bench top demos, and should not be used in real applications. Just for fun, not for drones, or other actual control applications.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 | #include <Wire.h> #include <Adafruit_Sensor.h> #include <Adafruit_BNO055.h> #include <utility/imumaths.h> #include <math.h> float thetaM; float phiM; float thetaFold=0; float thetaFnew; float phiFold=0; float phiFnew; float thetaG=0; float phiG=0; float theta; float phi; float thetaRad; float phiRad; float Xm; float Ym; float psi; float dt; unsigned long millisOld; #define BNO055_SAMPLERATE_DELAY_MS (100) Adafruit_BNO055 myIMU = Adafruit_BNO055(); void setup() { // put your setup code here, to run once: Serial.begin(115200); myIMU.begin(); delay(1000); int8_t temp=myIMU.getTemp(); myIMU.setExtCrystalUse(true); millisOld=millis(); } void loop() { // put your main code here, to run repeatedly: uint8_t system, gyro, accel, mg = 0; myIMU.getCalibration(&system, &gyro, &accel, &mg); imu::Vector<3> acc =myIMU.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER); imu::Vector<3> gyr =myIMU.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE); imu::Vector<3> mag =myIMU.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER); thetaM=-atan2(acc.x()/9.8,acc.z()/9.8)/2/3.141592654*360; phiM=-atan2(acc.y()/9.8,acc.z()/9.8)/2/3.141592654*360; phiFnew=.95*phiFold+.05*phiM; thetaFnew=.95*thetaFold+.05*thetaM; dt=(millis()-millisOld)/1000.; millisOld=millis(); theta=(theta+gyr.y()*dt)*.95+thetaM*.05; phi=(phi-gyr.x()*dt)*.95+ phiM*.05; thetaG=thetaG+gyr.y()*dt; phiG=phiG-gyr.x()*dt; phiRad=phi/360*(2*3.14); thetaRad=theta/360*(2*3.14); Xm=mag.x()*cos(thetaRad)-mag.y()*sin(phiRad)*sin(thetaRad)+mag.z()*cos(phiRad)*sin(thetaRad); Ym=mag.y()*cos(phiRad)+mag.z()*sin(phiRad); psi=atan2(Ym,Xm)/(2*3.14)*360; Serial.print(acc.x()/9.8); Serial.print(","); Serial.print(acc.y()/9.8); Serial.print(","); Serial.print(acc.z()/9.8); Serial.print(","); Serial.print(accel); Serial.print(","); Serial.print(gyro); Serial.print(","); Serial.print(mg); Serial.print(","); Serial.print(system); Serial.print(","); Serial.print(thetaM); Serial.print(","); Serial.print(phiM); Serial.print(","); Serial.print(thetaFnew); Serial.print(","); Serial.print(phiFnew); Serial.print(","); Serial.print(thetaG); Serial.print(","); Serial.print(phiG); Serial.print(","); Serial.print(theta); Serial.print(","); Serial.print(phi); Serial.print(","); Serial.println(psi); phiFold=phiFnew; thetaFold=thetaFnew; delay(BNO055_SAMPLERATE_DELAY_MS); } |
Arduino Tutorial 32: Understanding and Using Joysticks in a Project
In this lesson we will explain how to hook up a Joystick. The easiest way to think of a joystick is to think of it as two independent potentiometer. Moving the joystick left and right changes one potentiometer, and moving the joystick up and down changes the other potentiometer. Also, pressing the knob on the joystick will activate a simple on/off switch. In this video we show you how to hook the joystick up, and then show you code that will allow you to read from the potentiometers and the switch.
If you want to follow along at home, an official Arduino Uno R3 is available HERE. In this new series of lessons, I will be using the sensor and other components found in this KIT.
Typically, the servos in electronics kits are not the best ones, but are suitable to learn with. Heads up that in Lesson 33 we will be using a joystick to control two servos. If you want to get ready for that lesson, go ahead and order your HiTEC Servos.
This is the code that we developed in the video above.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 | int Xpin=A0; int Ypin=A1; int Spin=2; int Xval; int Yval; int Sval; int dt=200; void setup() { // put your setup code here, to run once: Serial.begin(9600); pinMode(Xpin,INPUT); pinMode(Ypin,INPUT); pinMode(Spin,INPUT); digitalWrite(Spin,HIGH); } void loop() { Xval=analogRead(Xpin); Yval=analogRead(Ypin); Sval=digitalRead(Spin); delay(dt); Serial.print("X Value = "); Serial.print(Xval); Serial.print(" Y Value = "); Serial.print(Yval); Serial.print(" Switch State is "); Serial.println(Sval); } |
Starting the Raspberry Pi Camera, or a WEB Camera on the Jetson Nano
For those of you playing along at home as we learn Artificial Intelligence on the Jetson Nano, the code below is what we do to launch a camera using OpenCV. We include code that will launch either the Raspberry Pi Camera, or a WEB cam like the Logitech 920. Check out our Youtube Jetson Nano Channel to follow along the full tutorial. The Jetson Nano tutorial Play List can be found HERE:
The code below is the starting point for most of the lessons:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 | import cv2 print(cv2.__version__) dispW=640 dispH=480 flip=2 #Uncomment These next Two Line for Pi Camera #camSet='nvarguscamerasrc ! video/x-raw(memory:NVMM), width=3264, height=2464, format=NV12, framerate=21/1 ! nvvidconv flip-method='+str(flip)+' ! video/x-raw, width='+str(dispW)+', height='+str(dispH)+', format=BGRx ! videoconvert ! video/x-raw, format=BGR ! appsink' #cam= cv2.VideoCapture(camSet) #Or, if you have a WEB cam, uncomment the next line #(If it does not work, try setting to '1' instead of '0') #cam=cv2.VideoCapture(0) while True: ret, frame = cam.read() cv2.imshow('nanoCam',frame) if cv2.waitKey(1)==ord('q'): break cam.release() cv2.destroyAllWindows() |