Arduino 101 CurieIMU Accelerometer Orientation

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1/*
2
3 * Copyright (c) 2016 Intel Corporation.  All rights reserved.
4
5 * See the bottom of this file for the license terms.
6
7 */
8
9/*
10
11   This sketch example demonstrates how the BMI160 on the
12
13   Intel(R) Curie(TM) module can be used to read accelerometer data
14
15   and translate it to an orientation
16
17*/
18
19#include "CurieIMU.h"
20
21int lastOrientation = - 1; // previous orientation (for comparison)
22
23void setup() {
24
25  Serial.begin(9600); // initialize Serial communication
26
27  while (!Serial);    // wait for the serial port to open
28
29  // initialize device
30
31  Serial.println("Initializing IMU device...");
32
33  CurieIMU.begin();
34
35  // Set the accelerometer range to 2G
36
37  CurieIMU.setAccelerometerRange(2);
38}
39
40void loop() {
41int orientation = - 1;   // the board's orientation
42
43  String orientationString; // string for printing description of orientation
44
45  /*
46
47    The orientations of the board:
48
49    0: flat, processor facing up
50
51    1: flat, processor facing down
52
53    2: landscape, analog pins down
54
55    3: landscape, analog pins up
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57    4: portrait, USB connector up
58
59    5: portrait, USB connector down
60
61  */
62
63  // read accelerometer:
64
65  int x = CurieIMU.readAccelerometer(X_AXIS);
66
67  int y = CurieIMU.readAccelerometer(Y_AXIS);
68
69  int z = CurieIMU.readAccelerometer(Z_AXIS);
70
71  // calculate the absolute values, to determine the largest
72
73  int absX = abs(x);
74
75  int absY = abs(y);
76
77  int absZ = abs(z);
78
79  if ( (absZ > absX) && (absZ > absY)) {
80
81    // base orientation on Z
82
83    if (z > 0) {
84
85      orientationString = "up";
86
87      orientation = 0;
88
89    } else {
90
91      orientationString = "down";
92
93      orientation = 1;
94
95    }
96
97  } else if ( (absY > absX) && (absY > absZ)) {
98
99    // base orientation on Y
100
101    if (y > 0) {
102
103      orientationString = "digital pins up";
104
105      orientation = 2;
106
107    } else {
108
109      orientationString = "analog pins up";
110
111      orientation = 3;
112
113    }
114
115  } else {
116
117    // base orientation on X
118
119    if (x < 0) {
120
121      orientationString = "connector up";
122
123      orientation = 4;
124
125    } else {
126
127      orientationString = "connector down";
128
129      orientation = 5;
130
131    }
132
133  }
134
135  // if the orientation has changed, print out a description:
136
137  if (orientation != lastOrientation) {
138
139    Serial.println(orientationString);
140
141    lastOrientation = orientation;
142
143  }
144}
145
146/*
147
148   Copyright (c) 2016 Intel Corporation.  All rights reserved.
149
150   This library is free software; you can redistribute it and/or
151
152   modify it under the terms of the GNU Lesser General Public
153
154   License as published by the Free Software Foundation; either
155
156   version 2.1 of the License, or (at your option) any later version.
157
158   This library is distributed in the hope that it will be useful,
159
160   but WITHOUT ANY WARRANTY; without even the implied warranty of
161
162   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
163
164   Lesser General Public License for more details.
165
166   You should have received a copy of the GNU Lesser General Public
167
168   License along with this library; if not, write to the Free Software
169
170   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
171
172*/