getImu reads OK

Author: eigen-value

examples/firmware_i2c/firmware_i2c.ino

@@ -90,8 +90,17 @@ void publishVersion() {
 }
 
 void publishImu() {
-    uint8_t msg_size = packeter.packetC6F('i', alvik.getAccelerationX(), alvik.getAccelerationY(), alvik.getAccelerationZ(), alvik.getAngularVelocityX(), alvik.getAngularVelocityY(), alvik.getAngularVelocityZ());
-    sendMessage(packeter.msg, msg_size);
+    float acc_x = alvik.getAccelerationX();
+    float acc_y = alvik.getAccelerationY();
+    float acc_z = alvik.getAccelerationZ();
+    float gyr_x = alvik.getAngularVelocityX();
+    float gyr_y = alvik.getAngularVelocityY();
+    float gyr_z = alvik.getAngularVelocityZ();
+
+    size_t msg_size = sizeof(float)*6;
+
+    float buf[6] = {acc_x, acc_y, acc_z, gyr_x, gyr_y, gyr_z};
+    sendMessage((uint8_t*)buf, msg_size);
 }
 
 void getData(size_t size) {

examples/firmware_i2c/unoq/AlvikI2C.h

@@ -54,6 +54,23 @@ class AlvikI2C{
         return versionStr;
     }
 
+    void getImu(float &ax, float &ay, float &az, float &gx, float &gy, float &gz) {
+        size_t arr_size = sizeof(float) * 6;
+        float data[6];
+
+        wire.beginTransmission(address);
+        wire.write('I');
+        wire.endTransmission();
+        wire.requestFrom((uint8_t)address, (uint8_t)arr_size);
+        wire.readBytes((uint8_t*)data, (uint8_t)arr_size);
+
+        ax = data[0];
+        ay = data[1];
+        az = data[2];
+        gx = data[3];
+        gy = data[4];
+        gz = data[5];
+    }
 
 };
 

examples/firmware_i2c/unoq/unoq.ino

@@ -22,23 +22,25 @@ void setup() {
 
 void loop() {
 
+    Monitor.print("VER = ");
     Monitor.println(alvik.getVersionString());
     delay(1000);
 
-    alvik.rotate(10.0);
-    delay(1000);
-
-    alvik.rotate(-10.0);
-    delay(1000);
-
+//    alvik.rotate(10.0);
+//    delay(1000);
 //
-//    wire.beginTransmission(address);
-//    wire.write('I');
-//    wire.endTransmission();
-//    //delay(20);
-//    wire.requestFrom((uint8_t)address,(uint8_t)29);
-//    wire.readBytes(msg,29);
-//    print_msg(29);
+//    alvik.rotate(-10.0);
 //    delay(1000);
+
+    float ax, ay, az, gx, gy, gz;
+    alvik.getImu(ax, ay, az, gx, gy, gz);
+
+    Monitor.print("accX: ");
+    Monitor.print(ax);
+    Monitor.print(" | accY: ");
+    Monitor.print(ay);
+    Monitor.print(" | accZ: ");
+    Monitor.println(az);
+
 }