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| #include "mma7260q.h"
//set up MMA7260Q
Mma7260q mma7260q = Mma7260q(0,1,2);
long time = millis();
void setup() {
Serial.begin(9600);
delay(100);
//initial calibration of the MMA7260q
// you can get the correct values for your MMA7260q
// by running this program and copying the max and min values
// after rotating the mma7260q 360degrees around all axis
mma7260q.autoZeroCalibration(173,192,258);
mma7260q.autoZeroCalibration(766,720,914);
Serial.print("RST\r\n");delay(100);
}
void loop()
{
float rho, phi,theta;
mma7260q.readTilt(&rho,&phi,&theta);
if ((millis()-time)>2000)
{
time = millis();
Serial.print("rho : ");
printFloat(rho,3);
Serial.print(" phi : ");
printFloat(phi,3);
Serial.print(" the: ");
printFloat(theta,3);
Serial.print("\r\n");
int minx,miny,minz,maxx,maxy,maxz;
mma7260q.getMinValues(&minx,&miny,&minz);
mma7260q.getMaxValues(&maxx,&maxy,&maxz);
Serial.print("minx: ");
Serial.print((int)minx,DEC);
Serial.print(" miny: ");
Serial.print((int)miny,DEC);
Serial.print(" minz: ");
Serial.print((int)minz,DEC);
Serial.print("\r\n");
Serial.print("maxx: ");
Serial.print((int)maxx,DEC);
Serial.print(" maxy: ");
Serial.print((int)maxy,DEC);
Serial.print(" maxz: ");
Serial.print((int)maxz,DEC);
Serial.print("\r\n");
}
}
void printFloat(float value, int places) {
// this is used to cast digits
int digit;
float tens = 0.1;
int tenscount = 0;
int i;
float tempfloat = value;
// if value is negative, set tempfloat to the abs value
// make sure we round properly. this could use pow from
//<math.h>, but doesn't seem worth the import
// if this rounding step isn't here, the value 54.321 prints as
//54.3209
// calculate rounding term d: 0.5/pow(10,places)
float d = 0.5;
if (value < 0)
d *= -1.0;
// divide by ten for each decimal place
for (i = 0; i < places; i++)
d/= 10.0;
// this small addition, combined with truncation will round our
// values properly
tempfloat += d;
// first get value tens to be the large power of ten less than value
// tenscount isn't necessary but it would be useful if you wanted
// to know after this how many chars the number will take
if (value < 0)
tempfloat *= -1.0;
while ((tens * 10.0) <= tempfloat) {
tens *= 10.0;
tenscount += 1;
}
// write out the negative if needed
if (value < 0)
Serial.print('-');
if (tenscount == 0)
Serial.print(0, DEC);
for (i=0; i< tenscount; i++) {
digit = (int) (tempfloat/tens);
Serial.print(digit, DEC);
tempfloat = tempfloat - ((float)digit * tens);
tens /= 10.0;
}
// if no places after decimal, stop now and return
if (places <= 0)
return;
// otherwise, write the point and continue on
Serial.print('.');
// now write out each decimal place by shifting digits one by one
// into the ones place and writing the truncated value
for (i = 0; i < places; i++) {
tempfloat *= 10.0;
digit = (int) tempfloat;
Serial.print(digit,DEC);
// once written, subtract off that digit
tempfloat = tempfloat - (float) digit;
}
}
|
