Project #12: Robotics – 9DOF – Mk27

Published June 10, 2023 | By DonLuc

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#DonLucElectronics #DonLuc #Robotics #Magnetometer #Accelerometer #Gyroscope #MicroOLED # #Arduino #Project #Fritzing #Programming #Electronics #Microcontrollers #Consultant

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SparkFun 9 Degrees of Freedom – Sensor Stick

The SparkFun 9DOF Sensor Stick is a very small sensor board with 9 degrees of freedom. It includes the ADXL345 accelerometer, the HMC5883L magnetometer, and the ITG-3200 MEMS gyro. The “Stick” has a simple I2C interface and a mounting hole for attaching it to your project. Also, the board is a mere allowing it to be easily mounted in just about any application.

DL2305Mk03

1 x SparkFun RedBoard Qwiic
1 x ProtoScrewShield
1 x SparkFun 9 Degrees of Freedom – Sensor Stick
1 x SparkFun Micro OLED Breakout (Qwiic)
1 x Thumb Joystick
1 x SparkFun Thumb Joystick Breakout
2 x Pololu DRV8834 Low-Voltage Stepper Motor Driver Carrier
2 x Electrolytic Decoupling Capacitors – 100uF/25V
2 x Pololu Stepper Motor Bipolar, 2.8V, 1.7 A/Phase
2 x Pololu Universal Aluminum Mounting Hub for 5mm Shaft, M3 Holes
1 x SparkFun Solderable Breadboard – Large
1 x SparkFun Cerberus USB Cable

SparkFun RedBoard Qwiic

SDA – Analog A5
SCL – Analog A4
JH – Analog A0
JV – Analog A1
JS – Digital 2
DIR – Digital 7
SPR – Digital 8
DIL – Digital 9
SPL – Digital 10
LED – Digital 13
VIN – +3.3V
VIN – +5V
GND – GND

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DL2305Mk03p.ino

/* ***** Don Luc Electronics © *****
Software Version Information
Project #12: Robotics - 9DOF - Mk27
12-27
DL2305Mk03p.ino
1 x SparkFun RedBoard Qwiic
1 x ProtoScrewShield
1 x SparkFun 9 Degrees of Freedom - Sensor Stick
1 x SparkFun Micro OLED Breakout (Qwiic)
1 x Thumb Joystick
1 x SparkFun Thumb Joystick Breakout
2 x Pololu DRV8834 Low-Voltage Stepper Motor Driver Carrier
2 x Electrolytic Decoupling Capacitors - 100uF/25V
2 x Pololu Stepper Motor Bipolar, 2.8V, 1.7 A/Phase
2 x Pololu Universal Aluminum Mounting Hub for 5mm Shaft, M3 Holes
1 x SparkFun Solderable Breadboard - Large
1 x SparkFun Cerberus USB Cable
*/

// Include the Library Code
// Arduino
#include <Arduino.h>
// DRV8834 Stepper Motor Driver
#include <BasicStepperDriver.h>
#include <MultiDriver.h>
// Wire communicate with I2C / TWI devices
#include <Wire.h>
// SparkFun Micro OLED
#include <SFE_MicroOLED.h>
// Accelerometer
#include <ADXL345.h>
// Magnetometer
#include <HMC58X3.h>
// MEMS Gyroscope
#include <ITG3200.h>
// Debug
#include "DebugUtils.h"
// FreeIMU
#include <CommunicationUtils.h>
#include <FreeIMU.h>

// DRV8834 Stepper Motor Driver
// Stepper motor steps per revolution.
// Most steppers are 200 steps or 1.8 degrees/step
#define MOTOR_STEPS 200
// Target RPM for X axis stepper motor
#define MOTOR_X_RPM 800
// Target RPM for Y axis stepper motor
#define MOTOR_Y_RPM 800
// Since microstepping is set externally,
// make sure this matches the selected mode
// If it doesn't, the motor will move at a
// different RPM than chosen
// 1=full step, 2=half step etc.
#define MICROSTEPS 1
// X Stepper motor
#define DIR_X 7
#define STEP_X 8
// Y Stepper motor
#define DIR_Y 9
#define STEP_Y 10
// BasicStepperDriver
BasicStepperDriver stepperX(MOTOR_STEPS, DIR_X, STEP_X);
BasicStepperDriver stepperY(MOTOR_STEPS, DIR_Y, STEP_Y);
// Pick one of the two controllers below
// each motor moves independently
MultiDriver controller(stepperX, stepperY);

// Joystick
#define JH A0
#define JV A1
#define JS 2

// Variable for reading the button
int JSState = 0;
// Adjusted Value
int adjustedValue = 0;
int adjustedValue2 = 0;

// LED Yellow
int iLED = 13;

// SparkFun Micro OLED
#define PIN_RESET 9
#define DC_JUMPER 1
// I2C declaration
MicroOLED oled(PIN_RESET, DC_JUMPER);

// Set the FreeIMU object
FreeIMU my3IMU = FreeIMU();

// Yaw Pitch Roll
float ypr[3];
float Yaw = 0;
float Pitch = 0;
float Roll = 0;

// Software Version Information
String sver = "12-27";

void loop() {
  
  // Button
  isButton();

  // Joystick
  isThumbJoystick();
  
  // Stepper
  isStepper();

  // isFreeIMU
  isFreeIMU();

  // Micro OLED
  isMicroOLED();
 
}

getButton.ino

// Button
// Button Setup
void isButtonSetup() {
  
  // Make the button line an input
  pinMode(JS, INPUT_PULLUP);
  // Initialize digital pin iLED as an output
  pinMode(iLED, OUTPUT);
  
}

// Button
void isButton(){

  // Read the state of the button
  JSState = digitalRead(JS);

  // Check if the button is pressed.
  // If it is, the JSState is HIGH:
  if (JSState == HIGH) {
    
    // Button
    // Turn the LED on HIGH 
    digitalWrite(iLED, HIGH);
    
  } else {
    
    // Button
    // Turn the LED on LOW 
    digitalWrite(iLED, LOW);
    
  }

}

getFreeIMU.ino

// FreeIMU
// isFreeIMUSetup
void isFreeIMUSetup(){

  // Pause
  delay(5);
  // Initialize IMU
  my3IMU.init();
  // Pause
  delay(5);
  
}
// isFreeIMU
void isFreeIMU(){

  // FreeIMU
  // Yaw Pitch Roll
  my3IMU.getYawPitchRoll(ypr);
  // Yaw
  Yaw = ypr[0];
  // Pitch
  Pitch = ypr[1];
  // Roll
  Roll = ypr[2];

}

getMicroOLED.ino

// SparkFun Micro OLED
// Micro OLED Setup
void isMicroOLEDSetup() {

  // Initialize the OLED
  oled.begin();
  // Clear the display's internal memory
  oled.clear(ALL);
  // Display what's in the buffer (Splash Screen SparkFun)
  oled.display();

  // Delay 1000 ms
  delay(1000);

  // Clear the buffer.
  oled.clear(PAGE);
  
}
// Micro OLED
void isMicroOLED() {

  // Text Display FreeIMU
  // Clear the display
  oled.clear(PAGE);
  // Set cursor to top-left
  oled.setCursor(0, 0);
  // Set font to type 0
  oled.setFontType(0);
  // Horizontal
  oled.print("H: ");
  oled.print( adjustedValue );
  // Vertical
  oled.setCursor(0, 11);
  oled.print("V: ");
  oled.print( adjustedValue2 );
  // Yaw
  oled.setCursor(0, 21);
  oled.print("Y: ");
  oled.print(Yaw);
  // Pitch
  oled.setCursor(0, 31);
  oled.print("P: ");
  oled.print(Pitch);
  // Roll
  oled.setCursor(0, 41);
  oled.print("R: ");
  oled.print(Roll);
  oled.display();

}

getStepper.ino

// Stepper
// isStepperSetup
void isStepperSetup() {    
  
  // Set stepper target motors RPM.
  stepperX.begin(MOTOR_X_RPM, MICROSTEPS);
  stepperY.begin(MOTOR_Y_RPM, MICROSTEPS);

}
// Stepper
void isStepper() {

  // Stepper => Controller rotate
  controller.rotate(adjustedValue, adjustedValue2);
  
}

getThumbJoystick.ino

// Thumb Joystick
void isThumbJoystick() {

  // Joystick JH
  // Horizontal
  // Joystick Pot Values JH
  int potValue = analogRead(JH);
  int potValues = 0;
  // Adjusted Value
  potValues = map(potValue, 0, 1023, 1000, -1000);
  if (potValues > 300) {

    adjustedValue = potValues;

  } else if (potValues < -300) {

    adjustedValue = potValues;

  } else {

    adjustedValue = 0;

  }

  // Joystick JV
  // Vertical
  // Joystick Pot Values JV
  int potValue2 = analogRead(JV);
  int potValues2 = 0;
  // Adjusted Value2
  potValues2 = map(potValue2, 0, 1023, 1000, -1000);
  if (potValues2 > 300) {

    adjustedValue2 = potValues2;

  } else if (potValues2 < -300) {

    adjustedValue2 = potValues2;

  } else {

    adjustedValue2 = 0;

  }

}

setup.ino

// Setup
void setup()
{
  
  // Wire communicate with I2C / TWI devices
  Wire.begin();

  // Setup Micro OLED
  isMicroOLEDSetup();

  // isFreeIMUSetup
  isFreeIMUSetup();
   
  // Button Setup
  isButtonSetup();
  
  // DRV8834 Stepper Motor Driver
  isStepperSetup();

}

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People can contact us: https://www.donluc.com/?page_id=1927

Technology Experience

Programming Language
Single-Board Microcontrollers (PIC, Arduino, Raspberry Pi,Espressif, etc…)
IoT
Wireless (Radio Frequency, Bluetooth, WiFi, Etc…)
Robotics
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Unmanned Vehicles Terrestrial and Marine
Machine Learning
RTOS
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Programming Language
IoT
PIC Microcontrollers
Arduino
Raspberry Pi
Espressif
Robotics

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Don Luc

Posted in #12 - Robotics, Arduino, Consultant, Digital Electronics, Fritzing, Microcontrollers, Pololu, Program Arduino, Projects, SparkFun | Tagged 9DOF, Accelerometer, Arduino, Components, Consultant, Display, Electronics, Fritzing, Gyroscope, Magnetometer, Microcontrollers, Pololu, Programming, Project, Robotic, SparkFun, Stepper, Technology, Video Blog

Project #12: Robotics – 9DOF – Mk27

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