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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
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- Machine Learning
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Instructor, E-Mentor, STEAM, and Arts-Based Training
- Programming Language
- IoT
- PIC Microcontrollers
- Arduino
- Raspberry Pi
- Espressif
- Robotics
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