From cdd76ab96dd5e6858aa71cbf4b94a1da89963c74 Mon Sep 17 00:00:00 2001
From: Aaron John Sabu <aaronjohnsabu1999@gmail.com>
Date: Thu, 28 Oct 2021 00:29:26 -0700
Subject: [PATCH] Included barometer code to esp_slave and esp_master
---
.../Laptop_Code/ESP32_slave/ESP32_slave.ino | 58 +++++++++++++------
.../ESP32_master/ESP32_master.ino | 2 +
2 files changed, 42 insertions(+), 18 deletions(-)
diff --git a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino b/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
index c32e3b4..aa4848a 100644
--- a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
+++ b/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
@@ -1,8 +1,9 @@
-#include <esp_now.h>
#include <WiFi.h>
#include <Wire.h>
-#include <SparkFun_VL53L1X.h>
#include <Arduino.h>
+#include <esp_now.h>
+#include <SparkFun_VL53L1X.h>
+#include <Adafruit_MPL3115A2.h>
#include "Camera.h"
#include "utilities.h"
@@ -37,6 +38,7 @@ int count_var = 0;
int print_count = 0;
int change_count =0;
int Lidar_flag = 0;
+int Baro_flag = 0;
// Define variables to be sent;
int Sent_tx = 0;
@@ -54,7 +56,10 @@ int8_t goal_id[3] = {g1, g2, g3};
SFEVL53L1X distanceSensor;
int budgetIndex = 4;
int budgetValue[7] = {15, 20, 33, 50, 100, 200, 500};
-
+
+// Define Barometer variables
+Adafruit_MPL3115A2 baro;
+
// Define LED variable
int LED = LED_BUILTIN;
@@ -68,7 +73,8 @@ typedef struct struct_message {
int Rrx;
int Rry;
int Rrz;
- int Rdist;
+ int Rdist;
+ int Rbaro;
String DebugM;
int Spwm1;
int Spwm2;
@@ -114,7 +120,7 @@ void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {
count = 0;
print_count=0;
change_count = 0;
- change_count = 0;
+ change_count = 0;
}
// =============================== All the setup ===========================================
@@ -126,15 +132,16 @@ Camera cam(&interface);
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// changed
-Adafruit_DCMotor *motorVertical_L = AFMS.getMotor(1); // pwm1
-Adafruit_DCMotor *motorVertical_R = AFMS.getMotor(2); // pwm2
-Adafruit_DCMotor *motorLeft = AFMS.getMotor(3); // pwm3
-Adafruit_DCMotor *motorRight = AFMS.getMotor(4); // pwm4
+Adafruit_DCMotor *motorVertical_L = AFMS.getMotor(1); // pwm1
+Adafruit_DCMotor *motorVertical_R = AFMS.getMotor(2); // pwm2
+Adafruit_DCMotor *motorLeft = AFMS.getMotor(3); // pwm3
+Adafruit_DCMotor *motorRight = AFMS.getMotor(4); // pwm4
+
// ==================================== Set up =================================================
void setup() {
// Init Serial Monitor
- Serial.begin(115200);
- Wire.begin();
+ Serial.begin(115200);
+ Wire.begin();
interface.begin(); //communication between ESP and OpenMV
AFMS.begin(); // create with the default frequency 1.6KHz
// -------------- LED part --------------------
@@ -144,16 +151,25 @@ void setup() {
// -------------- lidar part --------------------
if (distanceSensor.begin() == 0){
- Serial.println("Sensor online!");
+ Serial.println("Lidar online!");
Lidar_flag = 1;
- }else {
+ } else {
Lidar_flag = 0;
}
-
+
distanceSensor.startRanging();
distanceSensor.setIntermeasurementPeriod(budgetValue[budgetIndex]);
-
- // --------------------------- esp now ---------------------------
+
+ // ----------------- barometer -----------------
+ if (baro.begin()) {
+ Serial.println("Barometer online!");
+ Baro_flag = 1;
+ baro.setSeaPressure(1016); // STD SLP = 1013.26 hPa
+ } else {
+ Baro_flag = 0;
+ }
+
+ // --------------------------- esp now ---------------------------
// Set device as a Wi-Fi Station
WiFi.mode(WIFI_STA);
@@ -203,7 +219,7 @@ void loop()
Sent_rx = rx;
Sent_ry = ry;
Sent_rz = rz;
- }else{
+ } else{
Sent_tx = 0;
Sent_ty = 0;
Sent_tz = 0; // cm
@@ -213,8 +229,13 @@ void loop()
}
if (Lidar_flag == 1){
Sent_dist = distanceSensor.getDistance(); // Lidar distance (use the real Lidar data)
- }else {
+ } else {
Sent_dist = 0;
+ }
+ if (Baro_flag == 1){
+ Sent_baro = baro.getAltitude(); // Barometer altitude (use the real Barometer data)
+ } else {
+ Sent_baro = 0;
}
// ========== lidar state info =========
if (Sent_dist < 300 && Sent_dist > 0){
@@ -230,6 +251,7 @@ void loop()
receivedData.Rry = Sent_ry;
receivedData.Rrz = Sent_rz;
receivedData.Rdist = Sent_dist;
+ receivedData.Rbaro = Sent_baro;
send_var_once();
print_received_Data();
diff --git a/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino b/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
index 446b250..c275385 100644
--- a/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
+++ b/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
@@ -30,6 +30,7 @@ typedef struct struct_message {
int Rry;
int Rrz;
int Rdist;
+ int Rbaro;
String DebugM;
int Spwm1;
int Spwm2;
@@ -71,6 +72,7 @@ void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {
Serial.println(sentData.Rry);
Serial.println(sentData.Rrz);
Serial.println(sentData.Rdist);
+ Serial.println(sentData.Rbaro);
Serial.println(sentData.DebugM);
}
// =================================== setup ==================================================
--
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