Acc 03: Tilt measurement
This example shows how to get the acceleration on the different axis and calculate the tilt of Waspmote.
Required Materials
1 x Waspmote 1 x MiniUSB wire
Notes
This example can be executed in Waspmote v12 and Waspmote v15
Code
/*
* ------ [ACC_3] Waspmote Accelerometer tilt measurement --------
*
* Explanation: This example shows how to get the acceleration on the
* different axis and calculate the tilt of Waspmote
*
* Copyright (C) 2016 Libelium Comunicaciones Distribuidas S.L.
* http://www.libelium.com
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Version: 3.0
* Design: David Gascón
* Implementation: Marcos Yarza
*/
void setup()
{
ACC.ON(FS_2G);
USB.ON(); // starts using the serial port
USB.println(F("ACC_03 example"));
}
void loop()
{
float x_acc = ACC.getX();
if (x_acc > 1000) x_acc = 1000;
if (x_acc < -1000) x_acc = -1000;
float angle_x = (180 / PI) * asin(x_acc/1000);
float y_acc = ACC.getY();
if (y_acc > 1000) y_acc = 1000;
if (y_acc < -1000) y_acc = -1000;
float angle_y = (180 / PI) * asin(y_acc/1000);
float z_acc = ACC.getZ();
if (z_acc > 1000) z_acc = 1000;
if (z_acc < -1000) z_acc = -1000;
float angle_z = (180 / PI) * asin(z_acc/1000);
USB.println(F("+++++++++++++++++++++++++++++++++"));
USB.print(F("Acceleration X: "));
USB.print(x_acc,DEC);
USB.print(F(" | X angle: "));
USB.println(angle_x);
USB.print(F("Acceleration Y: "));
USB.print(y_acc,DEC);
USB.print(F(" | Y angle: "));
USB.println(angle_y);
USB.print(F("Acceleration Z: "));
USB.print(z_acc,DEC);
USB.print(F(" | Z angle: "));
USB.println(angle_z);
delay(500);
}Output
H#
ACC_03 example
+++++++++++++++++++++++++++++++++
Acceleration X: -66 | X angle: -3.7842721939
Acceleration Y: -11 | Y angle: -0.6302662372
Acceleration Z: 970 | Z angle: 75.9301376342
+++++++++++++++++++++++++++++++++
Acceleration X: -67 | X angle: -3.8416948318
Acceleration Y: -25 | Y angle: -1.4325436592
Acceleration Z: 964 | Z angle: 74.5794219970
+++++++++++++++++++++++++++++++++
Acceleration X: 40 | X angle: 2.2924425601
Acceleration Y: -287 | Y angle: -16.6784343719
Acceleration Z: 932 | Z angle: 68.7487487792
+++++++++++++++++++++++++++++++++
Acceleration X: 22 | X angle: 1.2606086730
Acceleration Y: -523 | Y angle: -31.5336971282
Acceleration Z: 829 | Z angle: 55.9961433410
+++++++++++++++++++++++++++++++++
Acceleration X: -798 | X angle: -52.9395370483
Acceleration Y: 122 | Y angle: 7.0075411796
Acceleration Z: 540 | Z angle: 32.6836395263Last updated