Acc 03: Tilt measurement

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