Tag Archives: Arduino

In this Circuit the 74HC595 is independently controlling 8 different LEDs.

In this lesson we show you how to expand the number of LEDs or other devices you can control with the Arduino by incorporating a Serial to Parallel converter. The chip we will be using is the 74HCH595. When connected to just a few pins of the Arduino, data can be sent serially to the chip, and then LEDs can be connected to the output pins of that chip. Hence, you can control 8 LEDs using only 3 digital pins on the Arduino.

This is somewhat of a tedious project, because the circuit has lots of wires, and it must be connected perfectly. We use the following schematic in this project:

The video takes you step by step through the entire build and programming.

The code we used in this build is included below:

int latchPin=11;
int clockPin=9;
int dataPin=12;
int dt=250;

byte LED1s=0b10101010;
byte LED2s=0b01010101;

void setup() {
  // put your setup code here, to run once:
Serial.begin(9600);
pinMode(latchPin,OUTPUT);
pinMode(dataPin,OUTPUT);
pinMode(clockPin,OUTPUT);
}

void loop() {
  // put your main code here, to run repeatedly:
digitalWrite(latchPin,LOW);
shiftOut(dataPin,clockPin,LSBFIRST,LED1s);
digitalWrite(latchPin,HIGH);
delay(dt);
digitalWrite(latchPin,LOW);
shiftOut(dataPin,clockPin,LSBFIRST,LED2s);
digitalWrite(latchPin,HIGH);
delay(dt);
}

int latchPin=11;

int clockPin=9;

int dataPin=12;

int dt=250;

byte LED1s=0b10101010;

byte LED2s=0b01010101;

void setup() {

// put your setup code here, to run once:

Serial.begin(9600);

pinMode(latchPin,OUTPUT);

pinMode(dataPin,OUTPUT);

pinMode(clockPin,OUTPUT);

}

void loop() {

// put your main code here, to run repeatedly:

digitalWrite(latchPin,LOW);

shiftOut(dataPin,clockPin,LSBFIRST,LED1s);

digitalWrite(latchPin,HIGH);

delay(dt);

digitalWrite(latchPin,LOW);

shiftOut(dataPin,clockPin,LSBFIRST,LED2s);

digitalWrite(latchPin,HIGH);

delay(dt);

}

Arduino, Arduino 9-Axis IMU Totorials

9-Axis IMU LESSON 20: Vpython Visualization of Roll, Pitch, and Yaw

December 26, 2019 admin

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This is the arduino code we developed in this lesson to approximate roll, pitch and yaw over small ranges.

#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>
#include <math.h>
float thetaM;
float phiM;
float thetaFold=0;
float thetaFnew;
float phiFold=0;
float phiFnew;

float thetaG=0;
float phiG=0;

float theta;
float phi;

float thetaRad;
float phiRad;

float Xm;
float Ym;
float psi;


float dt;
unsigned long millisOld;

#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 myIMU = Adafruit_BNO055();

void setup() {
  // put your setup code here, to run once:
Serial.begin(115200);
myIMU.begin();
delay(1000);
int8_t temp=myIMU.getTemp();
myIMU.setExtCrystalUse(true);
millisOld=millis();
}

void loop() {
  // put your main code here, to run repeatedly:
uint8_t system, gyro, accel, mg = 0;
myIMU.getCalibration(&system, &gyro, &accel, &mg);
imu::Vector<3> acc =myIMU.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);
imu::Vector<3> gyr =myIMU.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);
imu::Vector<3> mag =myIMU.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
thetaM=-atan2(acc.x()/9.8,acc.z()/9.8)/2/3.141592654*360;
phiM=-atan2(acc.y()/9.8,acc.z()/9.8)/2/3.141592654*360;
phiFnew=.95*phiFold+.05*phiM;
thetaFnew=.95*thetaFold+.05*thetaM;

dt=(millis()-millisOld)/1000.;
millisOld=millis();
theta=(theta+gyr.y()*dt)*.95+thetaM*.05;
phi=(phi-gyr.x()*dt)*.95+ phiM*.05;
thetaG=thetaG+gyr.y()*dt;
phiG=phiG-gyr.x()*dt;

phiRad=phi/360*(2*3.14);
thetaRad=theta/360*(2*3.14);

Xm=mag.x()*cos(thetaRad)-mag.y()*sin(phiRad)*sin(thetaRad)+mag.z()*cos(phiRad)*sin(thetaRad);
Ym=mag.y()*cos(phiRad)+mag.z()*sin(phiRad);

psi=atan2(Ym,Xm)/(2*3.14)*360;

Serial.print(phi);
Serial.print(",");
Serial.print(theta);
Serial.print(",");
Serial.print(psi);
Serial.print(",");
Serial.print(accel);
Serial.print(",");
Serial.print(gyro);
Serial.print(",");
Serial.print(mg);
Serial.print(",");
Serial.println(system);


phiFold=phiFnew;
thetaFold=thetaFnew;

 
delay(BNO055_SAMPLERATE_DELAY_MS);
}

#include <Wire.h>

#include <Adafruit_Sensor.h>

#include <Adafruit_BNO055.h>

#include <utility/imumaths.h>

#include <math.h>

float thetaM;

float phiM;

float thetaFold=0;

float thetaFnew;

float phiFold=0;

float phiFnew;

float thetaG=0;

float phiG=0;

float theta;

float phi;

float thetaRad;

float phiRad;

float Xm;

float Ym;

float psi;

float dt;

unsigned long millisOld;

#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 myIMU = Adafruit_BNO055();

void setup() {

// put your setup code here, to run once:

Serial.begin(115200);

myIMU.begin();

delay(1000);

int8_t temp=myIMU.getTemp();

myIMU.setExtCrystalUse(true);

millisOld=millis();

}

void loop() {

// put your main code here, to run repeatedly:

uint8_t system, gyro, accel, mg = 0;

myIMU.getCalibration(&system, &gyro, &accel, &mg);

imu::Vector<3> acc =myIMU.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);

imu::Vector<3> gyr =myIMU.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);

imu::Vector<3> mag =myIMU.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);

thetaM=-atan2(acc.x()/9.8,acc.z()/9.8)/2/3.141592654*360;

phiM=-atan2(acc.y()/9.8,acc.z()/9.8)/2/3.141592654*360;

phiFnew=.95*phiFold+.05*phiM;

thetaFnew=.95*thetaFold+.05*thetaM;

dt=(millis()-millisOld)/1000.;

millisOld=millis();

theta=(theta+gyr.y()*dt)*.95+thetaM*.05;

phi=(phi-gyr.x()*dt)*.95+ phiM*.05;

thetaG=thetaG+gyr.y()*dt;

phiG=phiG-gyr.x()*dt;

phiRad=phi/360*(2*3.14);

thetaRad=theta/360*(2*3.14);

Xm=mag.x()*cos(thetaRad)-mag.y()*sin(phiRad)*sin(thetaRad)+mag.z()*cos(phiRad)*sin(thetaRad);

Ym=mag.y()*cos(phiRad)+mag.z()*sin(phiRad);

psi=atan2(Ym,Xm)/(2*3.14)*360;

Serial.print(phi);

Serial.print(",");

Serial.print(theta);

Serial.print(",");

Serial.print(psi);

Serial.print(",");

Serial.print(accel);

Serial.print(",");

Serial.print(gyro);

Serial.print(",");

Serial.print(mg);

Serial.print(",");

Serial.println(system);

phiFold=phiFnew;

thetaFold=thetaFnew;

delay(BNO055_SAMPLERATE_DELAY_MS);

}

This is the python code we developed to visualize the 3 dimensional rotation of a rigid body.

from vpython import *
from time import *
import numpy as np
import math
import serial
ad=serial.Serial('com5',115200)
sleep(1)


scene.range=5
toRad=2*np.pi/360
toDeg=1/toRad
scene.forward=vector(-1,-1,-1)

scene.width=600
scene.height=600

xarrow=arrow(lenght=2, shaftwidth=.1, color=color.red,axis=vector(1,0,0))
yarrow=arrow(lenght=2, shaftwidth=.1, color=color.green,axis=vector(0,1,0))
zarrow=arrow(lenght=4, shaftwidth=.1, color=color.blue,axis=vector(0,0,1))

frontArrow=arrow(length=4,shaftwidth=.1,color=color.purple,axis=vector(1,0,0))
upArrow=arrow(length=1,shaftwidth=.1,color=color.magenta,axis=vector(0,1,0))
sideArrow=arrow(length=2,shaftwidth=.1,color=color.orange,axis=vector(0,0,1))

bBoard=box(length=6,width=2,height=.2,opacity=.8,pos=vector(0,0,0,))
bn=box(length=1,width=.75,height=.1, pos=vector(-.5,.1+.05,0),color=color.blue)
nano=box(lenght=1.75,width=.6,height=.1,pos=vector(-2,.1+.05,0),color=color.green)
myObj=compound([bBoard,bn,nano])
while (True):
    while (ad.inWaiting()==0):
        pass
    dataPacket=ad.readline()
    dataPacket=str(dataPacket,'utf-8')
    splitPacket=dataPacket.split(",")
    roll=float(splitPacket[0])*toRad
    pitch=float(splitPacket[1])*toRad
    yaw=float(splitPacket[2])*toRad+np.pi
    print("Roll=",roll*toDeg," Pitch=",pitch*toDeg,"Yaw=",yaw*toDeg)
    rate(50)
    k=vector(cos(yaw)*cos(pitch), sin(pitch),sin(yaw)*cos(pitch))
    y=vector(0,1,0)
    s=cross(k,y)
    v=cross(s,k)
    vrot=v*cos(roll)+cross(k,v)*sin(roll)

    frontArrow.axis=k
    sideArrow.axis=cross(k,vrot)
    upArrow.axis=vrot
    myObj.axis=k
    myObj.up=vrot
    sideArrow.length=2
    frontArrow.length=4
    upArrow.length=1

from vpython import *

from time import *

import numpy as np

import math

import serial

ad=serial.Serial('com5',115200)

sleep(1)

scene.range=5

toRad=2*np.pi/360

toDeg=1/toRad

scene.forward=vector(-1,-1,-1)

scene.width=600

scene.height=600

xarrow=arrow(lenght=2, shaftwidth=.1, color=color.red,axis=vector(1,0,0))

yarrow=arrow(lenght=2, shaftwidth=.1, color=color.green,axis=vector(0,1,0))

zarrow=arrow(lenght=4, shaftwidth=.1, color=color.blue,axis=vector(0,0,1))

frontArrow=arrow(length=4,shaftwidth=.1,color=color.purple,axis=vector(1,0,0))

upArrow=arrow(length=1,shaftwidth=.1,color=color.magenta,axis=vector(0,1,0))

sideArrow=arrow(length=2,shaftwidth=.1,color=color.orange,axis=vector(0,0,1))

bBoard=box(length=6,width=2,height=.2,opacity=.8,pos=vector(0,0,0,))

bn=box(length=1,width=.75,height=.1, pos=vector(-.5,.1+.05,0),color=color.blue)

nano=box(lenght=1.75,width=.6,height=.1,pos=vector(-2,.1+.05,0),color=color.green)

myObj=compound([bBoard,bn,nano])

while (True):

while (ad.inWaiting()==0):

pass

dataPacket=ad.readline()

dataPacket=str(dataPacket,'utf-8')

splitPacket=dataPacket.split(",")

roll=float(splitPacket[0])*toRad

pitch=float(splitPacket[1])*toRad

yaw=float(splitPacket[2])*toRad+np.pi

print("Roll=",roll*toDeg," Pitch=",pitch*toDeg,"Yaw=",yaw*toDeg)

rate(50)

k=vector(cos(yaw)*cos(pitch), sin(pitch),sin(yaw)*cos(pitch))

y=vector(0,1,0)

s=cross(k,y)

v=cross(s,k)

vrot=v*cos(roll)+cross(k,v)*sin(roll)

frontArrow.axis=k

sideArrow.axis=cross(k,vrot)

upArrow.axis=vrot

myObj.axis=k

myObj.up=vrot

sideArrow.length=2

frontArrow.length=4

upArrow.length=1

Arduino, Arduino 9-Axis IMU Totorials

9-Axis IMU LESSON 19: Vpython Visualization of Pitch and Yaw

December 19, 2019 admin

To play along at home, you will need an Arduino Nano, and an Adafruit BNO055 Inertial Measurement Sensor. In this lesson we create a live visual where a 3D model rotates in space mimicking the pitch and yaw of the breadboard in the real world. We have not yet derived and implemented the math to incorporate roll into the simulation but that will ab done in the next lesson.

This is the code on the arduino side we developed in the video:

#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>
#include <math.h>
float thetaM;
float phiM;
float thetaFold=0;
float thetaFnew;
float phiFold=0;
float phiFnew;

float thetaG=0;
float phiG=0;

float theta;
float phi;

float thetaRad;
float phiRad;

float Xm;
float Ym;
float psi;


float dt;
unsigned long millisOld;

#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 myIMU = Adafruit_BNO055();

void setup() {
  // put your setup code here, to run once:
Serial.begin(115200);
myIMU.begin();
delay(1000);
int8_t temp=myIMU.getTemp();
myIMU.setExtCrystalUse(true);
millisOld=millis();
}

void loop() {
  // put your main code here, to run repeatedly:
uint8_t system, gyro, accel, mg = 0;
myIMU.getCalibration(&system, &gyro, &accel, &mg);
imu::Vector<3> acc =myIMU.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);
imu::Vector<3> gyr =myIMU.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);
imu::Vector<3> mag =myIMU.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
thetaM=-atan2(acc.x()/9.8,acc.z()/9.8)/2/3.141592654*360;
phiM=-atan2(acc.y()/9.8,acc.z()/9.8)/2/3.141592654*360;
phiFnew=.95*phiFold+.05*phiM;
thetaFnew=.95*thetaFold+.05*thetaM;

dt=(millis()-millisOld)/1000.;
millisOld=millis();
theta=(theta+gyr.y()*dt)*.95+thetaM*.05;
phi=(phi-gyr.x()*dt)*.95+ phiM*.05;
thetaG=thetaG+gyr.y()*dt;
phiG=phiG-gyr.x()*dt;

phiRad=phi/360*(2*3.14);
thetaRad=theta/360*(2*3.14);

Xm=mag.x()*cos(thetaRad)-mag.y()*sin(phiRad)*sin(thetaRad)+mag.z()*cos(phiRad)*sin(thetaRad);
Ym=mag.y()*cos(phiRad)+mag.z()*sin(phiRad);

psi=atan2(Ym,Xm)/(2*3.14)*360;

Serial.print(acc.x()/9.8);
Serial.print(",");
Serial.print(acc.y()/9.8);
Serial.print(",");
Serial.print(acc.z()/9.8);
Serial.print(",");
Serial.print(accel);
Serial.print(",");
Serial.print(gyro);
Serial.print(",");
Serial.print(mg);
Serial.print(",");
Serial.print(system);
Serial.print(",");
Serial.print(thetaM);
Serial.print(",");
Serial.print(phiM);
Serial.print(",");
Serial.print(thetaFnew);
Serial.print(",");
Serial.print(phiFnew);
Serial.print(",");
Serial.print(thetaG);
Serial.print(",");
Serial.print(phiG);
Serial.print(",");
Serial.print(theta);
Serial.print(",");
Serial.print(phi);
Serial.print(",");
Serial.println(psi);

phiFold=phiFnew;
thetaFold=thetaFnew;

 
delay(BNO055_SAMPLERATE_DELAY_MS);
}

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#include <Wire.h>

#include <Adafruit_Sensor.h>

#include <Adafruit_BNO055.h>

#include <utility/imumaths.h>

#include <math.h>

float thetaM;

float phiM;

float thetaFold=0;

float thetaFnew;

float phiFold=0;

float phiFnew;

float thetaG=0;

float phiG=0;

float theta;

float phi;

float thetaRad;

float phiRad;

float Xm;

float Ym;

float psi;

float dt;

unsigned long millisOld;

#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 myIMU = Adafruit_BNO055();

void setup() {

// put your setup code here, to run once:

Serial.begin(115200);

myIMU.begin();

delay(1000);

int8_t temp=myIMU.getTemp();

myIMU.setExtCrystalUse(true);

millisOld=millis();

}

void loop() {

// put your main code here, to run repeatedly:

uint8_t system, gyro, accel, mg = 0;

myIMU.getCalibration(&system, &gyro, &accel, &mg);

imu::Vector<3> acc =myIMU.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);

imu::Vector<3> gyr =myIMU.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);

imu::Vector<3> mag =myIMU.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);

thetaM=-atan2(acc.x()/9.8,acc.z()/9.8)/2/3.141592654*360;

phiM=-atan2(acc.y()/9.8,acc.z()/9.8)/2/3.141592654*360;

phiFnew=.95*phiFold+.05*phiM;

thetaFnew=.95*thetaFold+.05*thetaM;

dt=(millis()-millisOld)/1000.;

millisOld=millis();

theta=(theta+gyr.y()*dt)*.95+thetaM*.05;

phi=(phi-gyr.x()*dt)*.95+ phiM*.05;

thetaG=thetaG+gyr.y()*dt;

phiG=phiG-gyr.x()*dt;

phiRad=phi/360*(2*3.14);

thetaRad=theta/360*(2*3.14);

Xm=mag.x()*cos(thetaRad)-mag.y()*sin(phiRad)*sin(thetaRad)+mag.z()*cos(phiRad)*sin(thetaRad);

Ym=mag.y()*cos(phiRad)+mag.z()*sin(phiRad);

psi=atan2(Ym,Xm)/(2*3.14)*360;

Serial.print(acc.x()/9.8);

Serial.print(",");

Serial.print(acc.y()/9.8);

Serial.print(",");

Serial.print(acc.z()/9.8);

Serial.print(",");

Serial.print(accel);

Serial.print(",");

Serial.print(gyro);

Serial.print(",");

Serial.print(mg);

Serial.print(",");

Serial.print(system);

Serial.print(",");

Serial.print(thetaM);

Serial.print(",");

Serial.print(phiM);

Serial.print(",");

Serial.print(thetaFnew);

Serial.print(",");

Serial.print(phiFnew);

Serial.print(",");

Serial.print(thetaG);

Serial.print(",");

Serial.print(phiG);

Serial.print(",");

Serial.print(theta);

Serial.print(",");

Serial.print(phi);

Serial.print(",");

Serial.println(psi);

phiFold=phiFnew;

thetaFold=thetaFnew;

delay(BNO055_SAMPLERATE_DELAY_MS);

}

This is the code on the Python side we developed in the video:

from vpython import *
from time import *
import numpy as np
import math
import serial
ad=serial.Serial('com5',115200)
sleep(1)


scene.range=5
toRad=2*np.pi/360
toDeg=1/toRad
scene.forward=vector(-1,-1,-1)

scene.width=600
scene.height=600

xarrow=arrow(lenght=2, shaftwidth=.1, color=color.red,axis=vector(1,0,0))
yarrow=arrow(lenght=2, shaftwidth=.1, color=color.green,axis=vector(0,1,0))
zarrow=arrow(lenght=4, shaftwidth=.1, color=color.blue,axis=vector(0,0,1))

frontArrow=arrow(length=4,shaftwidth=.1,color=color.purple,axis=vector(1,0,0))
upArrow=arrow(length=1,shaftwidth=.1,color=color.magenta,axis=vector(0,1,0))
sideArrow=arrow(length=2,shaftwidth=.1,color=color.orange,axis=vector(0,0,1))

bBoard=box(length=6,width=2,height=.2,opacity=.8,pos=vector(0,0,0,))
bn=box(length=1,width=.75,height=.1, pos=vector(-.5,.1+.05,0),color=color.blue)
nano=box(lenght=1.75,width=.6,height=.1,pos=vector(-2,.1+.05,0),color=color.green)
myObj=compound([bBoard,bn,nano])
while (True):
    while (ad.inWaiting()==0):
        pass
    dataPacket=ad.readline()
    dataPacket=str(dataPacket,'utf-8')
    splitPacket=dataPacket.split(",")
    roll=float(splitPacket[0])*toRad
    pitch=float(splitPacket[1])*toRad
    yaw=float(splitPacket[2])*toRad+np.pi
    print("Roll=",roll*toDeg," Pitch=",pitch*toDeg,"Yaw=",yaw*toDeg)
    rate(50)
    k=vector(cos(yaw)*cos(pitch), sin(pitch),sin(yaw)*cos(pitch))
    y=vector(0,1,0)
    s=cross(k,y)
    v=cross(s,k)

    frontArrow.axis=k
    sideArrow.axis=s
    upArrow.axis=v
    myObj.axis=k
    myObj.up=v
    sideArrow.length=2
    frontArrow.length=4
    upArrow.length=1