Created
April 5, 2023 16:36
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//compass | |
if (millis() - throttle > 500) { | |
throttle = millis(); | |
sensors_event_t event; | |
accel.getEvent(&event); | |
/* Display the results (acceleration is measured in m/s^2) */ | |
if (accelerometer_x > accelerometer_x + 1 || event.acceleration.x < accelerometer_x - 1) { | |
accelerometer_x = accelerometer_x; | |
Serial.print("accelerometer_x:"); | |
Serial.println(event.acceleration.x); | |
} | |
if (accelerometer_y > accelerometer_y + 1 || event.acceleration.y < accelerometer_y - 1) { | |
accelerometer_y = accelerometer_y; | |
Serial.print("accelerometer_y:"); | |
Serial.println(event.acceleration.y); | |
} | |
if (accelerometer_z > accelerometer_z + 1 || event.acceleration.x < accelerometer_z - 1) { | |
accelerometer_z = accelerometer_z; | |
Serial.print("accelerometer_z:"); | |
Serial.println(event.acceleration.z); | |
} | |
float Pi = 3.14159; | |
// Calculate the angle of the vector y,x | |
float heading = (atan2(event.magnetic.y, event.magnetic.x) * 180) / Pi; | |
// Normalize to 0-360 | |
if (heading < 0) | |
{ | |
heading = 360 + heading; | |
} | |
if (heading > lastHeading + 3 || heading < lastHeading - 3) { | |
lastHeading = heading; | |
Serial.print("compass_heading:"); | |
Serial.println(heading); | |
} | |
} | |
} |
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