Technical Lecture Slides
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Transcript Technical Lecture Slides
Team 8: Blake Frantz, Zhichao Lu, Alex Mazzoni,
Nori Wilkins, Chenli Yuan, Dan Zilinskas
Introduction
Background
Hardware Connections
◦ I2C Connections
Data Capturing
◦ Arduino Software
Data Output
◦ Converting Data
Develop recording system that receives data
from sensors and sends data wirelessly to
processor
◦ Body-worn controller (Arduino) sends data to PC
◦ Real-time processing on external PC
Focus on communication between one sensor
and Arduino
IMU- MPU9150
◦
◦
◦
◦
Accelerometer
Gyroscope
Magnetometer
Captures Motion
Arduino
◦ Arduino Uno
14 digital I/O
Operating Voltage-5V
Input Voltage Limit 620V
◦ Collects Data
4 wires connected from IMU to Arduino
VCC, Clock, Ground, Data
I2C Bus
2 pull-up resistors (2.2 kΩ)-for the line to be able to go
high
Clock frequency- 400kHz
Pin 4 (SDA data line)
Pin 5 (SCL clock)
3.3V
Data on I2C bus is transferred in 8-bit packets
Each packet must be followed by an
Acknowledgement packet
If no Acknowledgement is received, data is not
being transferred
Both signals (SDA and SCL) are bidirectional
Specifies connections, protocols, formats, addresses and
procedures
For each clock pulse, one bit of data is transferred
Lines can only change when SCL is low
VCC
GND
SDA
SCL
I2C bus can only handle 2
addresses
Multiplexer
◦ Switch to control
multiple devices
◦ Capable of multiple
addresses
Sensors are connected to channel ports
(C0,C1, etc.)
Channels are selected by selector bits
(S0…S3)
Arduino Software
Libraries
MPU6050-Modified to a IMU-9150
I2C
Wire
◦ Serial Monitor
Terminal window that displays raw data from Arduino
Functions
◦ Serial.begin (baudrate)
◦ Accelgyro.initialize()
◦ Accelgyro.GetMotion9-built into the library
String -prints the data points into a string
Serial.print-prints the data points to the serial
monitor
Time-stamping
◦ Useful when connecting multiple sensors
◦ Micros();
Gives you time in Microseconds
◦ Millis();
Gives you time in Milliseconds
Questions??