Separating Data from One IMU Sensor

Cora

I'm using an MPU 6050 accel/gyro breakout board with an Arduino Uno for my Processing sketch. Its connected to the MPU 6050 raw sketch. I'm having trouble figuring out how to use the input from my sensor and dividing the number output to use separately. All of the tutorials online are for more than one sensor. What I want to do is compare the out put against each other and I have not been able to find any online resources that talk about using data in that way in processing. I feel like it has something to do with serialEvent. Any help would be greatly appreciated. If anyone knows any online resources that talks about data and serial in processing in more depth. Do I need to install a library? I'm very new to processing. Here is the MPU6050 raw code:

#include "I2Cdev.h"
#include "MPU6050.h"

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif

// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 accelgyro;
//MPU6050 accelgyro(0x69); // <-- use for AD0 high

int16_t ax, ay, az;
int16_t gx, gy, gz;



// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated
// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,
// not so easy to parse, and slow(er) over UART.
#define OUTPUT_READABLE_ACCELGYRO

// uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit
// binary, one right after the other. This is very fast (as fast as possible
// without compression or data loss), and easy to parse, but impossible to read
// for a human.
//#define OUTPUT_BINARY_ACCELGYRO


#define LED_PIN 13
bool blinkState = false;

void setup() {
    // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    // initialize serial communication
    // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
    // it's really up to you depending on your project)
    Serial.begin(38400);

    // initialize device
    Serial.println("Initializing I2C devices...");
    accelgyro.initialize();

    // verify connection
    Serial.println("Testing device connections...");
    Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");

    // use the code below to change accel/gyro offset values
    /*
    Serial.println("Updating internal sensor offsets...");
    // -76  -2359   1688    0   0   0
    Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
    Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
    Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
    Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
    Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
    Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
    Serial.print("\n");
    accelgyro.setXGyroOffset(220);
    accelgyro.setYGyroOffset(76);
    accelgyro.setZGyroOffset(-85);
    Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
    Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
    Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
    Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
    Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
    Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
    Serial.print("\n");
    */

    // configure Arduino LED for
    pinMode(LED_PIN, OUTPUT);
}

void loop() {
    // read raw accel/gyro measurements from device
    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

    // these methods (and a few others) are also available
    //accelgyro.getAcceleration(&ax, &ay, &az);
    //accelgyro.getRotation(&gx, &gy, &gz);

    #ifdef OUTPUT_READABLE_ACCELGYRO
        // display tab-separated accel/gyro x/y/z values
        Serial.print("a/g:\t");
        Serial.print(ax); Serial.print("\t");
        Serial.print(ay); Serial.print("\t");
        Serial.print(az); Serial.print("\t");
        Serial.print(gx); Serial.print("\t");
        Serial.print(gy); Serial.print("\t");
        Serial.println(gz);
    #endif

    #ifdef OUTPUT_BINARY_ACCELGYRO
        Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));
        Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
        Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
        Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));
        Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));
        Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));
    #endif

    // blink LED to indicate activity
    blinkState = !blinkState;
    digitalWrite(LED_PIN, blinkState);
}

GoToLoop

http://forum.processing.org/two/discussion/8045/how-to-format-code-and-text

camperos

I'm not sure that this is what you ask

for readable output similar to:

 import processing.serial.*; 

Serial myPort;

void setup() {
  size(200, 200);  
  myPort = new Serial(this, "COM7", 9600); 
  myPort.bufferUntil('\n');
}
void draw() {
}
void serialEvent(Serial myPort) { 
  String inString = myPort.readStringUntil('\n');

  if (inString != null) { 
    inString = trim(inString); 

    int[] dataAccel = int(split(inString, "/t")); 

    if (dataAccel.length >=2) {
      int ax = dataAccel[0];
      int ay = dataAccel[1];
    }
    println (ax);
    println (ay);
  }
}

for binary output similar to:

import processing.serial.*;
Serial myPort;

void setup() {
  size(300, 300);
  myPort = new Serial(this, "COM7", 9600);
  delay(2000);
}
void draw() {
}

void serialEvent(Serial myPort) {
  if (myPort.available () >=4) {
    int axLow = myPort.read();
    int axHigh  = myPort.read();

    int ayLow = myPort.read();
    int ayHigh  = myPort.read();   

    int ax = (axLow & 0xff) | (axHigh) << 8;
    int ay = (ayLow & 0xff) | (ayHigh) << 8;

    println(ax);
    println(ay);
  }
}

MohamedAbdulFattah

this pdf explains how to use data from Arduino in processing.