Create AccelOrientation.ino

Accelerometers/Arduino_LSM6DS3/AccelOrientation/AccelOrientation.ino

@@ -0,0 +1,93 @@
+/*
+  Arduino LSM6DS3 orientation
+
+  only prints out the accelerometer orientation if it is stable.
+  avoids the problem of having to move through adjacent orientations,
+  e.g. left -> top -> right. Instead, it will just print left -> right,
+  if you move fast enough.
+
+  created 29 Apr 2020
+  by Tom Igoe
+
+*/
+
+#include <Arduino_LSM6DS3.h>
+int lastOrientation = -1; // previous orientation of the accelerometer
+int sameReading = 0;      // how many times you've gotten the same reading
+int threshold = 7;        // how many same readings make the reading stable
+
+void setup() {
+  // initialize serial communication:
+  Serial.begin(9600);
+
+  // start the IMU:
+  if (!IMU.begin()) {
+    Serial.println("Failed to initialize IMU!");
+    while (true);
+  }
+}
+
+void loop() {
+  // variables for accelerometer readings:
+  float x, y, z;
+  // variable for orientation:
+  int orientation = -1;
+  // if the accelerometer's got readings,
+  if (IMU.accelerationAvailable()) {
+    // read the accelerometer:
+    IMU.readAcceleration(x, y, z);
+
+    // calculate the absolute values, to determine the largest
+    int absX = abs(x);
+    int absY = abs(y);
+    int absZ = abs(z);
+
+    // if Z  is greatest, we must be on the Z axis:
+    if ( (absZ > absX) && (absZ > absY)) {
+      if (z > 0) {
+        orientation = 0;  // Z up
+      } else {
+        orientation = 1;  // Z down
+      }
+      // if Y  is greatest, we must be on the Y axis:
+    } else if ( (absY > absX) && (absY > absZ)) {
+
+      if (y > 0) {
+        // Y up:
+        orientation = 2;
+      } else {
+        // Y down:
+        orientation = 3;
+      }
+      // if X  is greatest, we must be on the X axis:
+    } else if ( (absX > absY) && (absX > absZ)) {
+      if (x < 0) {
+        // X up:
+        orientation = 4;
+      } else {
+        // X down:
+        orientation = 5;
+      }
+    }
+
+    // if we have a valid reading:
+    if (orientation > -1 ) {
+      // if the reading has been the same many times in a row,
+      // then it is stable. print it:
+      if (sameReading == threshold) {
+        Serial.println(orientation);
+      }
+
+      // if the orientation has changed:
+      if (orientation != lastOrientation) {
+        // save the current for next time:
+        lastOrientation = orientation;
+        // clear sameReading:
+        sameReading = 0;
+      } else {
+        // increment sameReading:
+        sameReading++;
+      }
+    }
+  }
+}