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Community General Discussions
1

You know what would be excellent? A code box for forum posts. You know what I mean? Keep that posted code contained in a box to preserve the aesthetics of the post itself. Yeah.

Two cents :ching:

2

Nice

You mean like in many forums where code is inside a box so it looks better?

Good idea!

3

You mean something like

You mean something like this:

void setup()
{ pinMode(8, OUTPUT);
}
etc
etc
etc
etc
etc

Sorry, I just don’t think that’s possible.

rotflm.gif

Hmm - maybe it isn't after all. It has a scroll bar when editing.

Let me try something different (holy smokes - this is even worse):

/*
* Set up the accelerometer and gyroscope in the IMU.
 * Read data from them and spit it out on the serial port.
 *
 * JRW 12/11/10
 */

#include <Wire.h> /


#include “i2c.h”

#include “adxl345.h”

#include “itg3200.h”

#include “IMUfilter.h”


#define GYRO 0x68

#define ACCEL 0x53

#define FILTER_RATE 0.01


ADXL adxl(ACCEL);

ITG itg(GYRO);

IMUfilter imuFilter(FILTER_RATE, 0.6);

int count=0;

long lastmillis=0;


float ax=0,ay=0,az=0,gx=0,gy=0,gz=0;

float loops=0;

float sumx,sumy,sumz=0;


void setup() {

i2c.begin();

Serial.begin(57600);

Serial.println(“I2C initialised.”);

adxl.init();

itg.init();

itg.wake();


while (!itg.dataReady()) {

}


unsigned char whoami=i2c.readRegister(ACCEL,ADXL_WHO_AM_I);

Serial.print("Accel: ");

Serial.println(whoami,HEX);


whoami=i2c.readRegister(GYRO,ITG_WHO_AM_I);

Serial.print("Gyro: ");

Serial.println(whoami,HEX);

Serial.print("Temp: ");

Serial.println(itg.getTemp());


/Serial.println(i2c::readRegister(ACCEL, ADXL_TIME_INACT),DEC);

Serial.println(i2c::readRegister(ACCEL, ADXL_THRESH_INACT),DEC);

Serial.println(i2c::readRegister(ACCEL, ADXL_ACT_INACT_CTL),BIN);

Serial.println(i2c::readRegister(ACCEL, ADXL_POWER_CTL),BIN);

delay(5000);/

//Serial.println(i2c::readRegister(GYRO, ITG_PWR_MGM),BIN);

//delay(2000);

}


void loop() {


while (!adxl.dataReady()) {
}
if (adxl.sleeping()) {
  Serial.println("Sleeping");
}
else
{
  ax+=adxl.getX();
  ay+=adxl.getY();
  az+=adxl.getZ();
  /*Serial.print(ax);
   Serial.print('\t');
   Serial.print(ay);
   Serial.print('\t');
   Serial.println(az);*/
}
while (!itg.dataReady()) {
}
gx+=(float)itg.getX();
gy+=(float)itg.getY()*PI/180.0;
gz+=(float)itg.getZ()*PI/180.0;
loops++;
//}



long current=millis();

if (current-lastmillis>FILTER_RATE1000) {

lastmillis=current;

imuFilter.updateFilter(gx/loopsPI/180.0, gy/loopsPI/180.0, gz/loopsPI/180.0, ax, ay, az);

imuFilter.computeEuler();

sumx+=gx/loopsFILTER_RATE;

sumy+=gy/loopsFILTER_RATE;

sumz+=gz/loops*FILTER_RATE;

/Serial.print(ax);

Serial.print(’\t’);

Serial.print(ay);

Serial.print(’\t’);

Serial.println(az);/


if (count++&gt;10) {
  Serial.print(imuFilter.getPitch()/PI*180.0);
  Serial.print('\t');
  Serial.print(imuFilter.getRoll()/PI*180.0);
  Serial.print('\t');
  Serial.print(imuFilter.getYaw()/PI*180.0);
  Serial.print('\t');
  Serial.print(sumx);
  Serial.print('\t');
  Serial.print(sumy);
  Serial.print('\t');
  Serial.println(sumz);
  count=0;
  /*Serial.print(itg.getX());
   Serial.print('\t');
   Serial.print(itg.getY());
   Serial.print('\t');
   Serial.print(itg.getZ());
   Serial.print('\t');
   Serial.print(adxl.getX());
   Serial.print('\t');
   Serial.print(adxl.getY());
   Serial.print('\t');
   Serial.println(adxl.getZ());*/
  /*Serial.print(imuFilter.q0);
   Serial.print('\t');
   Serial.print(imuFilter.q1);
   Serial.print('\t');
   Serial.print(imuFilter.q2);
   Serial.print('\t');
   Serial.println(imuFilter.q3);*/
}



ax=0,ay=0,az=0,gx=0,gy=0,gz=0;

loops=0;

}

else {

//Serial.println(“Waiting”);

}

}
4

I think it’s a must have.

I think it’s a must have.

5

Clean up in Forum

Hrm, looks like someone’s Arduino threw up in here…

6

Word!

It would really help clean up pages where people are posting large code snippets back and forth.  I see the hand broom icon in the comment window will clean up messy code, not the same thing.