3/27/2014 Clodiuno/Processing ADXL335 Accelerometer

http://nakkaya.com/2010/09/28/clodiuno-processing-adxl335-accelerometer/ 1/3
Clodiuno/Processing ADXL335 Accelerometer
Another one of my spend sometime doing it and didn't want to throw away the code posts, nothing fancy just
processing the accelerometer data, the accelerometer in question is a ADXL335, you can plug it by connecting the
VCC connector into the Arduino 3V pin (not the 5V pin.), the ground into ground and the x, y, and z pins into 0,1,2
analog pins.
The idea here is to use the accelerometer to sense orientation of the Arduino and rotate a 3D object on screen
accordingly. Most of the code is straightforward the only thing that you need to know is that you can't directly map
accelerometer reading to an angle, the reason being even if you set the thing on the table it will jiggle wildly, to
combat that we need a filter to smooth out the values, this snippet uses the recursive moving average filter (basically
it's like saying, "Well, I've got a new point, but I don't really trust it, so I'm going to keep 80% of my old estimate of the
measurement, and only trust this new data point 20%"). It does get rid of the jiggling behaviour but introduces
latency.
(ns acc.core
(:use [clodiuno core wishield])
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3/27/2014 Clodiuno/Processing ADXL335 Accelerometer
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(:use [incanter core processing]))
(defn in-thread [f] (doto (Thread. f) (.start)))
(defmacro forever [& body] `(try (while true ~@body) (catch Exception e#)))
;;WMath.cpp
(defn map-range [x in-min in-max out-min out-max]
(+ (/ (* (- x in-min) (- out-max out-min)) (- in-max in-min)) out-min))
(let [k 0.99
xf (ref 0)
yf (ref 0)]
(defn moving-filter [x f]
(+ (* k f) (* (- 1.0 k) x)))
(defn read-val [board axis]
(let [val (if (= axis :x)
(map-range (analog-read board 0) 275 415 -1.5 1.5)
(map-range (analog-read board 1) 275 415 1.5 -1.5))]
(if (= axis :x)
(dosync (ref-set xf (moving-filter val @xf)))
(dosync (ref-set yf (moving-filter val @yf)))))))
(defn wishield []
(let [board (arduino :wishield "10.0.2.200" 1000)
x-val (ref 0)
y-val (ref 0)]
(in-thread
#(forever
(dosync (ref-set x-val (read-val board :x))
(ref-set y-val (read-val board :y)))
(Thread/sleep 10)))
[board x-val y-val]))
(defn frame [board]
(let [[board x-val y-val] board]
(sketch
(setup []
3/27/2014 Clodiuno/Processing ADXL335 Accelerometer
http://nakkaya.com/2010/09/28/clodiuno-processing-adxl335-accelerometer/ 3/3
12 Apr 2009
15 Aug 2011
13 Nov 2009
16 Oct 2009
13 Apr 2009
(doto this
(size 640 480 processing.core.PConstants/P3D)
(.noStroke)
(framerate 24)
smooth))
(draw []
(doto this
(.background 50)
(.lights)
(.translate 320 240 0)
(.rotateZ @y-val)
(.rotateX @x-val)
(.box 100 20 400))))))
(def shield (wishield))
(view (frame shield) :size [640 480])
(close (first shield))
Tags: clojure clodiuno arduino processing
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