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Controlling 3 servos using ADXL345 accelerometer

 
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Neimen



Joined: 16 Mar 2012
Posts: 3

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Controlling 3 servos using ADXL345 accelerometer
PostPosted: Sat Mar 24, 2012 6:56 am     Reply with quote
Hello,
I have a project that is stabilizing a camera with gyro sensor and accelerometer.
I'm using PIC16f887 and trying to write a code that is controlling 3 servo motors using ADXL345 accelerometer but without any success.
I really need your help for writing me the code.

Here is the code that work great for my ADXL345 3 axis:
Code:

#include <w.h>
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7)
#use i2c(master, sda=PIN_C4, scl=PIN_C3, force_hw)

#use fast_io(e)

#include <stdio.h>
#include <string.h>
#include <stdlib.h>

#define ACCEL_WRITE_ADDR 0xA6
#define ACCEL_READ_ADDR 0xA7
#define ACCEL_DATA_ADDR 0x32
#define ACCEL_PWRCTRL_ADDR 0x2d
#define ACCEL_MEASURE_MODE 0x08

void main ()
{
   int i;
   int accel_data[6];
   
   set_tris_e(0x00);

   // initialize
   for (i = 0; i < 6; i++) {
      accel_data[i] = 0;
   }

   while(true) {

      // Tell the accelerometer to wake up
      i2c_start();
      i2c_write(ACCEL_WRITE_ADDR);
      i2c_write(ACCEL_PWRCTRL_ADDR);
      i2c_write(ACCEL_MEASURE_MODE);
      i2c_stop();

      // Read data from the accel
      i2c_start();
      i2c_write(ACCEL_WRITE_ADDR);
      i2c_write(ACCEL_DATA_ADDR);
      i2c_start();
      i2c_write(ACCEL_READ_ADDR);
      accel_data[0] = i2c_read(); //x0
      accel_data[1] = i2c_read(); //x1
      accel_data[2] = i2c_read(); //y0
      accel_data[3] = i2c_read(); //y1
      accel_data[4] = i2c_read(); //z0
      accel_data[5] = i2c_read(0); // z1, NACK on last read
      i2c_stop();

      // Display
      for (i = 0; i < 6; i++) {
         fprintf("%x",accel_data[i]);
      }
      fprintf("\n\r");
      delay_ms(10);
   }
}

Please help me with this code!!!
temtronic



Joined: 01 Jul 2010
Posts: 9226
Location: Greensville,Ontario

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PostPosted: Sat Mar 24, 2012 7:54 pm     Reply with quote
I'll give you 3 helpful hints...

1) Always add 'errors' to the use rs232(...) line whenever using the hardware UART.

2) You should specify what make/model of 'servo motors' you're referring to. They range from super simple generic RC hobby servo units to direct drive 3HP units with 1024 optical encoder feedback.

3) Selfcode variables.eg: instead of accel_data[2] use a better name, say accel_data_y0. It will help you remember what the data actually is and help others try to figure out what is wrong.

also...

Unless you're 100% sure of what you're doing, avoid using fast_io() !If you don't properly code the tris registers you will have problems.it is very,very rare you _need_ fast_io().

another freebie

When you're happy with a chunk of code, say 'read_the_accellerometer', turn it into a function. That way,it 'cleans up' the main code allowing you to concertrate on new code.
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