[chronojump] Arduino code for force platform

[Xavier Padullés <xpadulles src gnome org>]

commit 19b387eb211c518b47a04f56bb97637e611ec9ea
Author: Xavier Padullés <x padulles gmail com>
Date:   Mon Jan 7 13:22:14 2019 +0100

    Arduino code for force platform

 arduino/ForceSensor4Binary/ForceSensor4Binary.ino | 207 ++++++++++++++++++++++
 1 file changed, 207 insertions(+)
---
diff --git a/arduino/ForceSensor4Binary/ForceSensor4Binary.ino 
b/arduino/ForceSensor4Binary/ForceSensor4Binary.ino
new file mode 100644
index 00000000..1d6d61d2
--- /dev/null
+++ b/arduino/ForceSensor4Binary/ForceSensor4Binary.ino
@@ -0,0 +1,207 @@
+#include <Wire.h>
+#include <Adafruit_ADS1015.h>
+#include <EEPROM.h>
+
+Adafruit_ADS1015 loadCell;
+
+
+//Version number
+//it always need to start with: "Force_Platform-"
+String version = "Force_Platform-0.1";
+
+int offset[] = {0, 0, 0, 0};
+float calibrationFactor[] = {0.0, 0.0, 0.0, 0.0};
+
+unsigned long lastTime = 0;
+unsigned long currentTime = 0;
+unsigned long elapsedTime = 0;
+unsigned long totalTime = 0;
+
+//Wether the sensor has to capture or not
+boolean capturing = false;
+
+void setup(void)
+{
+
+  Serial.begin(115200);
+
+  loadCell.begin();
+  loadCell.setGain(GAIN_TWO);
+  tare();
+  // Serial.println("taring complete");
+}
+
+void loop(void)
+{
+  if (capturing)
+  {
+    int offsettedData[] = {0, 0, 0, 0};
+    float force[] = {0, 0, 0, 0};
+    long int total[] = {0, 0, 0, 0};
+
+    //sendLong(initSymbol); //sembla que abans dels 4 255 aixo envia 2 bytes que no son 255, o aquests 2 
bytes van al final dels 4 del for
+    //sendLong(micros());
+
+
+    currentTime = micros();
+
+    //Reading each of the 4 sensors
+    for (int sensor = 0; sensor <= 3; sensor++)
+    {
+      offsettedData[sensor] = readOffsetedData(sensor);
+      //      total[sensor] += offsettedData[sensor];
+    }
+
+    //Managing the timer overflow
+    if (currentTime > lastTime)      //No overflow
+    {
+      elapsedTime = currentTime - lastTime;
+    } else  if (currentTime <= lastTime)  //Overflow
+    {
+      elapsedTime = (4294967295 - lastTime) + currentTime; //Time from the last measure to the overflow 
event plus the currentTime
+    }
+    totalTime += elapsedTime;
+    lastTime = currentTime;
+
+    Serial.write(0xff);
+    Serial.write(0xff);
+    Serial.write(0xff);
+    Serial.write(0xff);
+
+    sendLong(totalTime);
+
+    //Writing the results to the serial port
+    for (int sensor = 0; sensor <= 3; sensor++)
+    {
+      //    sendInt((int)(total[sensor] / 100));
+      sendInt(offsettedData[sensor]);
+    }
+  }
+}
+
+void tare(void)
+{
+  long int total[] = {0, 0, 0, 0};
+  for (int i = 1; i <= 100;  i++)
+  {
+    for (int sensor = 0; sensor <= 3; sensor++)
+    {
+      total[sensor] += loadCell.readADC_SingleEnded(sensor);
+    }
+  }
+
+  for (int sensor = 0; sensor <= 3; sensor++)
+  {
+    offset[sensor] = total[sensor] / 100;
+    EEPROM.put(sensor * 2, offset[sensor]);
+  }
+}
+
+int readOffsetedData(int sensor)
+{
+  return (loadCell.readADC_SingleEnded(sensor) - offset[sensor]);
+}
+
+void calibrate(float load)
+{
+  float calibrationFactor[] = {0, 0, 0, 0};
+  float total[] = {0, 0, 0, 0};
+  for (int i = 1; i <= 1000;  i++)
+  {
+    for (int sensor = 0; sensor <= 3; sensor++)
+    {
+      total[sensor] += readOffsetedData(sensor);
+    }
+  }
+
+  for (int sensor = 0; sensor <= 3; sensor++)
+  {
+    calibrationFactor[sensor] = load / (total[sensor] / 1000.0);
+    EEPROM.put(6 + sensor * 4, calibrationFactor[sensor]);
+  }
+}
+
+float readForce(int sensor)
+{
+  int offsetedData = readOffsetedData[sensor];
+  float force = calibrationFactor[sensor] * (float)offsetedData;
+  return (force);
+}
+
+void sendInt(int i) {
+  byte * b = (byte *) &i;
+  Serial.write(b[0]); //Least significant bit
+  Serial.write(b[1]); //Most significant bit
+  Serial.flush();
+  return;
+}
+
+void sendLong(long l) {
+  byte * b = (byte *) &l;
+  Serial.write(b[0]); //Least significant bit
+  Serial.write(b[1]);
+  Serial.write(b[2]);
+  Serial.write(b[3]); //Most significant bit
+  Serial.flush();
+  return;
+}
+
+
+void sendFloat(float f) {
+  byte * b = (byte *) &f;
+  Serial.write(b[0]); //Least significant bit
+  Serial.write(b[1]);
+  Serial.write(b[2]);
+  Serial.write(b[3]); //Most significant bit
+  Serial.flush();
+  return;
+}
+
+void serialEvent()
+{
+  String inputString = Serial.readString();
+  String commandString = inputString.substring(0, inputString.lastIndexOf(":"));
+
+  if (commandString == "start_capture") {
+    start_capture();
+  } else if (commandString == "end_capture") {
+    end_capture();
+  } else if (commandString == "get_version") {
+    get_version();
+    //      } else if (commandString == "get_calibration_factor"){
+    //        get_calibration_factor();
+    //      } else if (commandString == "set_calibration_factor"){
+    //        set_calibration_factor(inputString);
+    //      } else if (commandString == "calibrate"){
+    //        calibrate(inputString);
+    //      } else if (commandString == "get_tare"){
+    //        get_tare();
+    //      } else if (commandString == "set_tare"){
+    //        set_tare(inputString);
+  } else if (commandString == "tare") {
+    tare();
+  } else {
+    Serial.println("Not a valid command");
+  }
+  inputString = "";
+  //  }
+}
+
+void start_capture()
+{
+  //Serial.println("Starting capture...");
+  totalTime = 0;
+  lastTime = micros();
+  capturing = true;
+}
+
+void end_capture()
+{
+  capturing = false;
+  Serial.println("Capture ended");
+}
+void get_version()
+{
+  Serial.println(version);
+}
+