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collect_motion_nn.c~
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collect_motion_nn.c~
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#include <stdio.h>
#include <unistd.h>
#include <mraa/i2c.h>
#include "LSM9DS0.h"
#include <math.h>
float calculate_magnitude(data_t data)
{
return sqrt(data.x*data.x+data.y*data.y+data.z*data.z);
}
int main()
{
int i, k, j, success_flag;
int location;
int output[3] = { -1, -1, -1 };
float gyro_tempX, gyro_tempY, gyro_tempZ, accel_tempX, accel_tempY, accel_tempZ;
float gyro_valX, gyro_valY, gyro_valZ, accel_valX, accel_valY, accel_valZ;
mraa_i2c_context gyro, accel;
float g_res, a_res;
accel_scale_t a_scale = A_SCALE_2G;
gyro_scale_t g_scale = G_SCALE_245DPS;
uint16_t value;
data_t gd, ad;
data_t Go;
accel = accel_init();
set_accel_scale(accel, a_scale);
set_accel_ODR(accel, A_ODR_100);
a_res=calc_accel_res(a_scale);
gyro = gyro_init();
set_gyro_scale(gyro, g_scale);
set_gyro_ODR(gyro, G_ODR_190_BW_70);
g_res = calc_gyro_res(g_scale);
Go = calc_gyro_offset(gyro, g_res);
printf("Done with offset.\n");
for (;;)
{
do {
success_flag = getchar();
} while (success_flag != '\n');
success_flag = '\0';
i = 0;
gyro_tempX = 0;
gyro_tempY = 0;
gyro_tempZ = 0;
accel_tempX = 0;
accel_tempY = 0;
accel_tempZ = 0;
gyro_valX = 0;
gyro_valY = 0;
gyro_valZ = 0;
accel_valX = 0;
accel_valY = 0;
accel_valZ = 0;
/*do {
success_flag = getchar();
//gd = read_gyro(gyro, g_res);
ad = read_accel(accel, a_res);
i++;
gyro_tempX = gd.x - Go.x;
gyro_tempY = gd.y - Go.y;
gyro_tempZ = gd.z - Go.z;
accel_tempX = ad.x;
accel_tempY = ad.y;
accel_tempZ = ad.z;
printf("TEMP %f %f %f %f %f %f\n", gyro_tempX, gyro_tempY, gyro_tempZ, accel_tempX, accel_tempY, accel_tempZ);
if (gyro_tempX > gyro_valX || gyro_tempX < (-1*gyro_valX))
gyro_valX = gyro_tempX;
if (gyro_tempY > gyro_valY || gyro_tempY < (-1*gyro_valY))
gyro_valY = gyro_tempY;
if (gyro_tempZ > gyro_valZ || gyro_tempZ < (-1*gyro_valZ))
gyro_valZ = gyro_tempZ;
if (accel_tempX > accel_valX || accel_tempX < (-1*accel_valX))
accel_valX = accel_tempX;
if (accel_tempY > accel_valY || accel_tempY < (-1 * accel_valY))
accel_valY = accel_tempY;
if (accel_tempZ > accel_valZ || accel_tempZ < (-1 * accel_valZ))
accel_valZ = accel_tempZ;
printf("VAL %f %f %f %f %f %f\n", gyro_valX, gyro_valY, gyro_valZ, accel_valX, accel_valY, accel_valZ);
} while (success_flag != '\n');
}*/
// train data store to test_data.txt
FILE *fp;
fp = fopen("./motion_test_data.txt", "wb");
fprintf(fp, "9\t6\t3\n");
// generate the test_data.txt output
for (k = 0; k < 3; k++)
{
printf("Hit enter, then do one curl and hit enter.\n");
do {
success_flag = getchar();
} while (success_flag != '\n');
success_flag = '\0';
i = 0;
gyro_tempX = 0;
gyro_tempY = 0;
gyro_tempZ = 0;
accel_tempX = 0;
accel_tempY = 0;
accel_tempZ = 0;
gyro_valX = 0;
gyro_valY = 0;
gyro_valZ = 0;
accel_valX = 0;
accel_valY = 0;
accel_valZ = 0;
do {
success_flag = getchar();
gd = read_gyro(gyro, g_res);
ad = read_accel(accel, a_res);
i++;
gyro_tempX = gd.x - Go.x;
gyro_tempY = gd.y - Go.y;
gyro_tempZ = gd.z - Go.z;
accel_tempX = ad.x;
accel_tempY = ad.y;
accel_tempZ = ad.z;
if (gyro_tempX > gyro_valX || (gyro_tempX < (-1*gyro_valX && gyro_tempX < 0)))
gyro_valX = gyro_tempX;
if (gyro_tempY > gyro_valY || (gyro_tempY < (-1*gyro_valY && gyro_tempY < 0)))
gyro_valY = gyro_tempY;
if (gyro_tempZ > gyro_valZ || (gyro_tempZ < (-1*gyro_valZ && gyro_tempZ < 0)))
gyro_valZ = gyro_tempZ;
if (accel_tempX > accel_valX || (accel_tempX < (-1*accel_valX && accel_tempX < 0)))
accel_valX = accel_tempX;
if (accel_tempY > accel_valY || (accel_tempY < (-1 * accel_valY && accel_tempY < 0)))
accel_valY = accel_tempY;
if (accel_tempZ > accel_valZ || (accel_tempZ < (-1 * accel_valZ && accel_tempZ < 0)))
accel_valZ = accel_tempZ;
} while (success_flag != '\n');
printf("%f\t%f\t%f\t%+f\t%+f\t%+f\n", gyro_valX, gyro_valY, gyro_valZ, accel_valX, accel_valY, accel_valZ);
//Set values 0-1.
gyro_valX = (gyro_valX + 30) / 60;
gyro_valY = (gyro_valY + 30) / 60;
gyro_valZ = (gyro_valZ + 30) / 60;
accel_valX = (accel_valX + 1) / 2;
accel_valY = (accel_valY + 1) / 2;
accel_valZ = (accel_valZ + 1) / 2;
output[0] = 1;
//write input, output to test_data.txt as training file format
fprintf(fp, "%5f\t%5f\t%5f\t%5f\t%5f\t%5f\n", gyro_valX, gyro_valY, gyro_valZ, accel_valX, accel_valY, accel_valZ); //Change this variable after scaling it properly.
fprintf(fp, "%d\t%d\t%d\n", output[0], output[1], output[2]);
}
output[0] = -1;
// generate the test_data.txt output
for (k = 0; k < 3; k++)
{
printf("Hit enter, then do one shoulder press and hit enter.\n");
do {
success_flag = getchar();
} while (success_flag != '\n');
success_flag = '\0';
i = 0;
gyro_tempX = 0;
gyro_tempY = 0;
gyro_tempZ = 0;
accel_tempX = 0;
accel_tempY = 0;
accel_tempZ = 0;
gyro_valX = 0;
gyro_valY = 0;
gyro_valZ = 0;
accel_valX = 0;
accel_valY = 0;
accel_valZ = 0;
do {
success_flag = getchar();
gd = read_gyro(gyro, g_res);
ad = read_accel(accel, a_res);
i++;
gyro_tempX = gd.x - Go.x;
gyro_tempY = gd.y - Go.y;
gyro_tempZ = gd.z - Go.z;
accel_tempX = ad.x;
accel_tempY = ad.y;
accel_tempZ = ad.z;
if (gyro_tempX > gyro_valX || (gyro_tempX < (-1*gyro_valX && gyro_tempX < 0)))
gyro_valX = gyro_tempX;
if (gyro_tempY > gyro_valY || (gyro_tempY < (-1*gyro_valY && gyro_tempY < 0)))
gyro_valY = gyro_tempY;
if (gyro_tempZ > gyro_valZ || (gyro_tempZ < (-1*gyro_valZ && gyro_tempZ < 0)))
gyro_valZ = gyro_tempZ;
if (accel_tempX > accel_valX || (accel_tempX < (-1*accel_valX && accel_tempX < 0)))
accel_valX = accel_tempX;
if (accel_tempY > accel_valY || (accel_tempY < (-1 * accel_valY && accel_tempY < 0)))
accel_valY = accel_tempY;
if (accel_tempZ > accel_valZ || (accel_tempZ < (-1 * accel_valZ && accel_tempZ < 0)))
accel_valZ = accel_tempZ;
} while (success_flag != '\n');
printf("%+f\t%+f\t%+f\t%+f\t%+f\t%+f\n", gyro_valX, gyro_valY, gyro_valZ, accel_valX, accel_valY, accel_valZ);
//Set values 0-1.
gyro_valX = (gyro_valX + 30) / 60;
gyro_valY = (gyro_valY + 30) / 60;
gyro_valZ = (gyro_valZ + 30) / 60;
accel_valX = (accel_valX + 1) / 2;
accel_valY = (accel_valY + 1) / 2;
accel_valZ = (accel_valZ + 1) / 2;
output[1] = 1;
//write input, output to test_data.txt as training file format
fprintf(fp, "%f\t%f\t%f\t%f\t%f\t%f\n", gyro_valX, gyro_valY, gyro_valZ, accel_valX, accel_valY, accel_valZ); //Change this variable after scaling it properly.
fprintf(fp, "%d\t%d\t%d\n", output[0], output[1], output[2]);
}
output[1] = -1;
for (k = 0; k < 3; k++)
{
printf("Hit enter, then do some random motion such as putting a weight down or picking it up and hit enter.\n");
do {
success_flag = getchar();
} while (success_flag != '\n');
success_flag = '\0';
i = 0;
gyro_tempX = 0;
gyro_tempY = 0;
gyro_tempZ = 0;
accel_tempX = 0;
accel_tempY = 0;
accel_tempZ = 0;
gyro_valX = 0;
gyro_valY = 0;
gyro_valZ = 0;
accel_valX = 0;
accel_valY = 0;
accel_valZ = 0;
do {
success_flag = getchar();
gd = read_gyro(gyro, g_res);
ad = read_accel(accel, a_res);
i++;
gyro_tempX = gd.x - Go.x;
gyro_tempY = gd.y - Go.y;
gyro_tempZ = gd.z - Go.z;
accel_tempX = ad.x;
accel_tempY = ad.y;
accel_tempZ = ad.z;
if (gyro_tempX > gyro_valX || (gyro_tempX < (-1*gyro_valX && gyro_tempX < 0)))
gyro_valX = gyro_tempX;
if (gyro_tempY > gyro_valY || (gyro_tempY < (-1*gyro_valY && gyro_tempY < 0)))
gyro_valY = gyro_tempY;
if (gyro_tempZ > gyro_valZ || (gyro_tempZ < (-1*gyro_valZ && gyro_tempZ < 0)))
gyro_valZ = gyro_tempZ;
if (accel_tempX > accel_valX || (accel_tempX < (-1*accel_valX && accel_tempX < 0)))
accel_valX = accel_tempX;
if (accel_tempY > accel_valY || (accel_tempY < (-1 * accel_valY && accel_tempY < 0)))
accel_valY = accel_tempY;
if (accel_tempZ > accel_valZ || (accel_tempZ < (-1 * accel_valZ && accel_tempZ < 0)))
accel_valZ = accel_tempZ;
} while (success_flag != '\n');
printf("%+f\t%+f\t%+f\t%+f\t%+f\t%+f\n", gyro_valX, gyro_valY, gyro_valZ, accel_valX, accel_valY, accel_valZ);
//Set values 0-1.
gyro_valX = (gyro_valX + 30) / 60;
gyro_valY = (gyro_valY + 30) / 60;
gyro_valZ = (gyro_valZ + 30) / 60;
accel_valX = (accel_valX + 1) / 2;
accel_valY = (accel_valY + 1) / 2;
accel_valZ = (accel_valZ + 1) / 2;
output[2] = 1;
//write input, output to test_data.txt as training file format
fprintf(fp, "%f\t%f\t%f\t%f\t%f\t%f\n", gyro_valX, gyro_valY, gyro_valZ, accel_valX, accel_valY, accel_valZ); //Change this variable after scaling it properly.
fprintf(fp, "%d\t%d\t%d\n", output[0], output[1], output[2]);
}
output[2] = -1;
// close everything
fclose(fp);
return 0;
}
}