Final revision

messeages to users about calibration
keywords
properties

Author: kubascikmichal

RoboHeart.cpp

@@ -116,6 +116,7 @@ void RoboHeart::setAutomaticRotation(){
             calculateDiff();
             counter = 0;
             Serial.println("Calibration failed, trying again...");
+            erial.println("Please let RoboHeart in stable position...");
         }
     }  
     Serial.println("RoboHeart calibrated");
@@ -185,7 +186,7 @@ char* RoboHeart::handleMotorMessage(MotorMSGType motorMSG) {
 
 
 void RoboHeart::calculateDiff(int timeout_ms){
-    Serial.println("Drift");
+    //Serial.println("Drift");
     _driftX = 0;
     _driftY = 0;
     _driftZ = 0;
@@ -209,7 +210,7 @@ bool RoboHeart::isCalibrated(int timeout_ms) {
         }
     delay(1);
     }
-    Serial.println(counter);
+    //Serial.println(counter);
     return (counter < (timeout_ms / 3));
 }
 

examples/RoboHeartBalanceBot/RoboHeartBalanceBot.ino

@@ -9,7 +9,7 @@
  * Building a One-board balancing bot instructions can be found here:
  * https://www.instructables.com/A-One-board-Balancing-Bot-With-a-RoboHeart-Electro/
  * 
- * Created  30/01/2022
+ * Created  16/08/2024
  * By Augmented Robotics
  * 
  * Check out https://roboheart.de/en_gb/ for more information about RoboHeart.
@@ -20,7 +20,9 @@
 
 RoboHeart heart = RoboHeart(Serial);
 
-// PID controller parameters
+// PID controller parameters.
+// You should change parameters based on your setup.
+// You can use our another example RoboHeartPIDFittingExample to try set parameters to stabilise.
 #define Kp 20
 #define Kd 0
 #define Ki 40
@@ -85,6 +87,8 @@ void setup() {
     // calibration
     heart.begin();
 
+    Serial.println("Please let RoboHeart in stable position...");
+    
     //Run IMU calibration and calculation of absolute rotation
     heart.setAutomaticRotation();
 

examples/RoboHeartBalanceBotContol/RoboHeartBalanceBotContol.ino

@@ -12,7 +12,7 @@
  * Building a One-board balancing bot instructions can be found here:
  * https://www.instructables.com/A-One-board-Balancing-Bot-With-a-RoboHeart-Electro/
  * 
- * Created  30/01/2022
+ * Created  16/08/2024
  * By Augmented Robotics
  * 
  * Check out https://roboheart.de/en_gb/ for more information about RoboHeart.
@@ -24,7 +24,9 @@
 
 RoboHeart heart = RoboHeart(Serial);
 
-// PID controller parameters
+// PID controller parameters.
+// You should change parameters based on your setup.
+// You can use our another example RoboHeartPIDFittingExample to try set parameters to stabilise.
 #define Kp 20
 #define Kd 0
 #define Ki 40
@@ -208,7 +210,9 @@ void setup() {
     // Initialize RoboHeart with or without request for IMU automatic
     // calibration
     heart.begin();
-
+    
+    Serial.println("Please let RoboHeart in stable position...");
+    
     //Run IMU calibration and calculation of absolute rotation
     heart.setAutomaticRotation();
 

examples/RoboHeartIMU/RoboHeartIMU.ino

@@ -27,28 +27,28 @@ void loop() {
 
     // print IMU data every second
     if (millis() - prevPrintTime > 1000) {
-    Serial.print("\nAccelerometer [G]:\n");
-    Serial.print(" X = ");
-    Serial.println(heart.imu.readFloatAccelX(), 4);
-    Serial.print(" Y = ");
-    Serial.println(heart.imu.readFloatAccelY(), 4);
-    Serial.print(" Z = ");
-    Serial.println(heart.imu.readFloatAccelZ(), 4);
-
-    Serial.print("\nGyroscope [angular velocity]:\n");
-    Serial.print(" X = ");
-    Serial.println(heart.imu.readFloatGyroX(), 4);
-    Serial.print(" Y = ");
-    Serial.println(heart.imu.readFloatGyroY(), 4);
-    Serial.print(" Z = ");
-    Serial.println(heart.imu.readFloatGyroZ(), 4);
-
-    Serial.print("\nThermometer:\n");
-    Serial.print(" Degrees C = ");
-    Serial.println(heart.getTemperatureC(), 4);
-    Serial.print(" Degrees F = ");
-    Serial.println(heart.getTemperatureF(), 4);
-    F("=====================================================\n");
-    prevPrintTime = millis();
+        Serial.print("\nAccelerometer [G]:\n");
+        Serial.print(" X = ");
+        Serial.println(heart.imu.readFloatAccelX(), 4);
+        Serial.print(" Y = ");
+        Serial.println(heart.imu.readFloatAccelY(), 4);
+        Serial.print(" Z = ");
+        Serial.println(heart.imu.readFloatAccelZ(), 4);
+
+        Serial.print("\nGyroscope [angular velocity]:\n");
+        Serial.print(" X = ");
+        Serial.println(heart.imu.readFloatGyroX(), 4);
+        Serial.print(" Y = ");
+        Serial.println(heart.imu.readFloatGyroY(), 4);
+        Serial.print(" Z = ");
+        Serial.println(heart.imu.readFloatGyroZ(), 4);
+
+        Serial.print("\nThermometer:\n");
+        Serial.print(" Degrees C = ");
+        Serial.println(heart.getTemperatureC(), 4);
+        Serial.print(" Degrees F = ");
+        Serial.println(heart.getTemperatureF(), 4);
+        F("=====================================================\n");
+        prevPrintTime = millis();
     }
 }

examples/RoboHeartRotation/RoboHeartRotation.ino

@@ -1,5 +1,5 @@
 /* This example shows how to calculate rotation
- * from LSM6DS3 data.
+ * from the built-in IMU data.
  *
  * Created  27/06/2024
  * By Augmented Robotics
@@ -55,6 +55,7 @@ void setup() {
   calculateDrifts();
   int counter = 0;
   Serial.println("RoboHeart calibrating...");
+  Serial.println("Please let it in stable position...");
   while (isCalibrated() == 0) {
       counter++;
       if(counter > 3){

examples/RoboHeartRotationAutomatic/RoboHeartRotationAutomatic.ino

@@ -1,23 +1,33 @@
+/* This example shows how to set automatic rotation calculation
+ * from the built-in IMU data.
+ *
+ * Created  27/06/2024
+ * By Augmented Robotics
+ * 
+ * Check out https://roboheart.de/en_gb/ for more information about RoboHeart.
+ */
+
 #include <RoboHeart.h>
 
 RoboHeart heart = RoboHeart(Serial); 
 
 void setup()
 {
   Serial.begin(115200);
-  Serial.println("Starting RoboHeart automatic rotation example..");
+  Serial.println("Starting RoboHeart automatic rotation example...");
+  Serial.println("Please let it in stable position...");
   heart.begin();
   heart.setAutomaticRotation();
 }
 
 void loop()
 {
-    Serial.print("\nRotation:\n");
-    Serial.print(" X = ");
-    Serial.println(heart.getRotationX(), 4);
-    Serial.print(" Y = ");
-    Serial.println(heart.getRotationY(), 4);
-    Serial.print(" Z = ");
-    Serial.println(heart.getRotationZ(), 4);
-    delay(2000);
+  Serial.print("\nRotation:\n");
+  Serial.print(" X = ");
+  Serial.println(heart.getRotationX(), 4);
+  Serial.print(" Y = ");
+  Serial.println(heart.getRotationY(), 4);
+  Serial.print(" Z = ");
+  Serial.println(heart.getRotationZ(), 4);
+  delay(2000);
 }

keywords.txt

@@ -78,6 +78,4 @@ RH_APP_SERVICE_UUID LITERAL1
 RH_APP_CHARACTERISTIC_UUID1 LITERAL1
 RH_APP_CHARACTERISTIC_UUID2 LITERAL1
 RH_APP_CHARACTERISTIC_UUID3 LITERAL1
-STEPPER_MOTOR_MAX_STEPS LITERAL1
-ROBOHEART_AP_SSID   LITERAL1
-ROBOHEART_AP_PASSWORD   LITERAL1
+STEPPER_MOTOR_MAX_STEPS LITERAL1

library.properties

@@ -7,4 +7,4 @@ paragraph=The RoboHeart library is compatible with the RoboHeart hardware platfo
 category=Communication
 url=https://github.com/Augmented-Robotics/roboheart-arduino-library
 architectures=*
-depends=TinyGSM,PubSubClient,Arduino_JSON,SparkFun LSM6DS3 Breakout, ESP Async WebServer
+depends=TinyGSM,PubSubClient,Arduino_JSON,SparkFun LSM6DS3 Breakout,ESP Async WebServer