jalool Salman

I am using xbee modules with arduinos to transfer sensor readings to control some servo motors. I've written a code to transmit gyroscope Y and Z angles after being mapped from 0 to 179 degrees to a character between 0 and 9. The other end was able to receive both values (Y,Z)and re-map them again to an angle between 0 and 179 degrees to write this angle on the servo, but the servo motors are not working based on the received angles. I've attached both the transmitter and receiver code if you have any suggestions

wireless-control-of-servos-using-imu-dimentions

sorry , I couldn't attach the files as .ino, here is the code

//Calculate initial DC offset and noise level of gyro

noisez=noisez/100; //gyro returns hundredths of degrees/sec

//Calculate initial DC offset and noise level of gyro for x-axis

noisey=noisey/100; //gyro returns hundredths of degrees/sec

// Every 10 ms take a sample from the gyro

time = millis(); // update the time to get the next sample

angle += ((double)(prev_rate + rate) * sampleTime) / 2000;

angley += ((double)(prev_ratey + ratey) * sampleTime) / 2000;

int mappingz = map(angle_z,0 , 179, 0, 9);

int mappingy = map(angle_y,0 , 179, 0, 9);

#include
SoftwareSerial xbee(2,3);  //RX, TX
#include 
#include 
L3G gyro;
int sampleNum=500;
int dc_offsetz=0;
int dc_offsety=0;
double noisez=0;
double noisey=0;
unsigned long time;
unsigned long timey;
int sampleTime=50;
int rate;
int prev_rate=0;
double angle=0;
int ratey;
int prev_ratey=0;
double angley=0;
char s_str1[2];
char s_str2[2];
String str1,str2;
void setup() {
  xbee.begin(9600);
  Serial.begin(9600);
Wire.begin();
while (!gyro.init());
gyro.enableDefault();

//Calculate initial DC offset and noise level of gyro
for(int n=0;n
gyro.read();
 dc_offsetz+=(int)gyro.g.z;
}
dc_offsetz=dc_offsetz/sampleNum;
for(int n=0;n
 gyro.read();
 if((int)gyro.g.z-dc_offsetz>noisez)
 noisez=(int)gyro.g.z-dc_offsetz;
 else if((int)gyro.g.z-dc_offsetz
 noisez=-(int)gyro.g.z-dc_offsetz;
}
noisez=noisez/100; //gyro returns hundredths of degrees/sec
//print dc offset and noise level
Serial.println();
Serial.print("DC Offset z axis: ");
Serial.print(dc_offsetz);
Serial.print("\tNoise Level z axis: ");
Serial.print(noisez);
Serial.println();
//delay(7000);
//Calculate initial DC offset and noise level of gyro for x-axis
for(int n=0;n
gyro.read();
 dc_offsety+=(int)gyro.g.y;
}
dc_offsety=dc_offsety/sampleNum;
for(int n=0;n
 gyro.read();
 if((int)gyro.g.y-dc_offsety>noisey)
 noisey=(int)gyro.g.y-dc_offsety;
 else if((int)gyro.g.y-dc_offsety
 noisey=-(int)gyro.g.y-dc_offsety;
}
noisey=noisey/100; //gyro returns hundredths of degrees/sec
//print dc offset and noise level
Serial.println();
Serial.print("DC Offset y axis: ");
Serial.print(dc_offsety);
Serial.print("\tNoise Level y axis: ");
Serial.print(noisey);
Serial.println();
delay(7000);
}

void loop() {
  // Every 10 ms take a sample from the gyro
if(millis() - time > sampleTime)
{
 time = millis(); // update the time to get the next sample
 gyro.read();
 rate=((int)gyro.g.z-dc_offsetz)/100;
 ratey=((int)gyro.g.y-dc_offsety)/100;
 angle += ((double)(prev_rate + rate) * sampleTime) / 2000;
 angley += ((double)(prev_ratey + ratey) * sampleTime) / 2000;

 // Keep our angle between 0-179 degrees
 if (angle < 0)
 angle += 180;
 else if (angle >= 180)
 angle -= 180;

  if (angley < 0)
 angley += 180;
 else if (angley  >= 180)
 angley -= 180;

 int angle_z=(int) angle;
 int angle_y=(int) angley;

 //mapping & conversion
 int mappingz = map(angle_z,0 , 179, 0, 9);
 int mappingy = map(angle_y,0 , 179, 0, 9);
 str1=String(mappingz);
 str2=String(mappingy);
 str1.toCharArray(s_str1,2);
 str2.toCharArray(s_str2,2);

 //Print to the Serial monitor
 Serial.print(" angle z= " );
 Serial.print(s_str1);
 Serial.print("\tgyroscope x angle= ");
 Serial.println(s_str2);

 //send to Xbee
 xbee.print('a');
 xbee.print(s_str1);

#include 
#include
SoftwareSerial xbee(2,3);  //RX, TX
Servo Savox;
Servo DG;
char inChar;
//String str1,str2;
//char x[2],y[2];

void setup()
{
 Savox.attach(5);
  DG.attach(6);
  Serial.begin(9600);
  xbee.begin(9600);
}

void loop()
{
  if(xbee.available()>0){
 inChar=xbee.read();
 while(xbee.available()
 if(inChar=='a'){
   char incomingByte2 = xbee.read();
   //str1=String(incomingByte2);
   //str1.toCharArray(x,2);
    int x=incomingByte2-'0';
    int c=map(x,0,9,0,179);
    Serial.print("Z axis=");
    Serial.println(c);
    DG.write(c);
    delay(10);
    //analogWrite(9,c);
    //delay(500);
 }
  if(inChar=='b'){
     char incomingByte3 = xbee.read();
   //str2=String(incomingByte3);
   //str2.toCharArray(y,2);
      int y=incomingByte3-'0';
       int d=map(y,0,9,0,179);
    Serial.print("Y axis= ");
    Serial.println(d);
    Savox.write(d);
    delay(10);
  // analogWrite(8,d);
 // delay(500);
  }

and can anyone tell me what is MAXmsp? because I have no idea about these sections. I use the arduino IDE

hi, I have the same problem , you knew where is the problem and solved it??

wireless control of servos using imu dimentions