Two arduino Uno with 4 MPU6050 MATLAB
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Greetings,
I have connected two arduino uno with 4 mpu6050 IMUs and attached all of them to a body, i want to take accleration of the body if it moves, not when it is at rest. I donwnloaded Arduino support package for MATLAB, and tried different logic of code to take measurements from MPU6050 only when it moves, unfortunatley I get all the measurements while moving and at rest, please propose any modification to the code>>
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Generating IMUs readings through Arduino UNO:
% Identifying Two Arduino Uno
Right = arduino('COM9', 'Uno', 'Libraries', 'I2C');
LEFT = arduino('COM10', 'Uno', 'Libraries', 'I2C');
% Declaring 4 MPU6050 IMUs
imu1= mpu6050(Right,'SampleRate',160,'SamplesPerRead',10,'I2CAddress','0x68','ReadMode','Latest');
imu2 = mpu6050(Right,'SampleRate',160,'SamplesPerRead',10,'I2CAddress','0x69','ReadMode','Latest');
imu3 = mpu6050(LEFT,'SampleRate',160,'SamplesPerRead',10,'I2CAddress','0x68','ReadMode','Latest');
imu4 = mpu6050(LEFT,'SampleRate',160,'SamplesPerRead',10,'I2CAddress','0x69','ReadMode','Latest');
% logging measurements
IMU1_mueasurements=zeros(100,3);
IMU2_mueasurements=zeros(100,3);
IMU3_mueasurements=zeros(100,3);
IMU4_mueasurements=zeros(100,3);
accelReadings1=zeros(100,3);
accelReadings2=zeros(100,3);
accelReadings3=zeros(100,3);
accelReadings4=zeros(100,3);
[accelReadings1(1,:)] = readAcceleration(imu1);
[accelReadings2(1,:)] = readAcceleration(imu2);
[accelReadings3(1,:)] = readAcceleration(imu3);
[accelReadings4(1,:)] = readAcceleration(imu4);
for R= 2:100
[accelReadings1(R,:)] = readAcceleration(imu1)
if (accelReadings1(R)-accelReadings1(R-1))>0.5
IMU1_mueasurements(R)=accelReadings1(R);
end
[accelReadings2(R,:)] = readAcceleration(imu2)
if (accelReadings2(R)-accelReadings2(R-1))>0.5
IMU2_mueasurements(R)=accelReadings2(R);
end
[accelReadings3(R,:)] = readAcceleration(imu3)
if (accelReadings3(R)-accelReadings3(R-1))>0.5
IMU3_mueasurements(R)=accelReadings3(R);
end
[accelReadings4(R,:)] = readAcceleration(imu4)
if (accelReadings4(R)-accelReadings4(R-1))>0.5
IMU4_mueasurements(R)=accelReadings4(R);
end
end
%%
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