-
Notifications
You must be signed in to change notification settings - Fork 0
/
collect_motion_nn.c
302 lines (268 loc) · 11 KB
/
collect_motion_nn.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
#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;
double direction(data_t acceld)
{
return acos(acceld.z/(sqrt(acceld.x*acceld.x+acceld.y*acceld.y+acceld.z*acceld.z)));
}
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, "150\t7\t3\n");
// generate the test_data.txt output
for (k = 0; k < 50; k++)
{
printf("%dHit enter, then do one curl and hit enter.\n",k);
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\t%5f\n", gyro_valX, gyro_valY, gyro_valZ, accel_valX, accel_valY, accel_valZ, (direction(ad)+6.28)/12.56); //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 < 50; k++)
{
printf("%dHit enter, then do one shoulder press and hit enter.\n", k);
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\t%f\n", gyro_valX, gyro_valY, gyro_valZ, accel_valX, accel_valY, accel_valZ, (direction(ad)+6.28)/12.56); //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 < 50; k++)
{
printf("%dHit enter, then do some random motion such as putting a weight down or picking it up and hit enter.\n", k);
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\t%f\n", gyro_valX, gyro_valY, gyro_valZ, accel_valX, accel_valY, accel_valZ, (direction(ad)+6.28)/12.56); //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;
}
}