backend.m

k= [] ;
i =1 ; 
l= [] ;
t= 1 ; 
errorcounteraccel = 0 ; 
errorcountergyro = 0 ; 
n=1;
j =1 ;
o=[]; 
while (i>0)
    if ( mod(i,20) ==0 )
        [status,timestamp] = readCalibrationStatus(BNO055Sensor) ;
         if ( status.Accelerometer == 'uncalibrated' )
              writeDigitalPin(a, 'D10', 0) ;
              writeDigitalPin(a, 'D11', 1)
         else
              writeDigitalPin(a, 'D11', 0) ; 
              writeDigitalPin(a, 'D10', 1)
         end
         
         if ( status.Gyroscope == 'uncalibrated' )
              writeDigitalPin(a, 'D9', 1) ;
              writeDigitalPin(a, 'D6', 0)
         else
              writeDigitalPin(a, 'D6', 1) ; 
              writeDigitalPin(a, 'D9', 0)
         end
    end
    
                           
    try
        [data,timestamp] = readAcceleration(BNO055Sensor) ;
        k(i,1) = round(data(1),2) ; k(i,2) = round(data(2),2) ; k(i,3) = round(data(3),2) ; 
        o(j,1) = round(data(1),2) ; o(j,2) = round(data(2),2) ; o(j,3) = round(data(3),2) ; 
    catch
        errorcounteraccel = errorcounteraccel +1 ;
        k(i,1)= k(i-1,1) ; k(i,2) = k(i-1,2) ; k(i,3)= k(i-1,3) ;
        try
            o(j,1) = o(j-1,1) ; o(j,2) = o(j-1,2) ; o(j,3) = o(j-1,3) ; 
        catch
            o(j,1)= 0 ; o(j,2) = 0 ; o(j,3) = 9.8 ;
        end
    end   
    try 
        [data,timestamp] = readAngularVelocity(BNO055Sensor) ;
        k(i,4) = round(data(1),2) *(180/pi) ; k(i,5) = round(data(2),2)*(180/pi) ; k(i,6) = round(data(3),2)*(180/pi) ; 
        o(j,4) = round(data(1),2)*(180/pi) ; o(j,5) = round(data(2),2)*(180/pi) ; o(j,6) = round(data(3),2)*(180/pi) ; 
    catch
        errorcountergyro = errorcountergyro + 1 ; 
        k(i,4) = k((i-1),4) ; k(i,5) = k((i-1),5) ; k(i,6) = k((i-1),6) ; 
        try
           o(j,4) = o((j-1),4) ; o(j,5) = o((j-1),5) ; o(j,6) = o((j-1),6) ; 
        catch
           o(j,4) = 0 ; o(j,5) = 0; o(j,6) = 0 ; 
        end
    end    
    pause(.05);
    if ((mod(i,80) == 0) && (i>=80))
        if (n==0)
            try
               dlmwrite('test.csv',o,'delimiter',',','-append');
            catch
                try
                  pause(0.2);
                  dlmwrite('test.csv',o,'delimiter',',','-append');
                catch
                    pause(0.2);
                    dlmwrite('test.csv',o,'delimiter',',','-append');
                end
            end
        end 
        if (n==1)
            dlmwrite('test.csv',o,'delimiter',',');
            n=0 ; 
        end
        fclose('all') ; 
        t= t +10 ; 
        o = [ ] ; j= 0 ; 
    end
    i= i+1 ;   
    j= j+1 ; 
end