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Accelerometer.cpp

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+/*
+  Draw.cpp - Library for flashing Morse code.
+  Created by David A. Mellis, November 2, 2007.
+  Released into the public domain.
+*/
+
+#include "Arduino.h"
+#include "Accelerometer.h"
+
+// Use this pins for the Accelerometer axes
+#define accelXpin A0
+#define accelYpin A1
+#define accelZpin A2
+
+//-------------------Accelerometer variables-----------------
+int posXShip,posYShip;
+int xVoltage,yVoltage,zVoltage;
+float xAcc,yAcc,zAcc,roll,pitch;
+float scale=98;
+
+//Callibration values
+int xZero=502;
+int zZero=512;
+int yZero=497;
+//Sensitivity to detect direction
+int sense=20;
+//----------------------------------------------------------
+
+void Accelerometer::readVoltage(){
+  xVoltage=analogRead(accelXpin);
+  yVoltage=analogRead(accelYpin);
+  zVoltage=analogRead(accelZpin);
+}
+
+void Accelerometer::getRollPitch(){
+  xAcc=(xVoltage-xZero)/scale;
+  yAcc=(yVoltage-yZero)/scale;
+  zAcc=(zVoltage-zZero)/scale;
+  // apply trigonometry to get the pitch and roll:
+  pitch = atan(xAcc/sqrt(pow(yAcc,2) + pow(zAcc,2)));
+  roll = atan(yAcc/sqrt(pow(xAcc,2) + pow(zAcc,2)));
+  //convert radians into degrees
+  pitch = pitch * (180.0/PI);
+  roll = roll * (180.0/PI) ;
+}
+
+int Accelerometer::isShaking(){
+  readVoltage();
+  getRollPitch();
+  if(pitch>30||pitch<-30||roll>30||roll<-30){
+    delay(500);
+    readVoltage();
+    getRollPitch();
+    if(pitch>30||pitch<-30||roll>30||roll<-30){
+      return 0;  
+    }
+  }else{
+    return 1;
+  }
+}
+
+int Accelerometer::getRoll(){
+  readVoltage();
+  getRollPitch();
+  return roll;
+}
+
+int Accelerometer::getPitch(){
+  readVoltage();
+  getRollPitch();
+  return pitch;
+}

Accelerometer.h

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+/*
+  Morse.h - Library for flashing Morse code.
+  Created by David A. Mellis, November 2, 2007.
+  Released into the public domain.
+*/
+#ifndef Accelerometer_h
+#define Accelerometer_h
+
+#include "Arduino.h"
+
+
+class Accelerometer
+{
+  public:
+    /*
+     *  Reads Voltage from accelerometer Pins 
+     */
+    void readVoltage();
+    /*
+     * Does some fancy trigonometry in order to get roll/pitch from voltage readings
+     * We had to calibrate the accelereometer BEFORE applying maths
+     * Reference: http://physics.rutgers.edu/~aatish/teach/srr/workshop3.pdf
+     */
+    void getRollPitch();
+    int isShaking();  // Returns 1 if NOT shaking
+    int getPitch();   //Returns current pitch value
+    int getRoll();    //Returns current roll value
+  private:
+};
+#endif
+