Luis del ValleGermán Martín
Published © GPL3+

Motion Lamp with Arduino 101

Motion lamp is a prototype that allows controlling an RGB light lamp through movement with Arduino 101 and NeoPixel Strip.

IntermediateFull instructions provided2 hours1,677
Motion Lamp with Arduino 101

Things used in this project

Hardware components

Arduino 101 & Genuino 101
Arduino 101 & Genuino 101
×1
NeoPixel strip
NeoPixel strip
×1

Hand tools and fabrication machines

3D Printer (generic)
3D Printer (generic)

Story

Read more

Custom parts and enclosures

Cube 3D

This is the cube design we have used for this project.

Schematics

Motiom Lamp Schematics

Conections Arduino 101 with NeoPixel Strip

Code

Motion Lamp with Arduino 101

Arduino
It is the main sketch where the whole logic of the project is implemented.
#include <CurieIMU.h>
#include <MadgwickAHRS.h>
#include <Adafruit_NeoPixel.h>
#include <RGBConverter.h>

#define PIN       6  // 11 pixels NeoPixel Strip
#define PIN1      7  // 1 pixel NeoPixel Strip
#define NUMPIXELS 11 // Numer of píxels
#define SAMPLE_RATE 25 // Sampling rate for accelerometer and gyroscope

// Madgwick configuration
Madgwick filter;
unsigned long microsPerReading, microsPrevious;
float accelScale, gyroScale;

// NeoPixel configuration
Adafruit_NeoPixel pixels = Adafruit_NeoPixel(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);
Adafruit_NeoPixel pixelsStatus = Adafruit_NeoPixel(1, 7, NEO_GRB + NEO_KHZ800);

// Color spaces
RGBConverter rgbConverter;
double h = 1;
double s = 1;
double v = 1;
byte rgb[3];

// Status Motion Lamp
// State 0 -> Select Hue - Pitch
// State 1 -> Select Saturation - Roll
// State 2 -> Select Value - Yaw
// State 3 -> Fix color
volatile int statusLamp = 0;

void setup() {
  Serial.begin(9600);

  // start the IMU and filter
  CurieIMU.begin();
  CurieIMU.setGyroRate(SAMPLE_RATE);
  CurieIMU.setAccelerometerRate(SAMPLE_RATE);
  filter.begin(SAMPLE_RATE);

  // Set the accelerometer range to 2G
  CurieIMU.setAccelerometerRange(2);
  // Set the gyroscope range to 250 degrees/second
  CurieIMU.setGyroRange(250);

  CurieIMU.autoCalibrateAccelerometerOffset(X_AXIS, 0);
  CurieIMU.autoCalibrateAccelerometerOffset(Y_AXIS, 0);
  CurieIMU.autoCalibrateAccelerometerOffset(Z_AXIS, 1);
  CurieIMU.autoCalibrateGyroOffset();

  CurieIMU.attachInterrupt(eventCallback);
  CurieIMU.setDetectionThreshold(CURIE_IMU_TAP, 950);
  CurieIMU.interrupts(CURIE_IMU_TAP);

  // initialize variables to pace updates to correct rate
  microsPerReading = 1000000 / SAMPLE_RATE;
  microsPrevious = micros();

  // Init NeoPixel 11
  pixels.begin();
  pixels.show();

  // Init NeoPixel 1
  pixelsStatus.begin();
  pixels.show();

  // Show status in px
  setStatusPixel(statusLamp);
}

void loop() {
  int aix, aiy, aiz; //accelerometer
  int gix, giy, giz;
  float ax, ay, az;
  float gx, gy, gz;
  float roll, pitch, yaw;
  static unsigned long microsNow;

  // check if it's time to read data and update the filter
  microsNow = micros();
  if (microsNow - microsPrevious >= microsPerReading) {

    // read raw data from CurieIMU
    CurieIMU.readMotionSensor(aix, aiy, aiz, gix, giy, giz);

    // convert from raw data to gravity and degrees/second units
    ax = convertRawAcceleration(aix);
    ay = convertRawAcceleration(aiy);
    az = convertRawAcceleration(aiz);
    gx = convertRawGyro(gix);
    gy = convertRawGyro(giy);
    gz = convertRawGyro(giz);

    // update the filter, which computes orientation
    filter.updateIMU(gx, gy, gz, ax, ay, az);

    // print the heading, pitch and roll
    roll = filter.getRoll();
    pitch = filter.getPitch();
    yaw = filter.getYaw();

    // increment previous time, so we keep proper pace
    microsPrevious = microsPrevious + microsPerReading;

    // Only if change Hue, Saturation or Value
    if (statusLamp < 3)
    {
      // pitch only -90º to 90º = 180º
      // State 0 -> select Hue
      if (pitch >= -90 && pitch <= 90 && statusLamp == 0)
      {
        // Transform angle
        pitch = pitch + 90;
        // Obtains color cordinates from angles
        h = pitch / 180.0;
      }

      // Angles restrictions
      // roll only -90º to 90º = 180º
      // State 1 -> select Saturation
      if (roll >= -90 && roll <= 90 && statusLamp == 1)
      {
        // Transform angle
        roll = roll + 90;
        // Obtains color cordinates from angles
        s = roll / 180.0;
      }

      // State 2 -> select Value
      if (statusLamp == 2)
      {
        // yaw 0º to 360º
        v = yaw / 360.0;
      }

      // Convert to rgb
      rgbConverter.hsvToRgb(h, s, v, rgb);
      
      /*
        Serial.print("Color: ");
        Serial.print(h);
        Serial.print(" - ");
        Serial.print(s);
        Serial.print(" - ");
        Serial.print(v);
        Serial.println(" ");


        Serial.print("Orientation: ");
        Serial.print(yaw);
        Serial.print(" ");
        Serial.print(pitch);
        Serial.print(" ");
        Serial.println(roll); */

      // Change color of the pixels
      for (int px = 0; px < NUMPIXELS; px++)
      {
        pixels.setPixelColor(px, pixels.Color(rgb[0], rgb[1], rgb[2]));
        pixels.show();
      }
    }

    // Show status in px
    setStatusPixel(statusLamp);
  }
}

float convertRawAcceleration(int aRaw) {
  // since we are using 2G range
  // -2g maps to a raw value of -32768
  // +2g maps to a raw value of 32767

  float a = (aRaw * 2.0) / 32768.0;
  return a;
}

float convertRawGyro(int gRaw) {
  // since we are using 250 degrees/seconds range
  // -250 maps to a raw value of -32768
  // +250 maps to a raw value of 32767

  float g = (gRaw * 250.0) / 32768.0;
  return g;
}

static void eventCallback()
{
  // Detect tap in all axis
  if (CurieIMU.getInterruptStatus(CURIE_IMU_TAP)) {
    Serial.print("Tap detected statusLamp: ");
    Serial.println(statusLamp);

    // Change state
    statusLamp++;

    // Init state
    if (statusLamp > 3)
    {
      statusLamp = 0;
    }
  }
}

void setStatusPixel(int statusPx)
{
  switch (statusPx)
  {
    case 0:
      pixelsStatus.setPixelColor(0, pixelsStatus.Color(150, 0, 0));
      pixelsStatus.show();
      break;
    case 1:
      pixelsStatus.setPixelColor(0, pixelsStatus.Color(0, 150, 0));
      pixelsStatus.show();
      break;
    case 2:
      pixelsStatus.setPixelColor(0, pixelsStatus.Color(0, 0, 150));
      pixelsStatus.show();
      break;
    case 3:
      pixelsStatus.setPixelColor(0, pixelsStatus.Color(0, 0, 0));
      pixelsStatus.show();
      break;

  }
}

CurieIMU

Library to obtain information from the IMU unit. We use it to get the motion sensor and to detect the tap.

MadgwickAHRS

Library to get the Euler angles and determine the cube spatial position.

Adafruit NeoPixel

This library controls the NeoPixel Strip.

RGBConverter

This library converts between HSV and RGB color spaces.

Credits

Luis del Valle

Luis del Valle

2 projects • 3 followers
Germán Martín

Germán Martín

2 projects • 3 followers

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