Merge pull request #3 from TorturedEngineersDept/esp32-sensor-tests

ESP32<->MPU6050 Connection Automated Test

.editorconfig

@@ -0,0 +1,8 @@
+# Editor configuration, see http://editorconfig.org
+root = true
+
+[*]
+indent_style = space
+indent_size = 4
+end_of_line = lf
+insert_final_newline = true

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "editor.formatOnSave": true,
+}

esp32-tests/adc_veer/src/main.cpp

@@ -1,21 +1,21 @@
 #include <Arduino.h>
 
 // Define the pins connected to the PCB
-#define VB_PIN 34  // Analog pin for battery voltage
-#define I5_PIN 35  // Analog pin for 5V current sense
-#define IM_PIN 32  // Analog pin for motor current sense
+#define VB_PIN 34 // Analog pin for battery voltage
+#define I5_PIN 35 // Analog pin for 5V current sense
+#define IM_PIN 32 // Analog pin for motor current sense
 
 // Constants for voltage dividers and calibration
 const float VOLTAGE_DIVIDER_RATIO =
-    0.167;  // Example ratio based on 100k and 20k resistors
-const float CURRENT_SENSE_RESISTOR = 0.1;  // Example value in ohms
-const float ADC_MAX_VOLTAGE = 3.3;  // Maximum voltage for the ADC (ESP32)
-const int ADC_RESOLUTION = 4096;    // 12-bit ADC resolution
+    0.167;                                // Example ratio based on 100k and 20k resistors
+const float CURRENT_SENSE_RESISTOR = 0.1; // Example value in ohms
+const float ADC_MAX_VOLTAGE = 3.3;        // Maximum voltage for the ADC (ESP32)
+const int ADC_RESOLUTION = 4096;          // 12-bit ADC resolution
 
 void setup()
 {
     Serial.begin(115200);
-    analogReadResolution(12);  // Set ADC resolution to 12-bit
+    analogReadResolution(12); // Set ADC resolution to 12-bit
 }
 
 void loop()

esp32-tests/single_stepper_motor/src/main.cpp

@@ -24,6 +24,7 @@ void setup()
     pinMode(stepPin, OUTPUT);
     pinMode(dirPin, OUTPUT);
 }
+
 void loop()
 {
     // Set motor direction clockwise
@@ -37,7 +38,7 @@ void loop()
         digitalWrite(stepPin, LOW);
         delayMicroseconds(1000);
     }
-    delay(1000);  // Wait a second
+    delay(1000); // Wait a second
 
     // Set motor direction counterclockwise
     digitalWrite(dirPin, LOW);
@@ -50,5 +51,5 @@ void loop()
         digitalWrite(stepPin, LOW);
         delayMicroseconds(1000);
     }
-    delay(1000);  // Wait a second
+    delay(1000); // Wait a second
 }

esp32/.vscode/extensions.json

@@ -7,4 +7,4 @@
     "unwantedRecommendations": [
         "ms-vscode.cpptools-extension-pack"
     ]
-}
+}

esp32/.vscode/launch.json

@@ -0,0 +1,44 @@
+// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
+//
+// PlatformIO Debugging Solution
+//
+// Documentation: https://docs.platformio.org/en/latest/plus/debugging.html
+// Configuration: https://docs.platformio.org/en/latest/projectconf/sections/env/options/debug/index.html
+
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "type": "platformio-debug",
+            "request": "launch",
+            "name": "PIO Debug",
+            "executable": "/home/sanjit/Documents/y2_eie/summer-project/BalanceBot/esp32/.pio/build/esp-wrover-kit/firmware.elf",
+            "projectEnvName": "esp-wrover-kit",
+            "toolchainBinDir": "/home/sanjit/.platformio/packages/toolchain-xtensa-esp32/bin",
+            "internalConsoleOptions": "openOnSessionStart",
+            "preLaunchTask": {
+                "type": "PlatformIO",
+                "task": "Pre-Debug"
+            }
+        },
+        {
+            "type": "platformio-debug",
+            "request": "launch",
+            "name": "PIO Debug (skip Pre-Debug)",
+            "executable": "/home/sanjit/Documents/y2_eie/summer-project/BalanceBot/esp32/.pio/build/esp-wrover-kit/firmware.elf",
+            "projectEnvName": "esp-wrover-kit",
+            "toolchainBinDir": "/home/sanjit/.platformio/packages/toolchain-xtensa-esp32/bin",
+            "internalConsoleOptions": "openOnSessionStart"
+        },
+        {
+            "type": "platformio-debug",
+            "request": "launch",
+            "name": "PIO Debug (without uploading)",
+            "executable": "/home/sanjit/Documents/y2_eie/summer-project/BalanceBot/esp32/.pio/build/esp-wrover-kit/firmware.elf",
+            "projectEnvName": "esp-wrover-kit",
+            "toolchainBinDir": "/home/sanjit/.platformio/packages/toolchain-xtensa-esp32/bin",
+            "internalConsoleOptions": "openOnSessionStart",
+            "loadMode": "manual"
+        }
+    ]
+}

esp32/lib/MPU6050/MPU6050.cpp

@@ -0,0 +1,99 @@
+#include "MPU6050.h"
+
+MPU6050::MPU6050()
+{
+}
+
+bool MPU6050::begin(unsigned long timeout)
+{
+    unsigned long start = 0;
+    Serial.println("Adafruit MPU6050 test!");
+
+    // Try to initialize!
+    if (!mpu.begin())
+    {
+        Serial.println("Failed to find MPU6050 chip");
+        while (start < timeout)
+        {
+            delay(10);
+            start += 10;
+        }
+    }
+    if (!mpu.begin())
+    {
+        return false;
+    }
+
+    Serial.println("MPU6050 Found!");
+
+    mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
+    Serial.print("Accelerometer range set to: ");
+    switch (mpu.getAccelerometerRange())
+    {
+    case MPU6050_RANGE_2_G:
+        Serial.println("+-2G");
+        break;
+    case MPU6050_RANGE_4_G:
+        Serial.println("+-4G");
+        break;
+    case MPU6050_RANGE_8_G:
+        Serial.println("+-8G");
+        break;
+    case MPU6050_RANGE_16_G:
+        Serial.println("+-16G");
+        break;
+    }
+
+    mpu.setGyroRange(MPU6050_RANGE_500_DEG);
+    Serial.print("Gyro range set to: ");
+    switch (mpu.getGyroRange())
+    {
+    case MPU6050_RANGE_250_DEG:
+        Serial.println("+- 250 deg/s");
+        break;
+    case MPU6050_RANGE_500_DEG:
+        Serial.println("+- 500 deg/s");
+        break;
+    case MPU6050_RANGE_1000_DEG:
+        Serial.println("+- 1000 deg/s");
+        break;
+    case MPU6050_RANGE_2000_DEG:
+        Serial.println("+- 2000 deg/s");
+        break;
+    }
+
+    mpu.setFilterBandwidth(MPU6050_BAND_5_HZ);
+    Serial.print("Filter bandwidth set to: ");
+    switch (mpu.getFilterBandwidth())
+    {
+    case MPU6050_BAND_260_HZ:
+        Serial.println("260 Hz");
+        break;
+    case MPU6050_BAND_184_HZ:
+        Serial.println("184 Hz");
+        break;
+    case MPU6050_BAND_94_HZ:
+        Serial.println("94 Hz");
+        break;
+    case MPU6050_BAND_44_HZ:
+        Serial.println("44 Hz");
+        break;
+    case MPU6050_BAND_21_HZ:
+        Serial.println("21 Hz");
+        break;
+    case MPU6050_BAND_10_HZ:
+        Serial.println("10 Hz");
+        break;
+    case MPU6050_BAND_5_HZ:
+        Serial.println("5 Hz");
+        break;
+    }
+
+    Serial.println("");
+    return true;
+}
+
+void MPU6050::getEvent(sensors_event_t *a, sensors_event_t *g, sensors_event_t *temp)
+{
+    mpu.getEvent(a, g, temp);
+}

esp32/lib/MPU6050/MPU6050.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#include <Arduino.h>
+#include <Adafruit_MPU6050.h>
+#include <Adafruit_Sensor.h>
+#include <Wire.h>
+
+class MPU6050
+{
+public:
+    MPU6050();
+    bool begin(unsigned long timeout = ULONG_MAX);
+    void getEvent(sensors_event_t *a, sensors_event_t *g, sensors_event_t *temp);
+
+private:
+    Adafruit_MPU6050 mpu;
+};

esp32/platformio.ini

@@ -21,6 +21,8 @@ build_flags =
 lib_deps =
     knolleary/PubSubClient
     bblanchon/ArduinoJson
+    adafruit/Adafruit MPU6050
+    adafruit/Adafruit Unified Sensor
 
 ; Monitor filters for decoding exceptions
 monitor_filters = esp32_exception_decoder

esp32/src/main.cpp

@@ -1,9 +1,13 @@
+// ESP32 Guide: https://RandomNerdTutorials.com/esp32-mpu-6050-accelerometer-gyroscope-arduino/
+
 #include <Arduino.h>
+#include "MPU6050.h"
 #include "WifiSetup.h"
 #include "ESP32Ping.h" // Include the ESP32Ping library
 
 WifiSetup wifi(g_ssid, g_password);
-
+MPU6050 mpu;
+
 void callback(char *topic, byte *payload, unsigned int length);
 
 void setup()

esp32/test/mpu6050_accelerometer_test.cpp

@@ -0,0 +1,41 @@
+#include "MPU6050.h"
+#include <Arduino.h>
+#include <Wire.h>
+#include <unity.h>
+
+MPU6050 mpu;
+
+void setUp(void)
+{
+    // This will be run before each test
+    Wire.begin();
+    TEST_ASSERT_TRUE_MESSAGE(mpu.begin(100), "Failed to initialize MPU6050");
+}
+
+void tearDown(void)
+{
+    // This will be run after each test
+    // Any cleanup code can be put here
+}
+
+void test_accelerometer_values(void)
+{
+    sensors_event_t a, g, temp;
+    mpu.getEvent(&a, &g, &temp);
+    TEST_ASSERT_TRUE_MESSAGE(a.acceleration.x != 0.0 ||
+                                 a.acceleration.y != 0.0 ||
+                                 a.acceleration.z != 0.0,
+                             "Accelerometer output is 0,0,0");
+}
+
+void setup()
+{
+    delay(2000); // Allow some time for the serial port to initialize
+    UNITY_BEGIN();
+    RUN_TEST(test_accelerometer_values);
+}
+
+void loop()
+{
+    UNITY_END();
+}