ArduinoWearable

#include <SPI.h>
#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_LSM9DS0.h>
#include <Adafruit_Simple_AHRS.h>

Adafruit_LSM9DS0 lsm = Adafruit_LSM9DS0(1000);  // Use I2C,  assaign unique ID for sensor - #1000
Adafruit_Simple_AHRS ahrs(&lsm.getAccel(), &lsm.getMag()); // Create simple AHRS algorithm using the LSM9DS0 instance's accelerometer and magnetometer.
int nrOfSecondsOfTilt = 0;


//Configure range and sensitivity of sensors
void configureSensor(void)
{
  // 1.) Set the accelerometer range
  lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_2G);
  //lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_4G);
  //lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_6G);
  //lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_8G);
  //lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_16G);
  
  // 2.) Set the magnetometer sensitivity
  lsm.setupMag(lsm.LSM9DS0_MAGGAIN_2GAUSS);
  //lsm.setupMag(lsm.LSM9DS0_MAGGAIN_4GAUSS);
  //lsm.setupMag(lsm.LSM9DS0_MAGGAIN_8GAUSS);
  //lsm.setupMag(lsm.LSM9DS0_MAGGAIN_12GAUSS);

  // 3.) Setup the gyroscope
  lsm.setupGyro(lsm.LSM9DS0_GYROSCALE_245DPS);
  //lsm.setupGyro(lsm.LSM9DS0_GYROSCALE_500DPS);
  //lsm.setupGyro(lsm.LSM9DS0_GYROSCALE_2000DPS);
}


void setup(void) 
{
  
  Serial.begin(9600); // Initialize serial connection for console
  lsm.begin(); // Initialize sensor
  configureSensor(); //configure sensor
  
}

void loop(void) 
{  
  
  sensors_event_t accel, mag, gyro, temp; //variables for sensor data
  sensors_vec_t   orientation; //variable for orientation object
  
  lsm.getEvent(&accel, &mag, &gyro, &temp); //get raw sensor data
  ahrs.getOrientation(&orientation); //get orientation object

/*
  //Print raw data
  Serial.print("Raw data: \n");
  // print out accelleration data
  Serial.print("Accel X: "); Serial.print(accel.acceleration.x); Serial.print(" ");
  Serial.print("  \tY: "); Serial.print(accel.acceleration.y);       Serial.print(" ");
  Serial.print("  \tZ: "); Serial.print(accel.acceleration.z);     Serial.println("  \tm/s^2");
  // print out magnetometer data
  Serial.print("Magn. X: "); Serial.print(mag.magnetic.x); Serial.print(" ");
  Serial.print("  \tY: "); Serial.print(mag.magnetic.y);       Serial.print(" ");
  Serial.print("  \tZ: "); Serial.print(mag.magnetic.z);     Serial.println("  \tgauss");
  // print out gyroscopic data
  Serial.print("Gyro  X: "); Serial.print(gyro.gyro.x); Serial.print(" ");
  Serial.print("  \tY: "); Serial.print(gyro.gyro.y);       Serial.print(" ");
  Serial.print("  \tZ: "); Serial.print(gyro.gyro.z);     Serial.println("  \tdps");
  // print out temperature data
  Serial.print("Temp: "); Serial.print(temp.temperature); Serial.print(" آ°C\n\n");

*/
  //print orientation data gained from simple AHRS algorithm
  Serial.print("Orientation: \n");
  Serial.print("Roll (Y axis): ");Serial.print(orientation.roll); Serial.print("آ°\n");
  //Serial.print("Pitch (X axis): ");Serial.print(orientation.pitch); Serial.print("آ°\n");
  //Serial.print("Yaw (Z axis): ");Serial.print(orientation.heading); Serial.print("آ°\n"); //This can be buggy since the magnetometer is not calibrated. Also values are relative to starting position.
  countTilt(orientation.roll);
  Serial.println("\n");
  delay(1000);
}


void countTilt(double angle)
{
  if(angle <= -110|| (angle>=110&&angle<=180))  
    nrOfSecondsOfTilt++;
  else
    nrOfSecondsOfTilt=0;

   if(nrOfSecondsOfTilt>=5)
   {
      Serial.println("Sending vibration notification \n");
      analogWrite(6,240);
      delay(500);
      nrOfSecondsOfTilt=0;
      analogWrite(6,0);
   }
}