An Arduino sketch for inertial position tracking using an MPU6060 accelerometer and gyroscope.
This repository was developed by the "Subsonic" team as part of an assignment for the courses GE 1501 and GE 1502 at Northeastern University during Fall 2019 and Spring 2020, respectively.
This codebase consists of Arduino-C++, which is a dialect of C++ that notably does not link against the C++ standard library.
See this diagram for how to wire this project. This image was created with Fritzing.
To install the latest release of this sketch, simply clone the git repository by running
$ git clone https://github.com/blueschu/Subsonic-IPT.gitThis sketch depends on the SparkFun SerLCD library. If you have not previously installed this library, you can install if by following the steps outlined in the SparkFun tutorial for installing Arduino libraries.
This sketch makes use of some C++17 language features, such as inline variables. Therefore, it is recommended that you configure your arduino installation to pass the appropriate language flag to the compiler. This can be accomplished by editing the platform.txt file contained in your Arduino installation directory. On Linux, this file is located at <arduino install directory>/hardware/arduino/avr/platform.txt. Within this file, navigate to the compiler.cpp.flags= setting and replace -std=gnu++11 with -std=gnu++1z.
This repository is designed to be built and run using CMake. However, it is still possible to run this sketch using the Arduino IDE.
First, ensure that you have cmake installed on your system. If you are using an IDE such as CLion, cmake would have been included with your installation.
Next, update the arduino-variables.cmake file to reflect your local Arduino installation. The file included in this repository represents an Arduino v1.8.10 installation in /opt on a Linux system. If you are using an operating system other than Linux, you may need to look up the appropriate system paths for your Arduino installation. For MacOS users, you may find the arduino-clion-minimal repository which inspired the structure of this repository helpful.
If you are using CLion, follow the steps given in this blog post to configure your IDE's toolchain.
Otherwise, you can build the project manually with cmake by running the following commands:
$ mkdir cmake-build-debug
$ cd !$
$ cmake -DCMAKE_TOOLCHAIN_FILE=arduino-uno-toolchain.cmake ..To build the sketch, run the verify CMake target.
To upload the sketch to your Arduino, run the upload CMake target.
To run this sketch using the Arduino IDE, rename the sketch.cpp file to have an .ino extension. Then, open this repository as you would any other Arduino sketch.
The Arduino/CMake integration used in this repository is a custom Linux port of a template created by Charl P. Botha. His original arduino-clion-minimal repository may be found here.
This software is licensed under the MIT License. For more information, read the file LICENSE.