2020-06-26 (F) Weekly Summary

I started mapping out the sensor data, and I started with the Get X and Get Y abilities built into the Blockly programming portal. By themselves, the functions tell me which way the device is oriented, but there is no information here regarding twisting about the Z-axis which is what I need for the first step in my haptic compass.
Get X and Get Y were my first subjects

 The number I was concerned with was the Z-Gyro reading, which is what told me the IMU was turning clockwise or counter-clockwise (anti-clockwise) when viewing the screen. It was tricky to see the changes because the value reflected rotational speed. I probably could have gotten a good idea if I sat in a chair and spun around.
Resting numbers and Min/Max

To calculate position from speed, I had to track time. My first program proved the idea was possible because I could spin myself, and the reading would change, then change back when I turned the other way. There were a lot of erratic readings, but I was on the right track.
First attempt at direction tracking

Getting rid of the erroneous readings was going to take some work. I spent a day thinking about how to do it and decided that I would monitor the accelerometers. When the device was stationary, I would take gyroscope readings, which should be at zero, and use those numbers to counteract the unwanted variances.
Pseudo code sketch

My plan failed because I forgot that the accelerometers were there for detecting inclination, not motion. I would have to rely on a manual method for zeroing out the gyroscope readings.
Automatic, but failed zeroing routine

Pressing the primary button will initiate a function to zero out the gyroscope readings, but it waits one second for the device to settle. I recorded the values into a list, but when I asked for the list's average, I got an error. It worked better when I asked for a sum and divided, but I couldn't even print values from the list, so I think there is something about them I don't understand. I assume they work like arrays.
Manual calibration routine

The rest of the summary posts have been arranged by date.
First time here?

Completed projects from year 1
Completed projects from year 2
Completed projects from year 3
Completed projects from year 4
Completed projects from year 5
Completed projects from year 6
Completed projects from year 7

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