Commit ca5bd48

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Fix MPU6050 in Gesture classification example

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+146

-315

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+146

-315

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Lines changed: 41 additions & 17 deletions

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Lines changed: 11 additions & 7 deletions

Original file line number	Diff line number	Diff line change
`@@ -1,14 +1,17 @@`
`1`		`-#include "imu.h"`
`2`		`-//#include "model.h"`
	`1`	`+#include "imu_6050.h"`
	`2`	`+#include "pca.h"`
	`3`	`+#include "model.h"`
`3`	`4`
`4`	`5`	`#define NUM_SAMPLES 30`
`5`	`6`	`#define NUM_AXES 3`
`6`	`7`	`#define TRUNCATE 20`
`7`	`8`	`#define ACCEL_THRESHOLD 5`
`8`	`9`	`#define INTERVAL 30`
`9`	`10`
`10`		`-double baseline[NUM_AXES];`
`11`		`-double features[NUM_SAMPLES * NUM_AXES];`
	`11`	`+float baseline[NUM_AXES];`
	`12`	`+float features[NUM_SAMPLES * NUM_AXES];`
	`13`	`+Eloquent::ML::Port::PCA pca;`
	`14`	`+Eloquent::ML::Port::SVM clf;`
`12`	`15`
`13`	`16`
`14`	`17`	`void setup() {`
`@@ -34,7 +37,7 @@ void loop() {`
`34`	`37`	`recordIMU();`
`35`	`38`	`printFeatures();`
`36`	`39`	`// un-comment to run classification`
`37`		`-// classify();`
	`40`	`+ classify();`
`38`	`41`	`delay(2000);`
`39`	`42`	`}`
`40`	`43`
`@@ -87,7 +90,7 @@ void recordIMU() {`
`87`	`90`	`* Dump the feature vector to Serial monitor`
`88`	`91`	`*/`
`89`	`92`	`void printFeatures() {`
`90`		`- const uint16_t numFeatures = sizeof(features) / sizeof(double);`
	`93`	`+ const uint16_t numFeatures = sizeof(features) / sizeof(float);`
`91`	`94`
`92`	`95`	`for (int i = 0; i < numFeatures; i++) {`
`93`	`96`	`Serial.print(features[i]);`
`@@ -99,6 +102,7 @@ void printFeatures() {`
`99`	`102`	`*`
`100`	`103`	`*/`
`101`	`104`	`void classify() {`
	`105`	`+ pca.transform(features);`
`102`	`106`	`Serial.print("Detected gesture: ");`
`103`		`- Serial.println(classIdxToName(predict(features)));`
	`107`	`+ Serial.println(clf.predictLabel(features));`
`104`	`108`	`}`

Lines changed: 7 additions & 3 deletions

Original file line number	Diff line number	Diff line change
`@@ -11,7 +11,11 @@ void imu_setup() {`
`11`	`11`	`}`
`12`	`12`
`13`	`13`	`void imu_read(float ax, float ay, float *az) {`
`14`		`- floatgx, gy, gz;`
	`14`	`+ int16_t_ax, _ay, _az, _gx, _gy, _gz;`
`15`	`15`
`16`		`- imu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);`
`17`		`-}`
	`16`	`+ imu.getMotion6(&_ax, &_ay, &_az, &_gx, &_gy, &_gz);`
	`17`	`+`
	`18`	`+ *ax = _ax;`
	`19`	`+ *ay = _ay;`
	`20`	`+ *az = _az;`
	`21`	`+}`

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