컨트롤러 코드 updated, 풀더구조 정리

@@ -4,7 +4,9 @@ import android.app.Activity
 import android.bluetooth.BluetoothAdapter
 import android.bluetooth.BluetoothAdapter
 import android.content.Context
 import android.content.Context
 import android.content.Intent
 import android.content.Intent
+import android.os.Build
 import android.os.Bundle
 import android.os.Bundle
+import android.os.VibrationEffect
 import android.os.Vibrator
 import android.os.Vibrator
 import android.util.Log
 import android.util.Log
 import android.widget.Toast
 import android.widget.Toast
@@ -36,6 +38,20 @@ class MainActivity : AppCompatActivity() {
             vibrator.vibrate(500)
             vibrator.vibrate(500)
             Toast.makeText(this, message.toString(), Toast.LENGTH_SHORT).show()
             Toast.makeText(this, message.toString(), Toast.LENGTH_SHORT).show()
             Log.d("테스트", message.toString())
             Log.d("테스트", message.toString())
+            if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
+                vibrator.vibrate(VibrationEffect.createOneShot(1000, VibrationEffect.DEFAULT_AMPLITUDE))
+                when(message){
+                    "H" -> vibrator.vibrate(VibrationEffect.createOneShot(1500, 255))
+                    "M" -> vibrator.vibrate(VibrationEffect.createOneShot(500, 255))
+                    "L" -> vibrator.vibrate(VibrationEffect.createOneShot(500, 180))
+                }
+            } else {
+                when(message){
+                    "H" -> vibrator.vibrate(900)
+                    "M" -> vibrator.vibrate(500)
+                    "L" -> vibrator.vibrate(100)
+                }
+            }
         }
         }
 
 
         bt.setBluetoothConnectionListener(object : BluetoothSPP.BluetoothConnectionListener {
         bt.setBluetoothConnectionListener(object : BluetoothSPP.BluetoothConnectionListener {
@@ -60,10 +76,18 @@ class MainActivity : AppCompatActivity() {
     }
     }
 
 
     private fun setButtons() {
     private fun setButtons() {
-        btn_test.setOnClickListener {
+        btn_test_high.setOnClickListener {
             //val vibrationEffect = VibrationEffect.createOneShot(3000, 100)
             //val vibrationEffect = VibrationEffect.createOneShot(3000, 100)
             //vibrator.vibrate(vibrationEffect)
             //vibrator.vibrate(vibrationEffect)
-            vibrator.vibrate(1000)
+            vibrator.vibrate(700)
+        }
+
+        btn_test_mid.setOnClickListener {
+            vibrator.vibrate(400)
+        }
+
+        btn_test_low.setOnClickListener {
+            vibrator.vibrate(100)
         }
         }
 
 
         btn_connect.setOnClickListener {
         btn_connect.setOnClickListener {

@@ -7,20 +7,36 @@
     tools:context=".MainActivity">
     tools:context=".MainActivity">
 
 
     <Button
     <Button
-        android:id="@+id/btn_test"
+        android:id="@+id/btn_test_high"
         android:layout_width="wrap_content"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_height="wrap_content"
-        android:text="test"
+        android:text="high"
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
         app:layout_constraintTop_toTopOf="parent" />
 
 
     <Button
     <Button
+        android:id="@+id/btn_test_mid"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="mid"
+        app:layout_constraintStart_toEndOf="@+id/btn_test_high"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <Button
+        android:id="@+id/btn_test_low"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="low"
+        app:layout_constraintStart_toEndOf="@+id/btn_test_mid"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <Button
         android:id="@+id/btn_connect"
         android:id="@+id/btn_connect"
         android:layout_width="wrap_content"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_height="wrap_content"
         android:text="연결"
         android:text="연결"
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toBottomOf="@+id/btn_test" />
+        app:layout_constraintTop_toBottomOf="@+id/btn_test_high" />
 
 
     <Button
     <Button
         android:id="@+id/btn_send"
         android:id="@+id/btn_send"

+CapstoneDesign folder : Controller code
\ No newline at end of file

-// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
-// for both classes must be in the include path of your project
-// 전처리부
-#include "I2Cdev.h"
-#include "MPU6050.h"
-#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
-    #include "Wire.h"
-#endif
-#define mpu_add 0x68
-#define Pin_Relay 13
-
-
-// 변수 및 상수부
-long ac_x, ac_y, ac_z, gy_x, gy_y, gy_z; //acc, gyro data (acc, gyro 계산 수식)
-double angle = 0, deg; // angle, deg data (각도계산)
-double dgy_x; // double type acc data
-long int normal_x, normal_y, normal_z, deltha_x[3], deltha_y[3], deltha_z[3], deltha; // 노말라이즈(정규화 데이터), 가속도 변화량 표시
-long int angle_value;
-const int mapping_value = 1000;
-const int Emergency_value = 1300; // 충격상태로 판단하는 값
-const int Emergency_angle = 25; // 충격상태로 판단하는 각도(기울기)
-const int Emergency_value2 = 1200;// 충격상태로 판단하는 값
-const int Emergency_angle2 = 9; // 충격상태로 판단하는 각도(기울기)
-boolean State_Parameter = false; // 충격상태
-const long int sum_count = 2; // 평균 내는 횟수
- 
-
-/* 사용자지정함수부
-*/
-// 모듈초기화
-void mpu6050_init(){ 
-  Wire.begin(); //I2C통신 시작
-  Wire.beginTransmission(mpu_add) ; // 0x68(주소) 찾아가기
-  Wire.write(0x6B) ; // 0x6B의 레지스트를 0으로 함으로써 Sleep에서 깨움
-  Wire.write(0); // set to ZERO(WAKE UP THE MPU6050)
-  Wire.endTransmission(true) ;
-}
-
-// 연산에 필요한 변수들을 초기화
-void value_init(){ 
-  normal_x = 0; 
-  normal_y = 0; 
-  normal_z = 0;
-  
-  for(int i = 0; i < 3; i++){ 
-     deltha_x[i]=0; 
-     deltha_y[i]=0; 
-     deltha_z[i] = 0; 
-     angle = 0; 
-     angle_value=0;
-  }
-}
-
-// 가속도 연산 함수
-void accel_calculate() { 
-  ac_x = 0; 
-  ac_y = 0; 
-  ac_z = 0;
-  normal_x = 0; 
-  normal_y = 0; 
-  normal_z = 0;
-
-  Wire.beginTransmission(mpu_add) ; // 번지수 찾기
-  Wire.write(0x3B) ; // 가속도 데이터 보내달라고 컨트롤 신호 보내기
-  Wire.endTransmission(false) ; // 기달리고,
-  Wire.requestFrom(mpu_add, 6, true) ; // 데이터를 받아 처리 
-
-  // Data SHIFT
-  ac_x = Wire.read() << 8 | Wire.read() ;
-  ac_y = Wire.read() << 8 | Wire.read() ;
-  ac_z = Wire.read() << 8 | Wire.read() ;
- 
-  //맵핑화 시킨 것 - 즉 10000으로 맵핑시킴
-  normal_x = map(int(ac_x), -16384, 16384, 0, mapping_value);
-  normal_y = map(int(ac_y), -16384, 16384, 0, mapping_value);
-  normal_z = map(int(ac_z), -16384, 16384, 0, mapping_value);
- 
-  //각도계산 deg -> 각도
-  deg = atan2(ac_x, ac_z) * 180 / PI ; //rad to deg
-  dgy_x = gy_y / 131. ; //16-bit data to 250 deg/sec
-  angle = (0.95 * (angle + (dgy_x * 0.001))) + (0.05 * deg) ;
-}
-
-// 충격상태함수
-void Emergency_state_(){
-  digitalWrite(Pin_Relay , HIGH); // 릴레이핀을 True값으로 바꿔 13번 핀의 LED를 ON시킨다.
-  Serial.println("SHOCK!!!!!!!!!!!!!!!!!"); // Serial 모니터로 확인
-}
-
-void Shock_Sensing(){
-  State_Parameter = false; // 충격상태 초기화
-  
-  //첫번째 센싱
-  for (int i=0; i < sum_count; i++){ 
-    accel_calculate();
-    deltha_x[1] = deltha_x[1]+(normal_x); 
-    deltha_y[1] = deltha_y[1]+(normal_y); 
-    deltha_z[1] = deltha_z[1]+(normal_z); 
-    angle_value = angle_value + angle;
-  }
-  deltha_x[1] = int(deltha_x[1]/sum_count); 
-  deltha_y[1] = int(deltha_y[1]/sum_count); 
-  deltha_z[1] = int(deltha_z[1]/sum_count);
-
-  //두번째 센싱
-  for (int i=0; i < sum_count; i++){ 
-    accel_calculate();
-    deltha_x[2] = deltha_x[2]+(normal_x); 
-    deltha_y[2] = deltha_y[2]+(normal_y); 
-    deltha_z[2] = deltha_z[2]+(normal_z); 
-    angle_value = angle_value + angle;
-  }
-  deltha_x[2] = int(deltha_x[2]/sum_count); 
-  deltha_y[2] = int(deltha_y[2]/sum_count); 
-  deltha_z[2] = int(deltha_z[2]/sum_count);
- 
-  //3축 변화량 비교 - 가속도 변화량, 각도 평균 값
-  deltha_x[0] = abs(deltha_x[1]-deltha_x[2]); 
-  deltha_y[0] = abs(deltha_y[1]-deltha_y[2]); 
-  deltha_z[0] = abs(deltha_z[1]-deltha_z[2]);
-  deltha = deltha_x[0] + deltha_y[0] + deltha_z[0];
-  angle_value = abs(int(angle_value/(sum_count)));
- 
-  // deltha : 가속도 변화량
-  // angle_value : 각도 값(현재 각도 값)
-  if (deltha > Emergency_value){
-    State_Parameter=true;
-    }
-  if (angle_value > Emergency_angle){
-    State_Parameter=true;
-    }
-  if ((deltha > Emergency_value2)&&(angle_value > Emergency_angle2)){
-    State_Parameter=true;
-    }
- 
-  // 충격상태체크
-  if( State_Parameter == true ){
-    Emergency_state_();
-  }
-  else {
-    digitalWrite(Pin_Relay , LOW);
-  }
-}
-
-
-
-
-
-/*main 함수부*/
-void setup() {
-  mpu6050_init(); // 가속도 센서 초기 설정 
-  
-  Serial.begin(9600); // 시리얼 속도
-  pinMode(Pin_Relay, OUTPUT); // 핀모드사용, led로 육안확인 가능하게끔
-  digitalWrite(Pin_Relay , LOW); // HIGH - LED on, LOW - LED off   (DEFAULT : OFF)
-}
-
-void loop() {
-  value_init(); //가속도-각도 관련 초기값 선언
-  Shock_Sensing(); // 충격감지 함수
-}