ReadDataFromADXL345 (update)

  
  #include <Wire.h>
  #include <math.h>
  
  #define First_DEVICE (0x53)    //first ADXL345 device address
  #define Second_DEVICE (0x1D)   //second ADXL345 device address
  #define TO_READ (6)        //num of bytes we are going to read each time (two bytes for each axis)
  
  byte buff[TO_READ] ;    //6 bytes buffer for saving data read from the device
  
  
  void setup()
 {
   Wire.begin();        // join i2c bus (address optional for master)
   Serial.begin(9600);  // start serial for output
   
   //Turning on the ADXL345
   writeTo(First_DEVICE, 0x2D, 0);      
   writeTo(First_DEVICE, 0x2D, 16);
   writeTo(First_DEVICE, 0x2D, 8);
   writeTo(Second_DEVICE, 0x2D, 0);      
   writeTo(Second_DEVICE, 0x2D, 16);
   writeTo(Second_DEVICE, 0x2D, 8);
 } 
 
  //**************global variable*******************// 
    int x, y, z; 
    double accl_x,accl_y,accl_z;
    double mag;
    double a, b, c;
    
    int x2, y2, z2;   
    double accl_x2,accl_y2,accl_z2;
    double mag2;
    double a2, b2, c2;
    
    int count = 0;
    int old_x, old_y, old_z;
    int old_x2, old_y2, old_z2;

  //**********************************************//
  
  void loop()
  {   
   int regAddress = 0x32;  //register address for first devie and second device 
   readFrom(First_DEVICE, regAddress, TO_READ, buff); //read the acceleration data from the ADXL345
    
   //each axis reading comes in 10 bit resolution, ie 2 bytes.  Least Significat Byte first!!
   //thus we are converting both bytes in to one int
   x = (((int)buff[1]) << 8) | buff[0];   
   y = (((int)buff[3])<< 8) | buff[2];
   z = (((int)buff[5]) << 8) | buff[4];
   
   readFrom(Second_DEVICE, regAddress, TO_READ, buff); //read the acceleration data from the ADXL345
    
   //each axis reading comes in 10 bit resolution, ie 2 bytes.  Least Significat Byte first!!
   //thus we are converting both bytes in to one int
   x2 = (((int)buff[1]) << 8) | buff[0];   
   y2 = (((int)buff[3])<< 8) | buff[2];
   z2 = (((int)buff[5]) << 8) | buff[4];
   
   //calculate all information from first device
   //offset raw datas
   x = x-20;
   y = y-6;
   z = z+4;
   
   
  //if raw datas are negative 
  if(x>10000)
  {
  x = x-65536;
  }
  if(y>10000)
  {
  y = y-65536;
  }
  if(z>10000)
  {
  z = z-65536;
  }
  
  //convert raw datas to G values
  accl_x = 0.00391*x;
  accl_y = 0.00391*y;
  accl_z = 0.00391*z;
  
  //find magnitde of accelration
  mag = sqrt(pow(accl_x,2) + pow(accl_y,2) + pow(accl_z,2));
  
  //find angels 
  a = atan(accl_x / sqrt(sq(accl_y) + sq(accl_z))) * 180 / PI;
  b  = atan(accl_y / sqrt(sq(accl_x) + sq(accl_z))) * 180 / PI;
  c = atan(sqrt(sq(accl_x) + sq(accl_y)) / accl_z) * 180 / PI;
  
  if(a >= 0 && b >= 0 && c>=0) 
  {
    a = a;
    b= b;
    c = c;
  }
  else if(a >= 0 && b >= 0 && c<0)
  {
    a = 180.00-a;
    b= 180.00-b;
    c = c+180.00;
  }
  else if(a >= 0 && b < 0 && c>=0)
  {
    a = a;
    b= b+360.00;
    c = c;
  }
  else if(a >= 0 && b < 0 && c<0)
  {
    a = 180.00-a;
    b= 180.00-b;
    c = c+180.00;
  }
 else if(a < 0 && b >= 0 && c>=0) 
  {
    a = a+360;
    b= b;
    c = c;
  }
  else if(a < 0 && b >= 0 && c<0)
  {
    a = 180.00-a;
    b= 180.00-b;
    c = 180.00-c;
  }
  else if(a < 0 && b < 0 && c>=0)
  {
    a = a+360.00;
    b= b+360.00;
    c = 360.00-c;
  }
  else
  {
    a = 180.00-a;
    b= 180.00-b;
    c = c+180.00;
  }
  
  //calculate all information from second device
   //offset raw datas
   x2 = x2-20;
   y2 = y2;
   z2 = z2+8;
   
   
  //if raw datas are negative 
  if(x2>10000)
  {
  x2 = x2-65536;
  }
  if(y2>10000)
  {
  y2 = y2-65536;
  }
  if(z2>10000)
  {
  z2 = z2-65536;
  }
  
  //convert raw datas to G values
  accl_x2 = 0.00391*x2;
  accl_y2 = 0.00391*y2;
  accl_z2 = 0.00391*z2;
  
  //find magnitde of accelration
  mag2 = sqrt(pow(accl_x2,2) + pow(accl_y2,2) + pow(accl_z2,2));
  
  //find angels 
  a2 = atan(x2 / sqrt(sq(y2) + sq(z2))) * 180 / PI;
  b2  = atan(y2 / sqrt(sq(x2) + sq(z2))) * 180 / PI;
  c2 = atan(sqrt(sq(x2) + sq(y2)) / z2) * 180 / PI;
  
  if(a2 >= 0 && b2 >= 0 && c2 >=0) 
  {
    a2 = a2;
    b2 = b2;
    c2 = c2;
  }
  else if(a2 >= 0 && b2 >= 0 && c2 <0)
  {
    a2 = 180.00-a2;
    b2 = 180.00-b2;
    c2 = c2+180.00;
  }
  else if(a2 >= 0 && b2 < 0 && c2 >=0)
  {
    a2 = a2;
    b2 = b2+360.00;
    c2 = c2;
  }
  else if(a2 >= 0 && b2 < 0 && c2 <0)
  {
    a2 = 180.00-a2;
    b2 = 180.00-b2;
    c2 = c2+180.00;
  }
 else if(a2 < 0 && b2 >= 0 && c2 >=0) 
  {
    a2 = a2+360;
    b2 = b2;
    c2 = c2;
  }
  else if(a2 < 0 && b2 >= 0 && c2<0)
  {
    a2 = 180.00-a2;
    b2 = 180.00-b2;
    c2 = 180.00-c2;
  }
  else if(a2 < 0 && b2 < 0 && c2 >=0)
  {
    a2 = a2+360.00;
    b2 = b2+360.00;
    c2 = 360.00-c2;
  }
  else
  {
    a2 = 180.00-a2;
    b2 = 180.00-b2;
    c2 = c2+180.00;
  }

  
  display_second_device();
  
    

 }

    
 void writeTo(int device, byte address, byte val) {
    Wire.beginTransmission(device); //start transmission to device 
    Wire.write(address);        // send register address
    Wire.write(val);        // send value to write
    Wire.endTransmission(); //end transmission
 }

    
  void readFrom(int device, byte address, int num, byte buff[]) {
    Wire.beginTransmission(device); //start transmission to device 
    Wire.write(address);        //sends address to read from
    Wire.endTransmission(); //end transmission
    
    Wire.beginTransmission(device); //start transmission to device (initiate again)
    Wire.requestFrom(device, num);    // request 6 bytes from device
    
    int i = 0;
   while(Wire.available())    //device may send less than requested (abnormal)
   { 
     buff[i] = Wire.read(); // receive a byte
     i++;
   }
   Wire.endTransmission(); //end transmission
 }
 
  void FindQuandrant(int x, int y, int z)
  {
    if(x >= 0 && y >= 0 && z >=0)  //first quardrant with positive z direction
    {
      Serial.println("first quardrant with positive z direction");
    }
    
    if(x < 0 && y >= 0 && z >= 0)  //second quardrant with positive z direction
    {
      Serial.println("second quardrant with positive z direction");
    }
    
    if(x < 0 && y < 0 && z >= 0)  //thrid quardrant with positive z direction
    {
      Serial.println("thrid quardrant with positive z direction");
    }
    
    if(x >= 0 && y < 0 && z >=0)  //fourth quardrant with positive z direction
    {
      Serial.println("fourth quardrant with positive z direction");
    }
    
    if(x >= 0 && y >= 0 && z < 0)  //first quardrant with negative z direction
    {
      Serial.println("first quardrant with negative z direction");
    }
    
    if(x < 0 && y >= 0 && z < 0)  //second quardrant with negative z direction
    {
      Serial.println("second quardrant with negative z direction");
    }
    
    if(x < 0 && y < 0 && z < 0)  //thrid quardrant with negative z direction
    {
      Serial.println("thrid quardrant with negative z direction");
    }
    
    if(x >= 0 && y < 0 && z < 0)  //fourth quardrant with negative z direction
    {
      Serial.println("fourth quardrant with negative z direction");
    }
  }  
  
  void display_first_device()
  {
  //we send the x y z values as a string to the serial port
  Serial.print("Raw:\t");
  Serial.print(x);
  Serial.print("   ");   
  Serial.print(y);
  Serial.print("   ");   
  Serial.print(z);

  // Tell us about the this data, but scale it into useful units (G).
  Serial.print("\tScaled:\t");
  Serial.print(accl_x);
  Serial.print("G   ");   
  Serial.print(accl_y);
  Serial.print("G   ");   
  Serial.print(accl_z);
  Serial.print("G");
  
  //Display Magnitude
  Serial.print("\tMagnitude:\t");
  Serial.print(mag);
  
  Serial.print("\ta:\t");
  Serial.print(a);
  Serial.print("\tb:\t");
  Serial.print(b);
  Serial.print("\ty:\t");
  Serial.println(c);
    
  }
  
  void display_second_device()
  {
  //we send the x y z values as a string to the serial port
  Serial.print("Raw:\t");
  Serial.print(x2);
  Serial.print("   ");   
  Serial.print(y2);
  Serial.print("   ");   
  Serial.print(z2);

  // Tell us about the this data, but scale it into useful units (G).
  Serial.print("\tScaled:\t");
  Serial.print(accl_x2);
  Serial.print("G   ");   
  Serial.print(accl_y2);
  Serial.print("G   ");   
  Serial.print(accl_z2);
  Serial.print("G");
  
  //Display Magnitude
  Serial.print("\tMagnitude:\t");
  Serial.print(mag2);
  
  Serial.print("\ta:\t");
  Serial.print(a2);
  Serial.print("\tb:\t");
  Serial.print(b2);
  Serial.print("\ty:\t");
  Serial.println(c2);    
  }
  
  void check_moving(double magnitude)
  {
    double num = magnitude;
    
    if(num >= 0.90 && num <= 1.10)
    {
      Serial.println("No movement_______________No movement");
    }
    else
    {
      Serial.println("Hand Move");
    }
  }
  
  void hand_position()
  {
   if(a2 >= 350 || a2 < 10)
   {
     Serial.println("palm down");
   }
   else if(a2 >= 10 && a2 <80)
   {
     Serial.println("plam down right");
   }
   else if(a2 >= 80 && a2 <100)
   {
     Serial.println("plam right");
   }
   else if(a2 >= 100 && a2 < 170)
   {
     Serial.println("palm up right");
   }
   else if(a2 >= 170 && a2 < 190)
   {
     Serial.println("palm up");
   }  
   else if(a2 >= 190 && a2 < 260)
   {
     Serial.println("palm up left");
   }
   else if(a2 >= 260 && a2 < 280)
   {
     Serial.println("palm left");
   }
   else
   {
     Serial.println("palm down left");
   }  
  }