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I have a stepper motor (kysan 1124090) turning CW and CCW based on the y direction of my accelerometer(MU6090). I am using an Arduino uno. It works great but after about 30 seconds there will be these pauses in the communication between the accelerometer and the stepper motor every 3-4 seconds. I can turn rotate the accelerometer and the stepper wont move for about half a second. I am wondering if its a storage issue, where after a while it has stock piled so much data that it needs that delay to keep it alive? When I verify the sketch it says I am only using 31% of the program storage space and 27% of dynamic memory. Maybe there is a way to get rid of all the data i dont need every time i run through my loop to get rid of this problem? I am attaching the code along with this. If anyone has any advice or things I could try, that would be awesome. Thanks.

#include <Wire.h>

#include "Kalman.h" 

#define RESTRICT_PITCH 

Kalman kalmanX; 
Kalman kalmanY;


double accX, accY, accZ;
double gyroX, gyroY, gyroZ;
int16_t tempRaw;

double gyroXangle, gyroYangle;
double compAngleX, compAngleY;
double kalAngleX, kalAngleY; 

uint32_t timer;
uint8_t i2cData[14]; // Buffer for I2C data

Stepper stepper2(200, 8, 10, 9, 11);
int cantidad = 1;

int previous = 0;
void setup() {
 
  stepper2.setSpeed(350);
  Serial.begin(115200);
  Wire.begin();
  TWBR = ((F_CPU /400000L) - 16) / 2; // Set I2C frequency to 400kHz

  i2cData[0] = 7; 
  i2cData[1] = 0x00; 
  i2cData[2] = 0x00;
  i2cData[3] = 0x00; 
  while (i2cWrite(0x19, i2cData, 4, false)); 
  while (i2cWrite(0x6B, 0x01, true)); 

  while (i2cRead(0x75, i2cData, 1));
  if (i2cData[0] != 0x68) { // Read "WHO_AM_I" register
    Serial.print(F("Error reading sensor"));
    while (1);
  }

  delay(100); 
 
  while (i2cRead(0x3B, i2cData, 6));
  accX = (i2cData[0] << 8) | i2cData[1];
  accY = (i2cData[2] << 8) | i2cData[3];
  accZ = (i2cData[4] << 8) | i2cData[5];


#ifdef RESTRICT_PITCH // Eq. 25 and 26
  double roll  = atan2(accY, accZ) * RAD_TO_DEG;
  double pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG;
#else // Eq. 28 and 29
  double roll  = atan(accY / sqrt(accX * accX + accZ * accZ)) * RAD_TO_DEG;
  double pitch = atan2(-accX, accZ) * RAD_TO_DEG;
#endif

  kalmanX.setAngle(roll); // Set starting angle
  kalmanY.setAngle(pitch);
  gyroXangle = roll;
  gyroYangle = pitch;
  compAngleX = roll;
  compAngleY = pitch;

  timer = micros();
}

void loop() {

  while (i2cRead(0x3B, i2cData, 14));
  accX = ((i2cData[0] << 8) | i2cData[1]);
  accY = ((i2cData[2] << 8) | i2cData[3]);
  accZ = ((i2cData[4] << 8) | i2cData[5]);
  tempRaw = (i2cData[6] << 8) | i2cData[7];
  gyroX = (i2cData[8] << 8) | i2cData[9];
  gyroY = (i2cData[10] << 8) | i2cData[11];
  gyroZ = (i2cData[12] << 8) | i2cData[13];

  double dt = (double)(micros() - timer) / 1000000; 
  timer = micros();

#ifdef RESTRICT_PITCH // Eq. 25 and 26
  double roll  = atan2(accY, accZ) * RAD_TO_DEG;
  double pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG;
#else // Eq. 28 and 29
  double roll  = atan(accY / sqrt(accX * accX + accZ * accZ)) * RAD_TO_DEG;
  double pitch = atan2(-accX, accZ) * RAD_TO_DEG;
#endif

  double gyroXrate = gyroX / 131.0; // Convert to deg/s
  double gyroYrate = gyroY / 131.0; // Convert to deg/s

#ifdef RESTRICT_PITCH
//Serial.print("kalAngle is:"); Serial.print(kalAngleX);
  if ((roll < -90 && kalAngleX > 90) || (roll > 90 && kalAngleX < -90)) {
     
    kalmanX.setAngle(roll);
    compAngleX = roll;
    kalAngleX = roll;
    gyroXangle = roll;
  } else
    kalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); 

  if (abs(kalAngleX) > 90)
    gyroYrate = -gyroYrate; 
  kalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt);
#else

  if ((pitch < -90 && kalAngleY > 90) || (pitch > 90 && kalAngleY < -90)) {
    //Serial.print("pitch:"); Serial.println(pitch);
    kalmanY.setAngle(pitch);
    compAngleY = pitch;
    kalAngleY = pitch;
    gyroYangle = pitch;
  } else
    kalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt); 

  if (abs(kalAngleY) > 90)
    gyroXrate = -gyroXrate; 
  kalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); 
#endif

  gyroXangle += gyroXrate * dt; 
  gyroYangle += gyroYrate * dt;


  compAngleX = 0.93 * (compAngleX + gyroXrate * dt) + 0.07 * roll; 
  compAngleY = 0.93 * (compAngleY + gyroYrate * dt) + 0.07 * pitch;


  if (gyroXangle < -180 || gyroXangle > 180)
    gyroXangle = kalAngleX;
  if (gyroYangle < -180 || gyroYangle > 180)
    gyroYangle = kalAngleY;


#if 0 // Set to 1 to activate
  /*Serial.print(accX); Serial.print("\t");
  Serial.print(accY); Serial.print("\t");
  Serial.print(accZ); Serial.print("\t");

  Serial.print(gyroX); Serial.print("\t");
  Serial.print(gyroY); Serial.print("\t");
  Serial.print(gyroZ); Serial.print("\t");

  Serial.print("\t");*/
#endif


 // Serial.print(kalAngleX); Serial.print("\t");

 // Serial.print("\t");

 // Serial.print(kalAngleY); Serial.print("\t");

#if 0 
  //Serial.print("\t");

  //double temperature = (double)tempRaw / 340.0 + 36.53;
  //Serial.print(temperature); Serial.print("\t");
#endif

  //Serial.print("\r\n");


int valuex = kalAngleX;  
//Serial.print("Valx:"); Serial.println(valuex);

stepper2.step(valuex - previous);


  previous = valuex;



}
  • the accelerometer does not communicate with the stepper motor ... the accelerometer communicates with the arduino ... the arduino controls the motor – jsotola Jul 13 at 18:46
  • right sorry, i was skipping the middle step. Do you have any ideas for the problem I am running into? – Thunder Dornhofer Jul 13 at 19:00
  • a lot of beginners read these posts ... some would think that a sensor is directly connected to the motor – jsotola Jul 13 at 19:23
  • isolate the area of failure ... try making the motor position independent of sensor readings .... maybe use millis() to determine motor position ... see if it still pauses – jsotola Jul 13 at 19:27
  • how would millis() work, doesnt that just have to do with keeping track of time? – Thunder Dornhofer Jul 13 at 19:29

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