Signed-off-by: Robert Cheetham <rec1g18@soton.ac.uk>

stepCounter.cpp

+#include <Arduino.h>
+#include<Wire.h>
+#include <math.h>
+
+
+
+const int MPU_addr=0x68;  // I2C address of the MPU-6050
+
+
+int16_t AcX,AcY,AcZ;      //  These are the variables for reading the raw accelerometer value from the device.
+double rRaw,previousR,previousPreviousR;    //  The resultant sqrt((x^2)+(y^2)+(z^2)) and the previous ones.
+double total;             //  The total weighted as a low pass filter. Half current and quarter previous two.
+
+double maxTotal,minTotal;   // The max and minimun in the current session.
+
+int steps = 0;    //  Number of steps.
+bool below;       //  Boolean to determine if the value has gone 10000 less than the maximum in that period.
+unsigned long lastTimeRead =0;     //  Used to determine how long until next reading
+
+
+
+void step(){    //    I imagine this part will be where the bluetooth implemention is?
+  steps++;
+}
+
+void setup(){
+  Wire.begin();
+  Wire.beginTransmission(MPU_addr);
+  Wire.write(0x6B);  // PWR_MGMT_1 register
+  Wire.write(0);     // set to zero (wakes up the MPU-6050)
+  Wire.endTransmission(true);
+  Serial.begin(9600);
+  previousR=14088.24;             //  To make sure the starting values arnt offset.
+  previousPreviousR=14088.24;     //   These are the common values.
+  below=true;   
+  maxTotal=2000;                  //   Will obviously be overwritten in first instance.
+  minTotal=50000;
+
+}
+void loop(){
+  
+    unsigned long now = millis();   //  Checks current time
+
+    if ((now-lastTimeRead)>5)     //  Checks to see if enough time has elapsed (will reduce with ne sensor)
+    {
+    Wire.beginTransmission(MPU_addr);   //      Reads accelerometer
+    Wire.write(0x3B);  // 
+    Wire.endTransmission(false);
+    Wire.requestFrom(MPU_addr,14,true);  // 
+    AcX=Wire.read()<<8|Wire.read();  //   
+    AcY=Wire.read()<<8|Wire.read();  // 
+    AcZ=Wire.read()<<8|Wire.read();  // 
+
+    rRaw=sqrt(pow(AcX,2)+pow(AcY,2)+pow(AcZ,2));            //  The resultant of each axis
+    total= 0.5*rRaw+0.25*previousR+0.25*previousPreviousR;    //  The curved amount
+
+    if ((below)&&(total-minTotal>=10000)&&(total>=30000)){    //  Make sure above a certain value and has increased by a certain amount.
+      step();                                                 //   These will be altered.
+      below=false;
+      minTotal=total;                                         //  Resets minmum.
+    }
+    
+    minTotal=min(minTotal,total);                             //  Overrides min/max
+    maxTotal=max(maxTotal,total);
+
+    if (maxTotal-total>=10000){                               //    Checks has dropped by 10000
+      maxTotal=total;
+      below=true;
+    }
+
+    lastTimeRead=now;                                      //   Resets to current amounts
+    previousPreviousR=previousR;
+    previousR=rRaw;
+    
+    Serial.print("\n");                                       // Just prints steps, obviously remove.
+    Serial.print(steps);Serial.print(",");
+    }
+    
+    delay(5);
+
+
+}
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