Arduino Sensor Fusion and Obstacle Detection

This repository contains two Arduino sketches:

1. IMU + Magnetometer Fusion
2. Ultrasonic Obstacle Detection

These are designed for sensor-based robotics or navigation systems that combine orientation sensing (yaw estimation) and distance-based obstacle detection.

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📜 Contents

• arduino_sketch_yaw_acc.ino
• obstacle_detection.ino

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1️⃣ IMU + Magnetometer Fusion

File: arduino_sketch_yaw_acc.ino

✨ Description

This sketch reads orientation data from:

• MPU6050 (gyroscope + accelerometer)
• HMC5883L magnetometer

It fuses the gyroscope yaw with magnetometer heading using a complementary filter to reduce drift. The output includes:

• Gyro-corrected yaw
• Magnetometer yaw
• Acceleration on X, Y, Z axes (gravity compensated)

⚙️ Hardware

• Arduino Uno (or compatible)
• MPU6050 IMU module
• HMC5883L Magnetometer module
• I2C connections

📈 Output Example (Serial)

Gyro Yaw: 123.45 | Mag Yaw: 120.32 | AccX: 0.01 | AccY: -0.02 | AccZ: -0.98

🛠️ Notes

• Includes hard-iron and soft-iron calibration for the magnetometer (bias and scale factors).
• Uses a complementary filter (alpha = 0.98) to blend gyroscope and magnetometer yaw.

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2️⃣ Ultrasonic Obstacle Detection

File: obstacle_detection.ino

✨ Description

Reads distance from an HC-SR04 ultrasonic sensor to detect obstacles. Implements a simple debounce strategy:

• Requires a set number of consecutive detections below a threshold before declaring an obstacle.
• Sends serial commands:
  • stop
  • continue
  • obstacle:<distance>

⚙️ Hardware

• Arduino Uno (or compatible)
• HC-SR04 Ultrasonic Distance Sensor
• Digital pins (customizable):
  • trigPin = 9
  • echoPin = 10

📈 Behavior

• Distance measured in centimeters.
• Obstacle threshold: 50 cm (adjustable).
• Requires 2 consecutive detections below threshold to confirm obstacle.
• Example Serial output:

stop
obstacle:45
continue

🛠️ Features

• Reduces false positives via consecutive detection count.
• Adjustable:
  • detectionThreshold
  • triesBeforeObstacle
  • checkingInterval

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🚀 Getting Started

1️⃣ Clone this repository:

git clone https://github.com/SoftGuar/arduino_sketch.git

2️⃣ Open either .ino file in the Arduino IDE.

3️⃣ Install dependencies (via Library Manager):

• MPU6050_light
• Adafruit HMC5883 Unified
• Adafruit Sensor

4️⃣ Connect your hardware per sketch instructions.

5️⃣ Upload to your Arduino.

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📌 Dependencies

• MPU6050_light
• Adafruit Sensor Library
• Adafruit HMC5883L Unified

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