I2C Communication With a Color, Gesture, and Proximity sensor

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Notes:

• I2C is a common protocol among many ICs, and it’s handy because you can combine many devices on the same bus.
• I2C devices exchange bits of data whenever the shared clock signal changes.

SPI Communication With A Digital Potentiometer

Two-way (Duplex) Serial Communication using an Arduino and Processing

Program the Microcontroller to Read the IMU:

#include <Arduino_LSM6DS3.h>

void setup() {
  Serial.begin(9600);
  while (!Serial) {
    ; // wait for serial port to connect. Needed for native USB port only
  }
  if (!IMU.begin()) {
    Serial.println("Failed to initialize IMU!");
    while (true); // halt program
  }
  Serial.println("IMU initialized!");
}
void loop() {
  float aX, aY, aZ;
  float gX, gY, gZ;
  const char * spacer = ", ";

  if (
    IMU.accelerationAvailable()
    && IMU.gyroscopeAvailable()
  ) {
    IMU.readAcceleration(aX, aY, aZ);
    IMU.readGyroscope(gX, gY, gZ);
    Serial.print(aX); Serial.print(spacer);
    Serial.print(aY); Serial.print(spacer);
    Serial.print(aZ); Serial.print(spacer);
    Serial.print(gX); Serial.print(spacer);
    Serial.print(gY); Serial.print(spacer);
    Serial.println(gZ);
    delay(1000);
  }
}

Add Serial Handshaking:

void loop() {
  // values for acceleration and rotation:
  float xAcc, yAcc, zAcc;
  float xGyro, yGyro, zGyro;
 
  // check if the IMU is ready to read:
  if (IMU.accelerationAvailable() & amp; & amp;
      IMU.gyroscopeAvailable()) {
    // read accelerometer and gyrometer:
    IMU.readAcceleration(xAcc, yAcc, zAcc);
    IMU.readGyroscope(xGyro, yGyro, zGyro);
 
    // update the filter, which computes orientation:
    filter.updateIMU(xGyro, yGyro, zGyro, xAcc, yAcc, zAcc);
 
    // print the heading, pitch and roll
    roll = filter.getRoll();
    pitch = filter.getPitch();
    heading = filter.getYaw();
  }
 
  // if you get a byte in the serial port,
  // send the latest heading, pitch, and roll:
  if (Serial.available()) {
    char input = Serial.read();
    Serial.print(heading);
    Serial.print(",");
    Serial.print(pitch);
    Serial.print(",");
    Serial.println(roll);
  }
}

Arduino Code (with serial port .js) :

var serial;          // variable to hold an instance of the serialport library
var portName = 'COM3'; // fill in your serial port name here
 
var portSelector; // a select menu for the port list
// orientation variables:
let heading = 0.0;
let pitch = 0.0;
let roll = 0.0;

function setup() {
  createCanvas(500, 600, WEBGL);
  smooth();                        // antialias drawing lines
  serial = new p5.SerialPort();    // make a new instance of the serialport library
  serial.on('list', printList);    // set a callback function for the serialport list event
  serial.on('connected', serverConnected); // callback for connecting to the server
  serial.on('open', portOpen);     // callback for the port opening
  serial.on('data', serialEvent);  // callback for when new data arrives
  serial.on('error', serialError); // callback for errors
  serial.on('close', portClose);   // callback for the port closing
 
  serial.list();                   // list the serial ports
}

// get the list of ports:
function printList(portList) {
  // make a select menu and position it:
  portSelector = createSelect();
  portSelector.position(10,10);
   
  // portList is an array of serial port names
  for (var i = 0; i < portList.length; i++) {
    // Display the list the console:
    // console.log(i + " " + portList[i]);
    // add item to the select menu:
    portSelector.option(portList[i]);
  }
  // set a handler for when a port is selected from the menu:
  portSelector.changed(openPort);
}

function openPort() {
  var thisPort = portSelector.value();
  if (thisPort != null) {
    serial.open(thisPort);
  }
}

function serverConnected() {
  print('connected to server.');
}
 
function portOpen() {
  print('the serial port opened.')
  // send a byte to prompt the microcontroller to send:
  serial.write('x');
}
 
function serialError(err) {
  print('Something went wrong with the serial port. ' + err);
}
 
function portClose() {
  print('The serial port closed.');
}
 
// callback function for incoming serial data:
function serialEvent() {
   // read from port until new line:
   let message = serial.readStringUntil('\n');
   if (message != null) {
      let list = split(trim(message), ',');
      if (list.length >= 3) {
         // conver list items to floats:
         heading = float(list[0]);
         pitch = float(list[1]);
         roll = float(list[2]);
         console.log(heading + ',' + pitch + ',' + roll);
         // send a byte to the microcontroller to get new data:
         serial.write('x');
      }
   }
}

// draws the Arduino Nano:
function drawArduino() {
   // the base board:
   stroke(0, 90, 90); // set outline color to darker teal
   fill(0, 130, 130); // set fill color to lighter teal
   box(300, 10, 120); // draw Arduino board base shape
 
   // the CPU:
   stroke(0);         // set outline color to black
   fill(80);          // set fill color to dark grey
   translate(30, -6, 0); // move to correct position
   box(60, 0, 60);    // draw box
 
   // the radio module:
   stroke(80);       // set outline color to grey
   fill(180);        // set fill color to light grey
   translate(80, 0, 0); // move to correct position
   box(60, 15, 60);  // draw box
 
   // the USB connector:
   translate(-245, 0, 0); // move to correct position
   box(35, 15, 40);   // draw box
}

function draw() {
   // update the drawing:
   background(255); // set background to white
   push();          // begin object to draw
 
   // variables for matrix translation:
   let c1 = cos(radians(roll));
   let s1 = sin(radians(roll));
   let c2 = cos(radians(pitch));
   let s2 = sin(radians(pitch));
   let c3 = cos(radians(heading));
   let s3 = sin(radians(heading));
   applyMatrix(c2 * c3, s1 * s3 + c1 * c3 * s2,
      c3 * s1 * s2 - c1 * s3, 0, -s2, c1 * c2,
      c2 * s1, 0, c2 * s3, c1 * s2 * s3 - c3 * s1,
      c1 * c3 + s1 * s2 * s3, 0, 0, 0, 0, 1);
 
   // draw arduino board:
   drawArduino();
   pop(); // end of object
}