user67557: I have two different programs written for my Arduino. One control the rockets thrust vector. The other one is for parachute.
I need to first run rotationmatrices() for a 4 second and then parachute.
How could i do that?
Here is my code:
//Libraries
#include <Servo.h>
#include <Wire.h>
#include <MPU6050_tockn.h>
#include <AFMotor.h>
#include <I2Cdev.h>

MPU6050 mpu6050(Wire);

const int MPU = 0x68;
int16_t AcX, AcY, AcZ, Tmp, GyX, GyroY, GyroZ;
double PIDX, PIDY, errorX, errorY, previous_errorX, previous_errorY,
       pwmX, pwmY, previouslog, OutX, OutY, OutZ, OreX, OreY, OreZ;
double PreviousGyroX, PreviousGyroY, PreviousGyroZ, IntGyroX,
       IntGyroY, IntGyroZ, DifferenceGyroX, DifferenceGyroY,
       DifferenceGyroZ, matrix1, matrix2, matrix3;
double matrix4, matrix5, matrix6, matrix7, matrix8, matrix9, Ax, Ay;

//Upright Angle of the Flight Computer-Dik durum açısı
int desired_angleX = 0;

//Offsets for tuning
int servoX_offset = 100;

//Position of servos through the startup function
int servoXstart = 80;

//The amount the servo moves by in the startup function
int servo_start_offset = 20;

//Ratio between servo gear and tvc mount
float servo_gear_ratio = 5.8;

double OrientationX = 0;
double OrientationY = 0;
double OrientationZ = 1;
double accAngleX;
double accAngleY;
double yaw;
double GyroX;
double gyroAngleX;
double gyroAngleY;
double pitch;

Servo servoX;

AF_DCMotor motor1(1); // create motor #1
AF_DCMotor motor2(2); // create motor #2
AF_DCMotor motor3(3); // create motor #1
AF_DCMotor motor4(4); // create motor #2

int buzzer = 3;

double dt, currentTime, previousTime, s, p;

//"P" Constants-Orantısal Değişken
float pidX_p = 0;
float pidY_p = 0;

//"I" Constants-Integral Değişken
float pidY_i = 0;
float pidX_i = 0;

//"D" Constants-Türevsel Değişken
float pidX_d = 0;
float pidY_d = 0;

int pos;

//PID Gains
double kp = 0.2;
double ki = 0.0;
double kd = 0.05;

int state = 0;

void setup() {
    Serial.begin(9600);
    Wire.begin();
    mpu6050.begin();
    gyrocalibrate();

    servoX.attach(10);

    motor1.setSpeed(255);
    motor2.setSpeed(255);
    motor3.setSpeed(255);
    motor4.setSpeed(255);

    pinMode(buzzer, OUTPUT);
}

void loop() {
    mpu6050.update();
    //Defining Time Variables-Zaman değişkeni tanımlanması
    previousTime = currentTime;
    currentTime = millis();
    dt = (currentTime - previousTime) / 1000;
    launchdetect();
    rotationmatrices();
    parachute();
}

void parachute() {
    motor1.run(BACKWARD);
    delay(1500);
    motor1.run(RELEASE);
    delay(20000);
}

void gyrocalibrate() {
    mpu6050.calcGyroOffsets(true);
}

void rotationmatrices(x) {
    mpu6050.update();
    PreviousGyroX = IntGyroX;
    PreviousGyroY = IntGyroY;
    PreviousGyroZ = IntGyroZ;

    IntGyroX = mpu6050.getGyroAngleX() * (PI / 180);
    IntGyroY = mpu6050.getGyroAngleY() * (PI / 180);
    IntGyroZ = mpu6050.getGyroAngleZ() * (PI / 180);

    DifferenceGyroX = (IntGyroX - PreviousGyroX);
    DifferenceGyroY = (IntGyroY - PreviousGyroY);
    DifferenceGyroZ = (IntGyroZ - PreviousGyroZ);

    OreX = OrientationX;
    OreY = OrientationY;
    OreZ = OrientationZ;

    //X Matrices
    matrix1 = (cos(DifferenceGyroZ) * cos(DifferenceGyroY));
    matrix2 = (((sin(DifferenceGyroZ) * -1) * cos(DifferenceGyroX)
            + (cos(DifferenceGyroZ)) * sin(DifferenceGyroY)
                * sin(DifferenceGyroX)));
    matrix3 = ((sin(DifferenceGyroZ) * sin(DifferenceGyroX)
            + (cos(DifferenceGyroZ)) * sin(DifferenceGyroY)
                * cos(DifferenceGyroX)));

    //Y Matrices
    matrix4 = sin(DifferenceGyroZ) * cos(DifferenceGyroY);
    matrix5 = ((cos(DifferenceGyroZ) * cos(DifferenceGyroX)
            + (sin(DifferenceGyroZ)) * sin(DifferenceGyroY)
                * sin(DifferenceGyroX)));
    matrix6 = (((cos(DifferenceGyroZ) * -1) * sin(DifferenceGyroX)
            + (sin(DifferenceGyroZ)) * sin(DifferenceGyroY)
                * cos(DifferenceGyroX)));

    //Z Matrices
    matrix7 = (sin(DifferenceGyroY)) * -1;
    matrix8 = cos(DifferenceGyroY) * sin(DifferenceGyroX);
    matrix9 = cos(DifferenceGyroY) * cos(DifferenceGyroX);

    OrientationX = ((OreX * matrix1)) + ((OreY * matrix2))
                 + ((OreZ * matrix3));
    OrientationY = ((OreX * matrix4)) + ((OreY * matrix5))
                 + ((OreZ * matrix6));
    OrientationZ = ((OreX * matrix7)) + ((OreY * matrix8))
                 + ((OreZ * matrix9));

    Serial.println(Ax);
    OutX = OrientationX * 60;
    Ax = asin(OrientationX) * (-180 / PI);
    pidcompute();
}

void servowrite() {
    servoX.write(pwmX);
}

void pidcompute() {
    previous_errorX = errorX;
    errorX = Ax - desired_angleX;

    //Defining "P"
    pidX_p = kp*errorX;

    //Defining "D"
    pidX_d = kd*((errorX - previous_errorX)/dt);

    //Defining "I"
    pidX_i = ki * (pidX_i + errorX * dt);

    PIDX = pidX_p + pidX_i + pidX_d;
    pwmX = ((PIDX * servo_gear_ratio) + servoX_offset);
    servowrite();
}

void launchdetect() {
    if (mpu6050.getAccZ() > 1) {
        state = 1;
    }
    if (state == 1) {
    }
}

void abortstart() {
    if (OrientationX > 40 || OrientationY > 40) {
        digitalWrite(buzzer, HIGH);
    }
    else if (OrientationX < 40 || OrientationY < 40) {
    }
}


user35097: you can do it like this using millis it's just an small portion of code just for your understanding you will require some editing for your code.
unsigned long milli1;
void setup()
{
}
void loop()
{  
     // code before rotationmatrices() function to be active.
     milli1= millis();
     while(millis()-milli1 <= 4000)  //4000milli sec = 4 sec
     {
      rotationmatrices();
     }
     parachute();
     
}



67557: <p>I have two different programs written for my Arduino. One control the rockets thrust vector. The other one is for parachute.</p>
<p>I need to first run rotationmatrices() for a 4 second and then parachute.</p>
<p>How could i do that?</p>
<p>Here is my code:</p>
<pre><code>//Libraries
#include &lt;Servo.h&gt;
#include &lt;Wire.h&gt;
#include &lt;MPU6050_tockn.h&gt;
#include &lt;AFMotor.h&gt;
#include &lt;I2Cdev.h&gt;

MPU6050 mpu6050(Wire);

const int MPU = 0x68;
int16_t AcX, AcY, AcZ, Tmp, GyX, GyroY, GyroZ;
double PIDX, PIDY, errorX, errorY, previous_errorX, previous_errorY,
       pwmX, pwmY, previouslog, OutX, OutY, OutZ, OreX, OreY, OreZ;
double PreviousGyroX, PreviousGyroY, PreviousGyroZ, IntGyroX,
       IntGyroY, IntGyroZ, DifferenceGyroX, DifferenceGyroY,
       DifferenceGyroZ, matrix1, matrix2, matrix3;
double matrix4, matrix5, matrix6, matrix7, matrix8, matrix9, Ax, Ay;

//Upright Angle of the Flight Computer-Dik durum açısı
int desired_angleX = 0;

//Offsets for tuning
int servoX_offset = 100;

//Position of servos through the startup function
int servoXstart = 80;

//The amount the servo moves by in the startup function
int servo_start_offset = 20;

//Ratio between servo gear and tvc mount
float servo_gear_ratio = 5.8;

double OrientationX = 0;
double OrientationY = 0;
double OrientationZ = 1;
double accAngleX;
double accAngleY;
double yaw;
double GyroX;
double gyroAngleX;
double gyroAngleY;
double pitch;

Servo servoX;

AF_DCMotor motor1(1); // create motor #1
AF_DCMotor motor2(2); // create motor #2
AF_DCMotor motor3(3); // create motor #1
AF_DCMotor motor4(4); // create motor #2

int buzzer = 3;

double dt, currentTime, previousTime, s, p;

//&quot;P&quot; Constants-Orantısal Değişken
float pidX_p = 0;
float pidY_p = 0;

//&quot;I&quot; Constants-Integral Değişken
float pidY_i = 0;
float pidX_i = 0;

//&quot;D&quot; Constants-Türevsel Değişken
float pidX_d = 0;
float pidY_d = 0;

int pos;

//PID Gains
double kp = 0.2;
double ki = 0.0;
double kd = 0.05;

int state = 0;

void setup() {
    Serial.begin(9600);
    Wire.begin();
    mpu6050.begin();
    gyrocalibrate();

    servoX.attach(10);

    motor1.setSpeed(255);
    motor2.setSpeed(255);
    motor3.setSpeed(255);
    motor4.setSpeed(255);

    pinMode(buzzer, OUTPUT);
}

void loop() {
    mpu6050.update();
    //Defining Time Variables-Zaman değişkeni tanımlanması
    previousTime = currentTime;
    currentTime = millis();
    dt = (currentTime - previousTime) / 1000;
    launchdetect();
    rotationmatrices();
    parachute();
}

void parachute() {
    motor1.run(BACKWARD);
    delay(1500);
    motor1.run(RELEASE);
    delay(20000);
}

void gyrocalibrate() {
    mpu6050.calcGyroOffsets(true);
}

void rotationmatrices(x) {
    mpu6050.update();
    PreviousGyroX = IntGyroX;
    PreviousGyroY = IntGyroY;
    PreviousGyroZ = IntGyroZ;

    IntGyroX = mpu6050.getGyroAngleX() * (PI / 180);
    IntGyroY = mpu6050.getGyroAngleY() * (PI / 180);
    IntGyroZ = mpu6050.getGyroAngleZ() * (PI / 180);

    DifferenceGyroX = (IntGyroX - PreviousGyroX);
    DifferenceGyroY = (IntGyroY - PreviousGyroY);
    DifferenceGyroZ = (IntGyroZ - PreviousGyroZ);

    OreX = OrientationX;
    OreY = OrientationY;
    OreZ = OrientationZ;

    //X Matrices
    matrix1 = (cos(DifferenceGyroZ) * cos(DifferenceGyroY));
    matrix2 = (((sin(DifferenceGyroZ) * -1) * cos(DifferenceGyroX)
            + (cos(DifferenceGyroZ)) * sin(DifferenceGyroY)
                * sin(DifferenceGyroX)));
    matrix3 = ((sin(DifferenceGyroZ) * sin(DifferenceGyroX)
            + (cos(DifferenceGyroZ)) * sin(DifferenceGyroY)
                * cos(DifferenceGyroX)));

    //Y Matrices
    matrix4 = sin(DifferenceGyroZ) * cos(DifferenceGyroY);
    matrix5 = ((cos(DifferenceGyroZ) * cos(DifferenceGyroX)
            + (sin(DifferenceGyroZ)) * sin(DifferenceGyroY)
                * sin(DifferenceGyroX)));
    matrix6 = (((cos(DifferenceGyroZ) * -1) * sin(DifferenceGyroX)
            + (sin(DifferenceGyroZ)) * sin(DifferenceGyroY)
                * cos(DifferenceGyroX)));

    //Z Matrices
    matrix7 = (sin(DifferenceGyroY)) * -1;
    matrix8 = cos(DifferenceGyroY) * sin(DifferenceGyroX);
    matrix9 = cos(DifferenceGyroY) * cos(DifferenceGyroX);

    OrientationX = ((OreX * matrix1)) + ((OreY * matrix2))
                 + ((OreZ * matrix3));
    OrientationY = ((OreX * matrix4)) + ((OreY * matrix5))
                 + ((OreZ * matrix6));
    OrientationZ = ((OreX * matrix7)) + ((OreY * matrix8))
                 + ((OreZ * matrix9));

    Serial.println(Ax);
    OutX = OrientationX * 60;
    Ax = asin(OrientationX) * (-180 / PI);
    pidcompute();
}

void servowrite() {
    servoX.write(pwmX);
}

void pidcompute() {
    previous_errorX = errorX;
    errorX = Ax - desired_angleX;

    //Defining &quot;P&quot;
    pidX_p = kp*errorX;

    //Defining &quot;D&quot;
    pidX_d = kd*((errorX - previous_errorX)/dt);

    //Defining &quot;I&quot;
    pidX_i = ki * (pidX_i + errorX * dt);

    PIDX = pidX_p + pidX_i + pidX_d;
    pwmX = ((PIDX * servo_gear_ratio) + servoX_offset);
    servowrite();
}

void launchdetect() {
    if (mpu6050.getAccZ() &gt; 1) {
        state = 1;
    }
    if (state == 1) {
    }
}

void abortstart() {
    if (OrientationX &gt; 40 || OrientationY &gt; 40) {
        digitalWrite(buzzer, HIGH);
    }
    else if (OrientationX &lt; 40 || OrientationY &lt; 40) {
    }
}
</code></pre>
 35097: <p>you can do it like this using millis it's just an small portion of code just for your understanding you will require some editing for your code.</p>
<pre><code>unsigned long milli1;
void setup()
{
}
void loop()
{  
     // code before rotationmatrices() function to be active.
     milli1= millis();
     while(millis()-milli1 &lt;= 4000)  //4000milli sec = 4 sec
     {
      rotationmatrices();
     }
     parachute();
     
}

</code></pre>
