ESP8266 Accelerometer Logger

ESP8266 Accelerometer Logger 5267
ESP8266 Accelerometer Logger 5268

This is an Accelerometer logger which send the data directly to a server after completion. I wanted to see if I could make a device that could be attached to something to show its accelerations, speed and distance.
The logger uses an ESP8266/ESP-01 for WIFI and a 6050 Accelerometer for capturing the data.

Code for Project

GNU General Public License v3.0

#include <Arduino.h>
#include <ESP8266WiFi.h>
#include <ESP8266WiFiMulti.h>
#include <ESP8266HTTPClient.h>
#include <WiFiClientSecureBearSSL.h>
#include<Wire.h>

// Fingerprint for demo URL, expires on June 2, 2021, needs to be updated well before this date
const uint8_t fingerprint[20] = {0x40, 0xaf, 0x00, 0x6b, 0xec, 0x90, 0x22, 0x41, 0x8e, 0xa3, 0xad, 0xfa, 0x1a, 0xe8, 0x25, 0x41, 0x1d, 0x1a, 0x54, 0xb3};

ESP8266WiFiMulti wifiMulti;

String URL="https://project.tinkersprojects.com/api.php";
String ApiKey ="KEY";
String ApiSecret ="SECRET";
String IotID ="ID_NUMBER";

const uint16_t AccelScaleFactor = 16384;
const uint16_t GyroScaleFactor = 131;

unsigned long LastTime; 
unsigned long timeStart; 
#define timelimit 10000
#define ButtonPin 3

// MPU6050 few configuration register addresses
const uint8_t MPU6050_REGISTER_SMPLRT_DIV   =  0x19;
const uint8_t MPU6050_REGISTER_USER_CTRL    =  0x6A;
const uint8_t MPU6050_REGISTER_PWR_MGMT_1   =  0x6B;
const uint8_t MPU6050_REGISTER_PWR_MGMT_2   =  0x6C;
const uint8_t MPU6050_REGISTER_CONFIG       =  0x1A;
const uint8_t MPU6050_REGISTER_GYRO_CONFIG  =  0x1B;
const uint8_t MPU6050_REGISTER_ACCEL_CONFIG =  0x1C;
const uint8_t MPU6050_REGISTER_FIFO_EN      =  0x23;
const uint8_t MPU6050_REGISTER_INT_ENABLE   =  0x38;
const uint8_t MPU6050_REGISTER_ACCEL_XOUT_H =  0x3B;
const uint8_t MPU6050_REGISTER_SIGNAL_PATH_RESET  = 0x68;

int16_t AccelX, AccelY, AccelZ, Temperature, GyroX, GyroY, GyroZ;

double CurrentXPosition = 0;
double CurrentYPosition = 0;
double CurrentZPosition = 0;
double CurrentXVelocity = 0;
double CurrentYVelocity = 0;
double CurrentZVelocity = 0;
int CurrentXAcceleration = 0;
int CurrentYAcceleration = 0;
int CurrentZAcceleration = 0;
double CurrentTime=0;
double CurrentVelocity=0;
double CurrentDisplacement=0;
double MaxVelocity=0;
double MaxDisplacement=0;

void setup()
{
    Serial.begin(115200);
    Serial.println("started");
    pinMode(ButtonPin,INPUT);

    WiFi.mode(WIFI_OFF);        //Prevents reconnection issue (taking too long to connect)
    delay(1000);
    

    WiFi.mode(WIFI_STA);
    wifiMulti.addAP("WIFI", "PASSWORD");
    wifiMulti.addAP("WIFI", "PASSWORD");
    wifiMulti.addAP("WIFI", "PASSWORD");
    wifiMulti.addAP("WIFI", "PASSWORD");
  
    Serial.println("Connecting Wifi...");
    if (wifiMulti.run() == WL_CONNECTED) 
    {
      Serial.println("");
      Serial.println("WiFi connected");
      Serial.println("IP address: ");
      Serial.println(WiFi.localIP());
    }

    Serial.println("started");
    
    Wire.begin(2,0);
    Wire.beginTransmission(0x68);
    Wire.write(0x6B);
    Wire.write(0);
    Wire.endTransmission(true);
    MPU6050_Init();
    Serial.println("A");
}


void loop() 
{
    if(digitalRead(ButtonPin)==HIGH)
    {
        Serial.println("Pressed");
        timeStart=millis();
        while(timeStart+timelimit>millis())
        {
            getAcceleration();
            
            Serial.println("getAcceleration");
            
            CurrentXAcceleration = (double)AccelX/AccelScaleFactor;
            CurrentYAcceleration = (double)AccelY/AccelScaleFactor;
            CurrentZAcceleration = (double)AccelZ/AccelScaleFactor;

            CurrentXPosition = calPosition(CurrentXPosition,CurrentXVelocity,CurrentXAcceleration);
            CurrentXVelocity = calVelocity(CurrentXVelocity,CurrentXAcceleration);
            
            Serial.println("X");
            
            CurrentYPosition = calPosition(CurrentYPosition,CurrentYVelocity,CurrentYAcceleration);
            CurrentYVelocity = calVelocity(CurrentYVelocity,CurrentYAcceleration);
            
            Serial.println("Y");
            
            CurrentZPosition = calPosition(CurrentZPosition,CurrentZVelocity,CurrentZAcceleration);
            CurrentZVelocity = calVelocity(CurrentZVelocity,CurrentZAcceleration);

            Serial.println("Z");
            
            CurrentVelocity = Vector(CurrentXVelocity,CurrentYVelocity,CurrentZVelocity);
            CurrentDisplacement = Vector(CurrentXPosition,CurrentYPosition,CurrentZPosition);

            Serial.println("Current");
            
            if(CurrentVelocity > MaxVelocity)
                MaxVelocity = CurrentVelocity;

            if(CurrentDisplacement > MaxDisplacement)
                MaxDisplacement = CurrentDisplacement;
            Serial.println("max");
            
            delay(10);
        }

            Serial.println("send");
        while (true)
        {
            if(wifiMulti.run() == WL_CONNECTED)
            {
                if(postData())
                    break;
                else
                    delay(1000);
            }
            else
            {
                Serial.println("WiFi not connected!");
                delay(1000);
            }
        }
    }
}

void MPU6050_Init(){
  delay(150);
  I2C_Write(MPU6050_REGISTER_SMPLRT_DIV, 0x07);
  I2C_Write(MPU6050_REGISTER_PWR_MGMT_1, 0x01);
  I2C_Write(MPU6050_REGISTER_PWR_MGMT_2, 0x00);
  I2C_Write(MPU6050_REGISTER_CONFIG, 0x00);
  I2C_Write(MPU6050_REGISTER_GYRO_CONFIG, 0x00);//set +/-250 degree/second full scale
  I2C_Write(MPU6050_REGISTER_ACCEL_CONFIG, 0x00);// set +/- 2g full scale
  I2C_Write(MPU6050_REGISTER_FIFO_EN, 0x00);
  I2C_Write(MPU6050_REGISTER_INT_ENABLE, 0x01);
  I2C_Write(MPU6050_REGISTER_SIGNAL_PATH_RESET, 0x00);
  I2C_Write(MPU6050_REGISTER_USER_CTRL, 0x00);
}

void I2C_Write( uint8_t regAddress, uint8_t data){
  Wire.beginTransmission(0x68);
  Wire.write(regAddress);
  Wire.write(data);
  Wire.endTransmission();
}

void getAcceleration()
{
    Wire.beginTransmission(0x68);
    Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
    Wire.endTransmission(false);
    Wire.requestFrom(0x68,14,true);  // request a total of 14 registers
    CurrentTime = (millis()-LastTime)/1000; 
    LastTime = millis(); 
  AccelX = (((int16_t)Wire.read()<<8) | Wire.read());
  AccelY = (((int16_t)Wire.read()<<8) | Wire.read());
  AccelZ = (((int16_t)Wire.read()<<8) | Wire.read());
  Temperature = (((int16_t)Wire.read()<<8) | Wire.read());
  GyroX = (((int16_t)Wire.read()<<8) | Wire.read());
  GyroY = (((int16_t)Wire.read()<<8) | Wire.read());
  GyroZ = (((int16_t)Wire.read()<<8) | Wire.read());
}

double calPosition(double LastPosition,double LastVelocity,double CurrentAcceleration)
{
    return LastPosition + LastVelocity*CurrentTime + 0.5 * CurrentAcceleration * CurrentTime *CurrentTime;
}

double calVelocity(double LastVelocity,double CurrentAcceleration)
{
    return LastVelocity + CurrentAcceleration * CurrentTime;
}

double Vector(double X,double Y,double Z)
{
    return sqrt(X*X + Y*Y + Z*Z);
}
 

bool postData() 
{ 
    std::unique_ptr<BearSSL::WiFiClientSecure>client(new BearSSL::WiFiClientSecure);
    //client->setFingerprint(fingerprint);
    client->setInsecure();
    
    HTTPClient http;
    if(http.begin(*client,URL))
    {
      http.addHeader("Content-Type", "application/json");
      http.addHeader("Http-Accept", "application/json");

      String Data = "{\"Velocity\":" + String(CurrentVelocity) + ",\"Displacement\":" + String(CurrentDisplacement) + ",\"MaxVelocity\":" + String(MaxVelocity) + ",\"MaxDisplacement\":" + String(MaxDisplacement) + ",\"XPosition\":" + String(CurrentXPosition) + ",\"YPosition\":" + String(CurrentYPosition) + ",\"ZPosition\":" + String(CurrentZPosition) + "}";
      int httpCode = http.POST("{\"ApiKey\":\""+ApiKey+"\",\"ApiSecret\":\""+ApiSecret+"\",\"Iot\":{\"Id\":"+IotID+",\"Data\":"+Data+"}}");
       if (httpCode > 0)
      {
          String payload = http.getString();
          Serial.printf("[HTTP] POST... code: %d\n", httpCode);
          Serial.println(payload);
          if(httpCode == HTTP_CODE_OK) 
          {
              Serial.println("Sent");
              http.end();
              return true;
          }
      } 
      else 
      {
          Serial.printf("[HTTP] POST... failed, error: %s\n", http.errorToString(httpCode).c_str());
          Serial.println(http.getString());
      }
      
      http.end();
    } 
    else 
    {
      Serial.printf("[HTTPS] Unable to connect\n");
    }
    return false;
}

Code for Project

GNU General Public License v3.0

#include <Arduino.h>
#include <ESP8266WiFi.h>
#include <ESP8266WiFiMulti.h>
#include <ESP8266HTTPClient.h>
#include <WiFiClientSecureBearSSL.h>
#include<Wire.h>

// Fingerprint for demo URL, expires on June 2, 2021, needs to be updated well before this date
const uint8_t fingerprint[20] = {0x40, 0xaf, 0x00, 0x6b, 0xec, 0x90, 0x22, 0x41, 0x8e, 0xa3, 0xad, 0xfa, 0x1a, 0xe8, 0x25, 0x41, 0x1d, 0x1a, 0x54, 0xb3};

ESP8266WiFiMulti wifiMulti;

String URL="https://project.tinkersprojects.com/api.php";
String ApiKey ="KEY";
String ApiSecret ="SECRET";
String IotID ="ID_NUMBER";

const uint16_t AccelScaleFactor = 16384;
const uint16_t GyroScaleFactor = 131;

unsigned long LastTime; 
unsigned long timeStart; 
#define timelimit 10000
#define ButtonPin 3

// MPU6050 few configuration register addresses
const uint8_t MPU6050_REGISTER_SMPLRT_DIV   =  0x19;
const uint8_t MPU6050_REGISTER_USER_CTRL    =  0x6A;
const uint8_t MPU6050_REGISTER_PWR_MGMT_1   =  0x6B;
const uint8_t MPU6050_REGISTER_PWR_MGMT_2   =  0x6C;
const uint8_t MPU6050_REGISTER_CONFIG       =  0x1A;
const uint8_t MPU6050_REGISTER_GYRO_CONFIG  =  0x1B;
const uint8_t MPU6050_REGISTER_ACCEL_CONFIG =  0x1C;
const uint8_t MPU6050_REGISTER_FIFO_EN      =  0x23;
const uint8_t MPU6050_REGISTER_INT_ENABLE   =  0x38;
const uint8_t MPU6050_REGISTER_ACCEL_XOUT_H =  0x3B;
const uint8_t MPU6050_REGISTER_SIGNAL_PATH_RESET  = 0x68;

int16_t AccelX, AccelY, AccelZ, Temperature, GyroX, GyroY, GyroZ;

double CurrentXPosition = 0;
double CurrentYPosition = 0;
double CurrentZPosition = 0;
double CurrentXVelocity = 0;
double CurrentYVelocity = 0;
double CurrentZVelocity = 0;
int CurrentXAcceleration = 0;
int CurrentYAcceleration = 0;
int CurrentZAcceleration = 0;
double CurrentTime=0;
double CurrentVelocity=0;
double CurrentDisplacement=0;
double MaxVelocity=0;
double MaxDisplacement=0;

void setup()
{
    Serial.begin(115200);
    Serial.println("started");
    pinMode(ButtonPin,INPUT);

    WiFi.mode(WIFI_OFF);        //Prevents reconnection issue (taking too long to connect)
    delay(1000);
    

    WiFi.mode(WIFI_STA);
    wifiMulti.addAP("WIFI", "PASSWORD");
    wifiMulti.addAP("WIFI", "PASSWORD");
    wifiMulti.addAP("WIFI", "PASSWORD");
    wifiMulti.addAP("WIFI", "PASSWORD");
  
    Serial.println("Connecting Wifi...");
    if (wifiMulti.run() == WL_CONNECTED) 
    {
      Serial.println("");
      Serial.println("WiFi connected");
      Serial.println("IP address: ");
      Serial.println(WiFi.localIP());
    }

    Serial.println("started");
    
    Wire.begin(2,0);
    Wire.beginTransmission(0x68);
    Wire.write(0x6B);
    Wire.write(0);
    Wire.endTransmission(true);
    MPU6050_Init();
    Serial.println("A");
}


void loop() 
{
    if(digitalRead(ButtonPin)==HIGH)
    {
        Serial.println("Pressed");
        timeStart=millis();
        while(timeStart+timelimit>millis())
        {
            getAcceleration();
            
            Serial.println("getAcceleration");
            
            CurrentXAcceleration = (double)AccelX/AccelScaleFactor;
            CurrentYAcceleration = (double)AccelY/AccelScaleFactor;
            CurrentZAcceleration = (double)AccelZ/AccelScaleFactor;

            CurrentXPosition = calPosition(CurrentXPosition,CurrentXVelocity,CurrentXAcceleration);
            CurrentXVelocity = calVelocity(CurrentXVelocity,CurrentXAcceleration);
            
            Serial.println("X");
            
            CurrentYPosition = calPosition(CurrentYPosition,CurrentYVelocity,CurrentYAcceleration);
            CurrentYVelocity = calVelocity(CurrentYVelocity,CurrentYAcceleration);
            
            Serial.println("Y");
            
            CurrentZPosition = calPosition(CurrentZPosition,CurrentZVelocity,CurrentZAcceleration);
            CurrentZVelocity = calVelocity(CurrentZVelocity,CurrentZAcceleration);

            Serial.println("Z");
            
            CurrentVelocity = Vector(CurrentXVelocity,CurrentYVelocity,CurrentZVelocity);
            CurrentDisplacement = Vector(CurrentXPosition,CurrentYPosition,CurrentZPosition);

            Serial.println("Current");
            
            if(CurrentVelocity > MaxVelocity)
                MaxVelocity = CurrentVelocity;

            if(CurrentDisplacement > MaxDisplacement)
                MaxDisplacement = CurrentDisplacement;
            Serial.println("max");
            
            delay(10);
        }

            Serial.println("send");
        while (true)
        {
            if(wifiMulti.run() == WL_CONNECTED)
            {
                if(postData())
                    break;
                else
                    delay(1000);
            }
            else
            {
                Serial.println("WiFi not connected!");
                delay(1000);
            }
        }
    }
}

void MPU6050_Init(){
  delay(150);
  I2C_Write(MPU6050_REGISTER_SMPLRT_DIV, 0x07);
  I2C_Write(MPU6050_REGISTER_PWR_MGMT_1, 0x01);
  I2C_Write(MPU6050_REGISTER_PWR_MGMT_2, 0x00);
  I2C_Write(MPU6050_REGISTER_CONFIG, 0x00);
  I2C_Write(MPU6050_REGISTER_GYRO_CONFIG, 0x00);//set +/-250 degree/second full scale
  I2C_Write(MPU6050_REGISTER_ACCEL_CONFIG, 0x00);// set +/- 2g full scale
  I2C_Write(MPU6050_REGISTER_FIFO_EN, 0x00);
  I2C_Write(MPU6050_REGISTER_INT_ENABLE, 0x01);
  I2C_Write(MPU6050_REGISTER_SIGNAL_PATH_RESET, 0x00);
  I2C_Write(MPU6050_REGISTER_USER_CTRL, 0x00);
}

void I2C_Write( uint8_t regAddress, uint8_t data){
  Wire.beginTransmission(0x68);
  Wire.write(regAddress);
  Wire.write(data);
  Wire.endTransmission();
}

void getAcceleration()
{
    Wire.beginTransmission(0x68);
    Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
    Wire.endTransmission(false);
    Wire.requestFrom(0x68,14,true);  // request a total of 14 registers
    CurrentTime = (millis()-LastTime)/1000; 
    LastTime = millis(); 
  AccelX = (((int16_t)Wire.read()<<8) | Wire.read());
  AccelY = (((int16_t)Wire.read()<<8) | Wire.read());
  AccelZ = (((int16_t)Wire.read()<<8) | Wire.read());
  Temperature = (((int16_t)Wire.read()<<8) | Wire.read());
  GyroX = (((int16_t)Wire.read()<<8) | Wire.read());
  GyroY = (((int16_t)Wire.read()<<8) | Wire.read());
  GyroZ = (((int16_t)Wire.read()<<8) | Wire.read());
}

double calPosition(double LastPosition,double LastVelocity,double CurrentAcceleration)
{
    return LastPosition + LastVelocity*CurrentTime + 0.5 * CurrentAcceleration * CurrentTime *CurrentTime;
}

double calVelocity(double LastVelocity,double CurrentAcceleration)
{
    return LastVelocity + CurrentAcceleration * CurrentTime;
}

double Vector(double X,double Y,double Z)
{
    return sqrt(X*X + Y*Y + Z*Z);
}
 

bool postData() 
{ 
    std::unique_ptr<BearSSL::WiFiClientSecure>client(new BearSSL::WiFiClientSecure);
    //client->setFingerprint(fingerprint);
    client->setInsecure();
    
    HTTPClient http;
    if(http.begin(*client,URL))
    {
      http.addHeader("Content-Type", "application/json");
      http.addHeader("Http-Accept", "application/json");

      String Data = "{\"Velocity\":" + String(CurrentVelocity) + ",\"Displacement\":" + String(CurrentDisplacement) + ",\"MaxVelocity\":" + String(MaxVelocity) + ",\"MaxDisplacement\":" + String(MaxDisplacement) + ",\"XPosition\":" + String(CurrentXPosition) + ",\"YPosition\":" + String(CurrentYPosition) + ",\"ZPosition\":" + String(CurrentZPosition) + "}";
      int httpCode = http.POST("{\"ApiKey\":\""+ApiKey+"\",\"ApiSecret\":\""+ApiSecret+"\",\"Iot\":{\"Id\":"+IotID+",\"Data\":"+Data+"}}");
       if (httpCode > 0)
      {
          String payload = http.getString();
          Serial.printf("[HTTP] POST... code: %d\n", httpCode);
          Serial.println(payload);
          if(httpCode == HTTP_CODE_OK) 
          {
              Serial.println("Sent");
              http.end();
              return true;
          }
      } 
      else 
      {
          Serial.printf("[HTTP] POST... failed, error: %s\n", http.errorToString(httpCode).c_str());
          Serial.println(http.getString());
      }
      
      http.end();
    } 
    else 
    {
      Serial.printf("[HTTPS] Unable to connect\n");
    }
    return false;
}

Code for Project

GNU General Public License v3.0

#include <Arduino.h>
#include <ESP8266WiFi.h>
#include <ESP8266WiFiMulti.h>
#include <ESP8266HTTPClient.h>
#include <WiFiClientSecureBearSSL.h>
#include<Wire.h>

// Fingerprint for demo URL, expires on June 2, 2021, needs to be updated well before this date
const uint8_t fingerprint[20] = {0x40, 0xaf, 0x00, 0x6b, 0xec, 0x90, 0x22, 0x41, 0x8e, 0xa3, 0xad, 0xfa, 0x1a, 0xe8, 0x25, 0x41, 0x1d, 0x1a, 0x54, 0xb3};

ESP8266WiFiMulti wifiMulti;

String URL="https://project.tinkersprojects.com/api.php";
String ApiKey ="KEY";
String ApiSecret ="SECRET";
String IotID ="ID_NUMBER";

const uint16_t AccelScaleFactor = 16384;
const uint16_t GyroScaleFactor = 131;

unsigned long LastTime; 
unsigned long timeStart; 
#define timelimit 10000
#define ButtonPin 3

// MPU6050 few configuration register addresses
const uint8_t MPU6050_REGISTER_SMPLRT_DIV   =  0x19;
const uint8_t MPU6050_REGISTER_USER_CTRL    =  0x6A;
const uint8_t MPU6050_REGISTER_PWR_MGMT_1   =  0x6B;
const uint8_t MPU6050_REGISTER_PWR_MGMT_2   =  0x6C;
const uint8_t MPU6050_REGISTER_CONFIG       =  0x1A;
const uint8_t MPU6050_REGISTER_GYRO_CONFIG  =  0x1B;
const uint8_t MPU6050_REGISTER_ACCEL_CONFIG =  0x1C;
const uint8_t MPU6050_REGISTER_FIFO_EN      =  0x23;
const uint8_t MPU6050_REGISTER_INT_ENABLE   =  0x38;
const uint8_t MPU6050_REGISTER_ACCEL_XOUT_H =  0x3B;
const uint8_t MPU6050_REGISTER_SIGNAL_PATH_RESET  = 0x68;

int16_t AccelX, AccelY, AccelZ, Temperature, GyroX, GyroY, GyroZ;

double CurrentXPosition = 0;
double CurrentYPosition = 0;
double CurrentZPosition = 0;
double CurrentXVelocity = 0;
double CurrentYVelocity = 0;
double CurrentZVelocity = 0;
int CurrentXAcceleration = 0;
int CurrentYAcceleration = 0;
int CurrentZAcceleration = 0;
double CurrentTime=0;
double CurrentVelocity=0;
double CurrentDisplacement=0;
double MaxVelocity=0;
double MaxDisplacement=0;

void setup()
{
    Serial.begin(115200);
    Serial.println("started");
    pinMode(ButtonPin,INPUT);

    WiFi.mode(WIFI_OFF);        //Prevents reconnection issue (taking too long to connect)
    delay(1000);
    

    WiFi.mode(WIFI_STA);
    wifiMulti.addAP("WIFI", "PASSWORD");
    wifiMulti.addAP("WIFI", "PASSWORD");
    wifiMulti.addAP("WIFI", "PASSWORD");
    wifiMulti.addAP("WIFI", "PASSWORD");
  
    Serial.println("Connecting Wifi...");
    if (wifiMulti.run() == WL_CONNECTED) 
    {
      Serial.println("");
      Serial.println("WiFi connected");
      Serial.println("IP address: ");
      Serial.println(WiFi.localIP());
    }

    Serial.println("started");
    
    Wire.begin(2,0);
    Wire.beginTransmission(0x68);
    Wire.write(0x6B);
    Wire.write(0);
    Wire.endTransmission(true);
    MPU6050_Init();
    Serial.println("A");
}


void loop() 
{
    if(digitalRead(ButtonPin)==HIGH)
    {
        Serial.println("Pressed");
        timeStart=millis();
        while(timeStart+timelimit>millis())
        {
            getAcceleration();
            
            Serial.println("getAcceleration");
            
            CurrentXAcceleration = (double)AccelX/AccelScaleFactor;
            CurrentYAcceleration = (double)AccelY/AccelScaleFactor;
            CurrentZAcceleration = (double)AccelZ/AccelScaleFactor;

            CurrentXPosition = calPosition(CurrentXPosition,CurrentXVelocity,CurrentXAcceleration);
            CurrentXVelocity = calVelocity(CurrentXVelocity,CurrentXAcceleration);
            
            Serial.println("X");
            
            CurrentYPosition = calPosition(CurrentYPosition,CurrentYVelocity,CurrentYAcceleration);
            CurrentYVelocity = calVelocity(CurrentYVelocity,CurrentYAcceleration);
            
            Serial.println("Y");
            
            CurrentZPosition = calPosition(CurrentZPosition,CurrentZVelocity,CurrentZAcceleration);
            CurrentZVelocity = calVelocity(CurrentZVelocity,CurrentZAcceleration);

            Serial.println("Z");
            
            CurrentVelocity = Vector(CurrentXVelocity,CurrentYVelocity,CurrentZVelocity);
            CurrentDisplacement = Vector(CurrentXPosition,CurrentYPosition,CurrentZPosition);

            Serial.println("Current");
            
            if(CurrentVelocity > MaxVelocity)
                MaxVelocity = CurrentVelocity;

            if(CurrentDisplacement > MaxDisplacement)
                MaxDisplacement = CurrentDisplacement;
            Serial.println("max");
            
            delay(10);
        }

            Serial.println("send");
        while (true)
        {
            if(wifiMulti.run() == WL_CONNECTED)
            {
                if(postData())
                    break;
                else
                    delay(1000);
            }
            else
            {
                Serial.println("WiFi not connected!");
                delay(1000);
            }
        }
    }
}

void MPU6050_Init(){
  delay(150);
  I2C_Write(MPU6050_REGISTER_SMPLRT_DIV, 0x07);
  I2C_Write(MPU6050_REGISTER_PWR_MGMT_1, 0x01);
  I2C_Write(MPU6050_REGISTER_PWR_MGMT_2, 0x00);
  I2C_Write(MPU6050_REGISTER_CONFIG, 0x00);
  I2C_Write(MPU6050_REGISTER_GYRO_CONFIG, 0x00);//set +/-250 degree/second full scale
  I2C_Write(MPU6050_REGISTER_ACCEL_CONFIG, 0x00);// set +/- 2g full scale
  I2C_Write(MPU6050_REGISTER_FIFO_EN, 0x00);
  I2C_Write(MPU6050_REGISTER_INT_ENABLE, 0x01);
  I2C_Write(MPU6050_REGISTER_SIGNAL_PATH_RESET, 0x00);
  I2C_Write(MPU6050_REGISTER_USER_CTRL, 0x00);
}

void I2C_Write( uint8_t regAddress, uint8_t data){
  Wire.beginTransmission(0x68);
  Wire.write(regAddress);
  Wire.write(data);
  Wire.endTransmission();
}

void getAcceleration()
{
    Wire.beginTransmission(0x68);
    Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
    Wire.endTransmission(false);
    Wire.requestFrom(0x68,14,true);  // request a total of 14 registers
    CurrentTime = (millis()-LastTime)/1000; 
    LastTime = millis(); 
  AccelX = (((int16_t)Wire.read()<<8) | Wire.read());
  AccelY = (((int16_t)Wire.read()<<8) | Wire.read());
  AccelZ = (((int16_t)Wire.read()<<8) | Wire.read());
  Temperature = (((int16_t)Wire.read()<<8) | Wire.read());
  GyroX = (((int16_t)Wire.read()<<8) | Wire.read());
  GyroY = (((int16_t)Wire.read()<<8) | Wire.read());
  GyroZ = (((int16_t)Wire.read()<<8) | Wire.read());
}

double calPosition(double LastPosition,double LastVelocity,double CurrentAcceleration)
{
    return LastPosition + LastVelocity*CurrentTime + 0.5 * CurrentAcceleration * CurrentTime *CurrentTime;
}

double calVelocity(double LastVelocity,double CurrentAcceleration)
{
    return LastVelocity + CurrentAcceleration * CurrentTime;
}

double Vector(double X,double Y,double Z)
{
    return sqrt(X*X + Y*Y + Z*Z);
}
 

bool postData() 
{ 
    std::unique_ptr<BearSSL::WiFiClientSecure>client(new BearSSL::WiFiClientSecure);
    //client->setFingerprint(fingerprint);
    client->setInsecure();
    
    HTTPClient http;
    if(http.begin(*client,URL))
    {
      http.addHeader("Content-Type", "application/json");
      http.addHeader("Http-Accept", "application/json");

      String Data = "{\"Velocity\":" + String(CurrentVelocity) + ",\"Displacement\":" + String(CurrentDisplacement) + ",\"MaxVelocity\":" + String(MaxVelocity) + ",\"MaxDisplacement\":" + String(MaxDisplacement) + ",\"XPosition\":" + String(CurrentXPosition) + ",\"YPosition\":" + String(CurrentYPosition) + ",\"ZPosition\":" + String(CurrentZPosition) + "}";
      int httpCode = http.POST("{\"ApiKey\":\""+ApiKey+"\",\"ApiSecret\":\""+ApiSecret+"\",\"Iot\":{\"Id\":"+IotID+",\"Data\":"+Data+"}}");
       if (httpCode > 0)
      {
          String payload = http.getString();
          Serial.printf("[HTTP] POST... code: %d\n", httpCode);
          Serial.println(payload);
          if(httpCode == HTTP_CODE_OK) 
          {
              Serial.println("Sent");
              http.end();
              return true;
          }
      } 
      else 
      {
          Serial.printf("[HTTP] POST... failed, error: %s\n", http.errorToString(httpCode).c_str());
          Serial.println(http.getString());
      }
      
      http.end();
    } 
    else 
    {
      Serial.printf("[HTTPS] Unable to connect\n");
    }
    return false;
}

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