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| import processing.serial.*;
import processing.opengl.*;
import toxi.geom.*;
import toxi.processing.*;
// NOTE: requires ToxicLibs to be installed in order to run properly.
// 1. Download from [url]http://toxiclibs.org/downloads[/url]
// 2. Extract into [userdir]/Processing/libraries
// (location may be different on Mac/Linux)
// 3. Run and bask in awesomeness
ToxiclibsSupport gfx;
Serial port; // The serial port
char[] teapotPacket = new char[14]; // InvenSense Teapot packet
int serialCount = 0; // current packet byte position
int synced = 0;
int interval = 0;
float[] q = new float[4];
Quaternion quat = new Quaternion(1, 0, 0, 0);
float[] gravity = new float[3];
float[] euler = new float[3];
float[] ypr = new float[3];
void setup() {
// 300px square viewport using OpenGL rendering
size(300, 300, OPENGL);
gfx = new ToxiclibsSupport(this);
// setup lights and antialiasing
lights();
smooth();
// display serial port list for debugging/clarity
println(Serial.list());
// get the first available port (use EITHER this OR the specific port code below)
String portName = Serial.list()[0];
// get a specific serial port (use EITHER this OR the first-available code above)
//String portName = "COM4";
// open the serial port
port = new Serial(this, portName, 115200);
// send single character to trigger DMP init/start
// (expected by MPU6050_DMP6 example Arduino sketch)
port.write('r');
}
void draw() {
if (millis() - interval > 1000) {
// resend single character to trigger DMP init/start
// in case the MPU is halted/reset while applet is running
port.write('r');
interval = millis();
}
// black background
background(0);
// translate everything to the middle of the viewport
// pushMatrix();
translate(width / 2, height / 2);
// 3-step rotation from yaw/pitch/roll angles (gimbal lock!)
// ...and other weirdness I haven't figured out yet
//rotateY(-ypr[0]);
//rotateZ(-ypr[1]);
//rotateX(-ypr[2]);
// toxiclibs direct angle/axis rotation from quaternion (NO gimbal lock!)
// (axis order [1, 3, 2] and inversion [-1, +1, +1] is a consequence of
// different coordinate system orientation assumptions between Processing
// and InvenSense DMP)
float[] axis = quat.toAxisAngle();
rotate(axis[0], -axis[1], axis[3], axis[2]);
// draw main body in red
fill(255, 0, 0, 200);
box(10, 10, 200);
// draw front-facing tip in blue
fill(0, 0, 255, 200);
pushMatrix();
translate(0, 0, -120);
rotateX(PI/2);
drawCylinder(0, 20, 20, 8);
popMatrix();
}
void serialEvent(Serial port) {
interval = millis();
while (port.available() > 0) {
int ch = port.read();
if (synced == 0 && ch != '$') return; // initial synchronization - also used to resync/realign if needed
synced = 1;
print ((char)ch);
if ((serialCount == 1 && ch != 2)
|| (serialCount == 12 && ch != '\r')
|| (serialCount == 13 && ch != '\n')) {
serialCount = 0;
synced = 0;
return;
}
if (serialCount > 0 || ch == '$') {
teapotPacket[serialCount++] = (char)ch;
if (serialCount == 14) {
serialCount = 0; // restart packet byte position
// get quaternion from data packet
q[0] = ((teapotPacket[2] << 8) | teapotPacket[3]) / 16384.0f;
q[1] = ((teapotPacket[4] << 8) | teapotPacket[5]) / 16384.0f;
q[2] = ((teapotPacket[6] << 8) | teapotPacket[7]) / 16384.0f;
q[3] = ((teapotPacket[8] << 8) | teapotPacket[9]) / 16384.0f;
for (int i = 0; i < 4; i++) if (q[i] >= 2) q[i] = -4 + q[i];
// set our toxilibs quaternion to new data
quat.set(q[0], q[1], q[2], q[3]);
/*
// below calculations unnecessary for orientation only using toxilibs
// calculate gravity vector
gravity[0] = 2 * (q[1]*q[3] - q[0]*q[2]);
gravity[1] = 2 * (q[0]*q[1] + q[2]*q[3]);
gravity[2] = q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3];
// calculate Euler angles
euler[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
euler[1] = -asin(2*q[1]*q[3] + 2*q[0]*q[2]);
euler[2] = atan2(2*q[2]*q[3] - 2*q[0]*q[1], 2*q[0]*q[0] + 2*q[3]*q[3] - 1);
// calculate yaw/pitch/roll angles
ypr[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
ypr[1] = atan(gravity[0] / sqrt(gravity[1]*gravity[1] + gravity[2]*gravity[2]));
ypr[2] = atan(gravity[1] / sqrt(gravity[0]*gravity[0] + gravity[2]*gravity[2]));
// output various components for debugging
//println("q:\t" + round(q[0]*100.0f)/100.0f + "\t" + round(q[1]*100.0f)/100.0f + "\t" + round(q[2]*100.0f)/100.0f + "\t" + round(q[3]*100.0f)/100.0f);
//println("euler:\t" + euler[0]*180.0f/PI + "\t" + euler[1]*180.0f/PI + "\t" + euler[2]*180.0f/PI);
//println("ypr:\t" + ypr[0]*180.0f/PI + "\t" + ypr[1]*180.0f/PI + "\t" + ypr[2]*180.0f/PI);
*/
}
}
}
}
void drawCylinder(float topRadius, float bottomRadius, float tall, int sides) {
float angle = 0;
float angleIncrement = TWO_PI / sides;
beginShape(QUAD_STRIP);
for (int i = 0; i < sides + 1; ++i) {
vertex(topRadius*cos(angle), 0, topRadius*sin(angle));
vertex(bottomRadius*cos(angle), tall, bottomRadius*sin(angle));
angle += angleIncrement;
}
endShape();
// If it is not a cone, draw the circular top cap
if (topRadius != 0) {
angle = 0;
beginShape(TRIANGLE_FAN);
// Center point
vertex(0, 0, 0);
for (int i = 0; i < sides + 1; i++) {
vertex(topRadius * cos(angle), 0, topRadius * sin(angle));
angle += angleIncrement;
}
endShape();
}
// If it is not a cone, draw the circular bottom cap
if (bottomRadius != 0) {
angle = 0;
beginShape(TRIANGLE_FAN);
// Center point
vertex(0, tall, 0);
for (int i = 0; i < sides + 1; i++) {
vertex(bottomRadius * cos(angle), tall, bottomRadius * sin(angle));
angle += angleIncrement;
}
endShape();
}
} |
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