better rot

code/rotating_cube.py

@@ -6,6 +6,35 @@
 """
 import sys, math, pygame
 from operator import itemgetter
+import serial
+import inspect
+import numpy as np
+from math import *
+
+
+class IMU:
+    ser = serial.Serial(2, 115200, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=1, timeout=1, xonxoff=True)
+
+    def start(this):
+        this.ser.flush()
+        this.ser.write('+'.encode('latin1'))
+
+    def parse(this,a):
+        return float(a.replace('+',''))
+
+    def read(this):
+        this.ser.flush()
+        list = str(this.ser.readline(), encoding='utf8' ).split(' ')
+        time = this.parse(list[0])
+        v = [this.parse(list[3]),this.parse(list[4]),this.parse(list[5])]
+        theta = [this.parse(list[8]),this.parse(list[9]),this.parse(list[10])]
+        acc=[this.parse(list[13]),this.parse(list[14]),this.parse(list[15])]
+
+        return [time,v,theta,acc]
+
+    def close(this):
+        print "Closing IMU"
+        this.ser.close()
 
 class Point3D:
     def __init__(self, x = 0, y = 0, z = 0):
@@ -75,10 +104,20 @@ def __init__(self, win_width = 640, win_height = 480):
         self.angle = 60
 
     def run(self):
+        try:
+            imu = IMU()
+            imu.start()
+        except:
+            imu.close();
+            print "Failed to open IMU"
+            return
+
         """ Main Loop """
         while 1:
             for event in pygame.event.get():
                 if event.type == pygame.QUIT:
+                    print "Quitting"
+                    imu.close()
                     pygame.quit()
                     sys.exit()
 
@@ -87,10 +126,14 @@ def run(self):
 
             # It will hold transformed vertices.
             t = []
-
+            try:
+                time,v,theta,acc = imu.read()
+            except:
+                print "Failed to read IMU"
+                continue
             for v in self.vertices:
                 # Rotate the point around X axis, then around Y axis, and finally around Z axis.
-                r = v.rotateX(self.angle).rotateY(self.angle).rotateZ(self.angle)
+                r = v.rotateX(theta[0]).rotateY(theta[1]).rotateZ(theta[2])
                 # Transform the point from 3D to 2D
                 p = r.project(self.screen.get_width(), self.screen.get_height(), 256, 4)
                 # Put the point in the list of transformed vertices

presentation/pre.tex

@@ -65,16 +65,17 @@
 \end{frame}
 
 \begin{frame}
-	\subsection{Acceleromter}
+	\section{Acceleromter}
 	\frametitle{Accelerometer (Beschleunigungssensoren)}
 	\begin{block}{Prinzip}
 		Messung der aufgrund von Trägheitskräften resultierende Beschleunigung
 	\end{block}
 	Anwendung:
 	\begin{itemize}
-    	\item Messung von (linearen) Beschleunigungen
   		\item Sensorik in digitalen Kameras
 		\item Positionsbestimmung
+		\item Seismographen 
+		\item Schutz vor Head-Crash bei Festplatten
 	\end{itemize}
 	\begin{figure}
 \subfigure{\includegraphics[width=0.49\textwidth, height=0.4\textheight,keepaspectratio=true]{images/acc2.jpg}}\hfil
@@ -124,7 +125,7 @@
 \end{frame}
 
 \begin{frame}
-  \subsection{Gyroskop}
+  \section{Gyroskop}
   \frametitle{Gyroskop (Rotationssensoren)}
 
   \begin{block}{Was ist ein Gyroskop}
@@ -203,10 +204,7 @@
 	\end{enumerate}
 \end{frame}
 
-\begin{frame}
-	\frametitle{Stable Platform Systems}
-	\includegraphics[scale=0.55]{images/gimbal.png} \cite{King98}
-\end{frame}
+
 
 \begin{frame}
 	Vollkardanisch kreiselstabilisierte (Stabile Plattform)
@@ -310,5 +308,8 @@
 
 \end{frame}
 
-
+\begin{frame}
+	\frametitle{Stable Platform Systems}\cite{King98}
+	\includegraphics[scale=0.55]{images/gimbal.png} 
+\end{frame}
 \end{document}