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Arduino/MPU6050/Examples/MPU6050_DMP6/Processing/MPUTeapot.pde
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// I2C device class (I2Cdev) demonstration Processing sketch for MPU6050 DMP output | ||
// 6/20/2012 by Jeff Rowberg <jeff@rowberg.net> | ||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib | ||
// | ||
// Changelog: | ||
// 2012-06-20 - initial release | ||
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/* ============================================ | ||
I2Cdev device library code is placed under the MIT license | ||
Copyright (c) 2012 Jeff Rowberg | ||
Permission is hereby granted, free of charge, to any person obtaining a copy | ||
of this software and associated documentation files (the "Software"), to deal | ||
in the Software without restriction, including without limitation the rights | ||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
copies of the Software, and to permit persons to whom the Software is | ||
furnished to do so, subject to the following conditions: | ||
The above copyright notice and this permission notice shall be included in | ||
all copies or substantial portions of the Software. | ||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
THE SOFTWARE. | ||
=============================================== | ||
*/ | ||
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import processing.serial.*; | ||
import processing.opengl.*; | ||
import toxi.geom.*; | ||
import toxi.processing.*; | ||
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// NOTE: requires ToxicLibs to be installed in order to run properly. | ||
// 1. Download from http://toxiclibs.org/downloads | ||
// 2. Extract into [userdir]/Processing/libraries | ||
// (location may be different on Mac/Linux) | ||
// 3. Run and bask in awesomeness | ||
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ToxiclibsSupport gfx; | ||
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Serial port; // The serial port | ||
char[] teapotPacket = new char[14]; // InvenSense Teapot packet | ||
int serialCount = 0; // current packet byte position | ||
int aligned = 0; | ||
int interval = 0; | ||
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float[] q = new float[4]; | ||
Quaternion quat = new Quaternion(1, 0, 0, 0); | ||
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float[] gravity = new float[3]; | ||
float[] euler = new float[3]; | ||
float[] ypr = new float[3]; | ||
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void setup() { | ||
// 300px square viewport using OpenGL rendering | ||
size(300, 300, OPENGL); | ||
gfx = new ToxiclibsSupport(this); | ||
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// setup lights and antialiasing | ||
lights(); | ||
smooth(); | ||
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// display serial port list for debugging/clarity | ||
println(Serial.list()); | ||
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// get the first available port (use EITHER this OR the specific port code below) | ||
String portName = Serial.list()[0]; | ||
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// get a specific serial port (use EITHER this OR the first-available code above) | ||
//String portName = "COM4"; | ||
port = new Serial(this, portName, 115200); | ||
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// send single character to trigger DMP init/start | ||
// (expected by MPU6050_DMP6 example Arduino sketch) | ||
port.write('r'); | ||
} | ||
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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(); | ||
} | ||
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// black background | ||
background(0); | ||
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// translate everything to the middle of the viewport | ||
pushMatrix(); | ||
translate(width / 2, height / 2); | ||
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// 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]); | ||
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// 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]); | ||
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// draw main body in red | ||
fill(255, 0, 0, 200); | ||
box(10, 10, 200); | ||
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// draw front-facing tip in blue | ||
fill(0, 0, 255, 200); | ||
pushMatrix(); | ||
translate(0, 0, -120); | ||
rotateX(PI/2); | ||
drawCylinder(0, 20, 20, 4); | ||
popMatrix(); | ||
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// draw wings and tail fin in green | ||
fill(0, 255, 0, 200); | ||
beginShape(TRIANGLES); | ||
vertex(-100, 2, 30); // wing layer 1 | ||
vertex(0, 2, -80); | ||
vertex(100, 2, 30); | ||
vertex(-100, 0, 30); // wing layer 2 | ||
vertex(0, 0, -80); | ||
vertex(100, 0, 30); | ||
vertex(-100, -2, 30); // wing layer 3 | ||
vertex(0, -2, -80); | ||
vertex(100, -2, 30); | ||
vertex(-2, 0, 98); // tail layer 1 | ||
vertex(-2, -30, 98); | ||
vertex(-2, 0, 70); | ||
vertex(0, 0, 98); // tail layer 2 | ||
vertex(0, -30, 98); | ||
vertex(0, 0, 70); | ||
vertex(2, 0, 98); // tail layer 3 | ||
vertex(2, -30, 98); | ||
vertex(2, 0, 70); | ||
endShape(); | ||
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popMatrix(); | ||
} | ||
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void serialEvent(Serial port) { | ||
interval = millis(); | ||
while (port.available() > 0) { | ||
int ch = port.read(); | ||
print((char)ch); | ||
if (aligned < 4) { | ||
// make sure we are properly aligned on a 14-byte packet | ||
if (serialCount == 0) { | ||
if (ch == '$') aligned++; else aligned = 0; | ||
} else if (serialCount == 1) { | ||
if (ch == 2) aligned++; else aligned = 0; | ||
} else if (serialCount == 12) { | ||
if (ch == '\r') aligned++; else aligned = 0; | ||
} else if (serialCount == 13) { | ||
if (ch == '\n') aligned++; else aligned = 0; | ||
} | ||
//println(ch + " " + aligned + " " + serialCount); | ||
serialCount++; | ||
if (serialCount == 14) serialCount = 0; | ||
} else { | ||
if (serialCount > 0 || ch == '$') { | ||
teapotPacket[serialCount++] = (char)ch; | ||
if (serialCount == 14) { | ||
serialCount = 0; // restart packet byte position | ||
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// 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]; | ||
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// set our toxilibs quaternion to new data | ||
quat.set(q[0], q[1], q[2], q[3]); | ||
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/* | ||
// 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); | ||
*/ | ||
} | ||
} | ||
} | ||
} | ||
} | ||
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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(); | ||
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// If it is not a cone, draw the circular top cap | ||
if (topRadius != 0) { | ||
angle = 0; | ||
beginShape(TRIANGLE_FAN); | ||
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// 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(); | ||
} | ||
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// If it is not a cone, draw the circular bottom cap | ||
if (bottomRadius != 0) { | ||
angle = 0; | ||
beginShape(TRIANGLE_FAN); | ||
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// 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(); | ||
} | ||
} |