74 lines
1.5 KiB
Plaintext
74 lines
1.5 KiB
Plaintext
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// Dependencies:
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// - SLIPDecoder (https://git.kompot.si/g1smo/SLIPDecoder)
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// - MathLib (https://depts.washington.edu/dxscdoc/Help/Browse.html#Libraries%3EMathLib)
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(
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// Initialize the the receiver via SLIP decoder
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~receiverPath = "/dev/ttyACM0";
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~baudRate = 115200;
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~decoder = SLIPDecoder.new(~receiverPath, ~baudRate);
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OSCFunc.trace(false); // debug osc
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~decoder.trace(true); // debug slip decoder
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/*******
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* GUI *
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******/
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~senzorji = [];
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~numSensors = 3;
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~numSensors.do({ |n|
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~senzorji.add(AHRSensor.new(n + 1));
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});
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~w = Window.new("Utopia || C²", Rect(300, 300, 640, ~numSensors * 20),true);
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~elementi = ~senzorji.collect({|s| s.getGui;});
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~ttyInput = TextField().string_("/dev/ttyACM0");
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~w.layout_(
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VLayout(
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HLayout(
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StaticText().string_("Serial path: "),
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~ttyInput,
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Button().string_("Start").action_({ | butt |
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if ((~decoder.running.not), {
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// If not running, start decoder
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~decoder.deviceName = "";
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~decoder = SLIPDecoder.new(~receiverPath, ~baudRate);
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~decoder.start;
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butt.string_("Stop")
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}, {
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// Else stop the decoder
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~decoder.stop;
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butt.string_("Start")
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});
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})
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),
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// Elementi senzorjev
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VLayout(*~elementi)
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)
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);
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~w.front;
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q = OSCFunc({ |msg, time, addr, recvPort|
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var q;
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q = Quaternion.new(msg[4], msg[1], msg[2], msg[3]);
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q.postln;
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//~senzorji[0].updateEuler(q);
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//~senzorji[0].euler.postln;
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//~elementi[0].refreshGui;
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}, "/ww/1/quaternion");
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// Start the decoder!
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//~decoder.start;
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)
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~decoder.trace;
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~decoder.stop;
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~decoder.start;
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~decoder.rate;
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