66 lines
1.1 KiB
Plaintext
66 lines
1.1 KiB
Plaintext
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// Namestitev
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// SLIP -> OSC
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Quarks.install("https://git.kompot.si/g1smo/SLIPDecoder.git");
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// Quaternioni
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Quarks.install("MathLib");
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// Zlistaj serijske naprave
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SerialPort.listDevices;
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// Zacni
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(
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var receiver;
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OSCFunc.trace(false);
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~wwS = SLIPDecoder.new("/dev/ttyUSB0", 115200, "/ww/0");
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~wwS.stop;
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~wwS.start;
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~eX = 0;
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~eY = 0;
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~eZ = 0;
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~refQ = Quaternion.new();
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~zadnjiQ = Quaternion.new(1, 0, 0, 0);
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~gumbi = Array.fill(4, false);
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// Pucamo star listener
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thisProcess.removeOSCRecvFunc(~sprejemnik);
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~sprejemnik = {|msg|
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//msg.postln;
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msg[0].switch(
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'/ww/0/quaternion', {
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var novQ, diffQ, euler;
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//msg[(1..4)].postln;
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"novQ!".postln;
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novQ = Quaternion.new(*msg[(1..4)]);
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//novQ.postln;
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//(novQ * ~zadnjiQ.conjugate).postln;
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diffQ = novQ / ~zadnjiQ.conjugate;
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diffQ.postln;
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~zadnjiQ = novQ;
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}
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);
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};
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thisProcess.addOSCRecvFunc(~sprejemnik);
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)
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(
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~a = Quaternion(1, 0.5, 0.5, 0.5);
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~b = Quaternion(1, 0.4, 0.6, 0.5);
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(~a / Quaternion.new()).postln;
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)
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// Ustavi
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~wwS.stop;
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// Zacni
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~wwS.start;
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thisProcess.listOscRecvFunc();
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