Nov fajl za kegle, nov scenarij
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1. en kegel
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samo deformacija, mogoce malo zoom
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pulz na zogico,
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+ nojz (glasba, rocno?)
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- BREZ zogic
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- BREZ dodatnih
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2. dva kegla
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3. ena zogica
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4. 2 kegla + zogica
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===== VKLOP LUCI ======
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reset (calibrate, zoom blizu)
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(nojz stran)
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(vklopimo zogice)
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5. komad: ena zogica!
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6. tri zogice
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7. band: vkljucimo publiko
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+ VKLOP dodatni kegli
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TODO:
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- barvne palete za zogice (izmenicno levo desno), kegle
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- upostevaj velocity zogic
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- WW kontroler za vklop / izklop deformacije, ostalih elementov (barva ja / ne)
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- postavit kegle v sredino
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- postavit zogice v kader
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@ -0,0 +1,7 @@
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1. FFT noise od blizu, ni rotacije + ko pridejo zogice pulziranje
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2. dodamo vrtenjek
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Ideje:
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1. deformacija po segmentih
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2. en kegel v drugem, drug v enem (scale pojacat)
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////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib-Arduino
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//
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// Copyright (c) 2014-2015, richards-tech
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of
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// this software and associated documentation files (the "Software"), to deal in
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// the Software without restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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// Software, and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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#include <Wire.h>
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#include "I2Cdev.h"
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#include "RTIMUSettings.h"
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#include "RTIMU.h"
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#include "CalLib.h"
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#include <EEPROM.h>
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RTIMU *imu; // the IMU object
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RTIMUSettings settings; // the settings object
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CALLIB_DATA calData; // the calibration data
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// SERIAL_PORT_SPEED defines the speed to use for the debug serial port
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#define SERIAL_PORT_SPEED 115200
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void setup()
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{
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Serial.begin(SERIAL_PORT_SPEED);
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Serial.println("ArduinoMagCal starting");
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// Init EEPROM based on magnet calibration size requirement
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EEPROM.begin(512);
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Serial.print("CalData size: "); Serial.print(sizeof(calData)); Serial.println(" bytes");
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calLibRead(0, &calData); // pick up existing mag data if there
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Serial.println("Existing calibration data: ");
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Serial.println(calData.validL);
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Serial.println(calData.validH);
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Serial.println(calData.magValid);
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Serial.println(calData.pad);
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Serial.println(calData.magMin[0]);
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Serial.println(calData.magMin[1]);
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Serial.println(calData.magMin[2]);
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Serial.println(calData.magMin[0]);
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Serial.println(calData.magMin[1]);
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Serial.println(calData.magMin[2]);
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calData.magValid = false;
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for (int i = 0; i < 3; i++) {
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calData.magMin[i] = 10000000; // init mag cal data
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calData.magMax[i] = -10000000;
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}
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Serial.println("Enter s to save current data to EEPROM");
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Wire.begin();
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imu = RTIMU::createIMU(&settings); // create the imu object
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imu->IMUInit();
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imu->setCalibrationMode(true); // make sure we get raw data
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Serial.print("ArduinoIMU calibrating device "); Serial.println(imu->IMUName());
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}
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void loop()
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{
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boolean changed;
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RTVector3 mag;
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if (imu->IMURead()) { // get the latest data
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changed = false;
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mag = imu->getCompass();
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for (int i = 0; i < 3; i++) {
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if (mag.data(i) < calData.magMin[i]) {
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calData.magMin[i] = mag.data(i);
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changed = true;
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}
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if (mag.data(i) > calData.magMax[i]) {
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calData.magMax[i] = mag.data(i);
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changed = true;
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}
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}
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if (changed) {
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Serial.println("-------");
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Serial.print("minX: "); Serial.print(calData.magMin[0]);
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Serial.print(" maxX: "); Serial.print(calData.magMax[0]); Serial.println();
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Serial.print("minY: "); Serial.print(calData.magMin[1]);
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Serial.print(" maxY: "); Serial.print(calData.magMax[1]); Serial.println();
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Serial.print("minZ: "); Serial.print(calData.magMin[2]);
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Serial.print(" maxZ: "); Serial.print(calData.magMax[2]); Serial.println();
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}
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}
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if (Serial.available()) {
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if (Serial.read() == 's') { // save the data
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calData.magValid = true;
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calLibWrite(0, &calData);
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EEPROM.commit();
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Serial.print("Mag cal data saved for device "); Serial.println(imu->IMUName());
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Serial.println("Testing saved data...");
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if (imu->getCalibrationValid())
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Serial.println("Compass calibration is valid");
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else
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Serial.println("No valid compass calibration data");
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}
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}
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}
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File diff suppressed because it is too large
Load Diff
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@ -2,11 +2,11 @@
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#include <esp_wifi.h>
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#include <WiFi.h>
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#include "RTMath.h"
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#include <OSCBundle.h>
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#include <OSCBoards.h>
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//#define DEBUG
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#ifdef BOARD_HAS_USB_SERIAL
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#include <SLIPEncodedUSBSerial.h>
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SLIPEncodedUSBSerial SLIPSerial( thisBoardsSerialUSB );
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@ -20,68 +20,77 @@ SLIPEncodedSerial SLIPSerial(Serial); // Change to Serial1 or Serial2 etc. for b
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uint8_t newMACAddress[] = {0x08, 0x3A, 0xF2, 0x50, 0xEF, 0x6C};
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typedef struct sensor_msg {
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int id;
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RTFLOAT aX;
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RTFLOAT aY;
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RTFLOAT aZ;
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RTFLOAT qX;
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RTFLOAT qY;
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RTFLOAT qZ;
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RTFLOAT qW;
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}sensor_msg;
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#include <SLIPEncodedSerial.h>
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uint8_t id;
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int16_t aX;
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int16_t aY;
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int16_t aZ;
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float qX;
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float qY;
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float qZ;
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float qW;
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} sensor_msg;
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sensor_msg odcitek;
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//sensor_msg odcitek;
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sensor_msg odcitekA;
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sensor_msg odcitekB;
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// Maksimalno stevilo
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#define ST_KEGLOV 10
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#define ST_KEGLOV 2
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sensor_msg odcitki[ST_KEGLOV] = {odcitekA, odcitekB};
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bool poslji[ST_KEGLOV] = {false, false};
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int odcitekId;
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sensor_msg odcitki[ST_KEGLOV];
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bool poslji[ST_KEGLOV];
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void prejemPodatkov(const uint8_t * mac_addr, const uint8_t * drugiPodatki, int len) {
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void prejemPodatkov(const uint8_t * mac_addr, const uint8_t * noviPodatki, int len) {
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char macNaslov[18];
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//Serial.print("Prejel podatke od ");
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snprintf(macNaslov, sizeof(macNaslov), "%02x:%02x:%02x:%02x:%02x:%02x",
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mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
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//Serial.println(macNaslov);
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memcpy(&odcitek, drugiPodatki, sizeof(odcitek));
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//Serial.printf("Board ID %u: %u bytes\n", odcitek.id, len);
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// Update the structures with the new incoming data
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odcitki[odcitek.id-1].aX = odcitek.aX;
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odcitki[odcitek.id-1].aY = odcitek.aY;
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odcitki[odcitek.id-1].aZ = odcitek.aZ;
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odcitki[odcitek.id-1].qX = odcitek.qX;
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odcitki[odcitek.id-1].qY = odcitek.qY;
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odcitki[odcitek.id-1].qZ = odcitek.qZ;
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odcitki[odcitek.id-1].qW = odcitek.qW;
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/*
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Serial.printf("aX: %f \n", odcitki[odcitek.id-1].aX);
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Serial.printf("aY: %f \n", odcitki[odcitek.id-1].aY);
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Serial.printf("aZ: %f \n", odcitki[odcitek.id-1].aZ);
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Serial.printf("qX: %f \n", odcitki[odcitek.id-1].qX);
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Serial.printf("qY: %f \n", odcitki[odcitek.id-1].qY);
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Serial.printf("qZ: %f \n", odcitki[odcitek.id-1].qZ);
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Serial.printf("qW: %f \n", odcitki[odcitek.id-1].qW);
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#ifdef DEBUG
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Serial.print("Prejel podatke od ");
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Serial.println(macNaslov);
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#endif
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// ID odcitka je na prvem mestu!
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memcpy(&odcitekId, noviPodatki, sizeof(uint8_t));
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#ifdef DEBUG
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Serial.print("RAZBIRAM ID ");
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Serial.println(odcitekId);
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#endif
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memcpy(&odcitki[odcitekId], noviPodatki, sizeof(sensor_msg));
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#ifdef DEBUG
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Serial.printf("aX: %i \n", odcitki[odcitekId].aX);
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Serial.printf("aY: %i \n", odcitki[odcitekId].aY);
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Serial.printf("aZ: %i \n", odcitki[odcitekId].aZ);
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Serial.printf("qX: %f \n", odcitki[odcitekId].qX);
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Serial.printf("qY: %f \n", odcitki[odcitekId].qY);
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Serial.printf("qZ: %f \n", odcitki[odcitekId].qZ);
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Serial.printf("qW: %f \n", odcitki[odcitekId].qW);
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Serial.println();
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*/
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poslji[odcitek.id-1] = true;
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#endif
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poslji[odcitekId] = true;
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}
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void setup() {
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// put your setup code here, to run once:
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//Serial.begin(115200);
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SLIPSerial.begin(115200);
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// Ne posiljaj preden se podatki napolnijo
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for (int i = 0; i < ST_KEGLOV; i++) {
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poslji[0] = false;
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}
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Serial.println("Inicializiram WIFI...");
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WiFi.mode(WIFI_STA);
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esp_wifi_set_mac(WIFI_IF_STA, &newMACAddress[0]);
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if (esp_now_init() != ESP_OK) {
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esp_err_t result = esp_now_init();
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if (result != ESP_OK) {
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Serial.println("Error initializing ESP-NOW");
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Serial.println(result);
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return;
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}
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Serial.print("MAC naslov: ");
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esp_now_register_recv_cb(prejemPodatkov);
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}
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/* OSC MSG channels */
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OSCBundle bundle;
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char glava[32];
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void loop() {
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// put your main code here, to run repeatedly:
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/* OSC MSG channels */
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OSCBundle bundle;
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char glava[32];
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for (int i = 0; i < ST_KEGLOV; i++) {
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if (poslji[i]) {
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sprintf(glava, "/ww/%d/accel", i);
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/*
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Serial.print("Posiljam ");
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Serial.println(glava);
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*/
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bundle.add(glava)
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.add(odcitki[i].aX)
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.add(odcitki[i].aY)
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.add(odcitki[i].aZ);
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sprintf(glava, "/ww/%d/quaternion", i);
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/*
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Serial.print("Posiljam ");
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Serial.println(glava);
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*/
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bundle.add(glava)
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.add(odcitki[i].qW)
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.add(odcitki[i].qX)
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.add(odcitki[i].qY)
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.add(odcitki[i].qZ);
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/*
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Serial.printf("XaX: %i \n", odcitki[i].aX);
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Serial.printf("XaY: %i \n", odcitki[i].aY);
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Serial.printf("XaZ: %i \n", odcitki[i].aZ);
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Serial.printf("XqX: %f \n", odcitki[i].qX);
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Serial.printf("XqY: %f \n", odcitki[i].qY);
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Serial.printf("XqZ: %f \n", odcitki[i].qZ);
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Serial.printf("XqW: %f \n", odcitki[i].qW);
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Serial.println();
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*/
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SLIPSerial.beginPacket();
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bundle.send(SLIPSerial);
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SLIPSerial.endPacket();
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bundle.empty();
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bundle.empty();
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poslji[i] = false;
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}
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}
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<html>
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<head>
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<meta charset="UTF-8">
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<title>glasbena miza</title>
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<style type="text/css">
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body { margin: 0; }
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</style>
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</head>
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<body>
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<div id="anim-container"></div>
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<script src="node_modules/three/build/three.min.js"></script>
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<script src="node_modules/osc/dist/osc-browser.js"></script>
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<script src="kegli.js"></script>
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<script src="osctl.js"></script>
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</body>
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</html>
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@ -0,0 +1,720 @@
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console.log("Hello, Sky!");
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/**** ☭☭☭☭☭☭☭☭☭☭☭☭ ******
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/☭☭☭☭ Test skripta ☭☭☭☭ *
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******☭☭☭☭☭☭☭☭☭☭☭☭******/
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// Ker kegel imamo?
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var izbranKegel = 1;
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if (window.location.hash.indexOf('kegel') > -1) {
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izbranKegel = window.location.hash.split('=')[1];
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console.log('definiran kegel!');
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}
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console.log('izbran kegel: ', izbranKegel);
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// Vidni kot
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var FOV = 90;
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// Parametri rotacije (euler)
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var rotacijaX = 0.000;
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var rotacijaY = 0.000;
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var rotacijaZ = 0.000;
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// Parametri pospeska
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var accX = 0.000;
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var accY = 0.000;
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var accZ = 0.000;
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var deformiraj = 0;
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// Analiza zvoka
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const fftSize = 64
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const bufferSize = 32
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const stolpicki = new Uint8Array(bufferSize)
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let analyser = null
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// "Napihni" kegle?
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let napihni = 1
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// Scena, kamera in render
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var scene = new THREE.Scene;
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window.scene = scene;
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/*
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const axesHelper = new THREE.AxesHelper( 5 );
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scene.add( axesHelper );
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*/
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var camera = new THREE.PerspectiveCamera(FOV, window.innerWidth / window.innerHeight, 0.1, 2000);
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window.camera = camera;
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// Polozaj kamere
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camera.position.z = 10;
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var renderer = new THREE.WebGLRenderer({ alpha: true });
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renderer.setSize(window.innerWidth, window.innerHeight);
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// Belo ozadje
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renderer.setClearColor(0xFFFFFF, 1);
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// Črno ozadje
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//renderer.setClearColor(0x000000, 1);
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//var skupina = new THREE.Group();
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/********
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* KEGEL *
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*********/
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// Sirina in visina test objekta
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var width = 16;
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var height = 128;
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var radialnihSegmentov = 4;
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var visinskihSegmentov = 128;
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var geo = new THREE.BufferGeometry();
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var offset = width;
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var polozaji = [];
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// visina: 128 segmentov
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// sirina: 9 segmentov
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var sirinaSegmentov = 9;
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// Najprej "spodnja buba"
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var faktor = [
|
||||
2/sirinaSegmentov, 2/sirinaSegmentov
|
||||
];
|
||||
|
||||
// Pol rocaj (1.4 do 2.8 segmenta, dolgo 62 segmentov)
|
||||
var rocajSegmentov = 46;
|
||||
for (var i = 0; i <= rocajSegmentov; i++) {
|
||||
faktor.push((1.4 + i / rocajSegmentov * 1.4) / sirinaSegmentov);
|
||||
}
|
||||
|
||||
// pol stresica dol (2.8 do 7.4 segmenta)
|
||||
var stresicaSegmentov = 48;
|
||||
for (i = 0; i <= stresicaSegmentov; i++) {
|
||||
faktor.push((2.8 + i / stresicaSegmentov * 4.6) / sirinaSegmentov);
|
||||
}
|
||||
|
||||
// Pa se zadnji naklon (7.4 do 3 segmente)
|
||||
var konecSegmentov = 30;
|
||||
for (i = 0; i <= konecSegmentov; i++) {
|
||||
faktor.push((7.4 - i / konecSegmentov * 4.4) / sirinaSegmentov);
|
||||
}
|
||||
|
||||
// spodnji krog
|
||||
for (var s = 0; s < radialnihSegmentov; s++) {
|
||||
polozaji.push(
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
Math.sin(2 * Math.PI * s / radialnihSegmentov) * width * faktor[0],
|
||||
Math.cos(2 * Math.PI * s / radialnihSegmentov) * width * faktor[0],
|
||||
0.0,
|
||||
Math.sin(2 * Math.PI * (s + 1) / radialnihSegmentov) * width * faktor[0],
|
||||
Math.cos(2 * Math.PI * (s + 1) / radialnihSegmentov) * width * faktor[0],
|
||||
0.0
|
||||
);
|
||||
}
|
||||
// vmesni segmenti
|
||||
for (var h = 0; h < visinskihSegmentov; h++) {
|
||||
for (s = 0; s < radialnihSegmentov; s++) {
|
||||
polozaji.push(
|
||||
Math.sin(2 * Math.PI * s / radialnihSegmentov) * width * faktor[h],
|
||||
Math.cos(2 * Math.PI * s / radialnihSegmentov) * width * faktor[h],
|
||||
h * height / visinskihSegmentov,
|
||||
Math.sin(2 * Math.PI * (s + 1) / radialnihSegmentov) * width * faktor[h],
|
||||
Math.cos(2 * Math.PI * (s + 1) / radialnihSegmentov) * width * faktor[h],
|
||||
h * height / visinskihSegmentov,
|
||||
Math.sin(2 * Math.PI * (s + 1) / radialnihSegmentov) * width * faktor[h],
|
||||
Math.cos(2 * Math.PI * (s + 1) / radialnihSegmentov) * width * faktor[h],
|
||||
(h + 1) * height / visinskihSegmentov,
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
// zgornji krog
|
||||
for (s = 0; s < radialnihSegmentov; s++) {
|
||||
polozaji.push(
|
||||
0,
|
||||
0,
|
||||
height,
|
||||
Math.sin(2 * Math.PI * s / radialnihSegmentov) * width * faktor[31],
|
||||
Math.cos(2 * Math.PI * s / radialnihSegmentov) * width * faktor[31],
|
||||
height,
|
||||
Math.sin(2 * Math.PI * (s + 1) / radialnihSegmentov) * width * faktor[31],
|
||||
Math.cos(2 * Math.PI * (s + 1) / radialnihSegmentov) * width * faktor[31],
|
||||
height
|
||||
);
|
||||
}
|
||||
|
||||
for (i = 0; i < polozaji.length; i++) {
|
||||
if (i % 3 == 2) {
|
||||
polozaji[i] -= height / 2;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// Spremeni v vertexe
|
||||
var vertices = new Float32Array(polozaji);
|
||||
geo.setAttribute('position', new THREE.BufferAttribute(vertices, 3));
|
||||
|
||||
window.geo = geo;
|
||||
|
||||
var barva = new THREE.Color(0, 0, 0);
|
||||
var barvaDodatni = new THREE.Color();
|
||||
barvaDodatni.setHSL(0.6, 1.0, 0.5);
|
||||
var mat = new THREE.MeshBasicMaterial({
|
||||
//color: 0xff00ff,
|
||||
color: barva,
|
||||
wireframe: true,
|
||||
transparent: true
|
||||
});
|
||||
window.mat = mat;
|
||||
//var mat = new THREE.LineBasicMaterial({ color: 0xff00ff });
|
||||
var kegel = new THREE.Mesh(geo.clone(), mat);
|
||||
kegel.position.z = 20; // gor / dol
|
||||
kegel.position.y = -30; // levo / desno
|
||||
kegel.position.x = 12; // levo / desno drugic
|
||||
|
||||
if (izbranKegel == 1) {
|
||||
kegel.position.x -= 10;
|
||||
kegel.position.y += 8;
|
||||
kegel.position.z += 3;
|
||||
}
|
||||
|
||||
var barvnePalete = [
|
||||
[0x0a2d2e, 0x1c4e4f, 0x436e6f, 0x6a8e8f, 0x879693, 0xa49e97, 0xdeae9f, 0xefd7cf, 0xf7ebe7, 0xffffff],
|
||||
// https://colorkit.co/palette/0a2d2e-1c4e4f-436e6f-6a8e8f-879693-a49e97-deae9f-efd7cf-f7ebe7-ffffff/
|
||||
[0x80558c, 0xaf7ab3, 0xcba0ae, 0xd8b9a0, 0xe4d192],
|
||||
// https://colorkit.co/palette/80558c-af7ab3-cba0ae-d8b9a0-e4d192/
|
||||
[0xf68aa2, 0xcf6d93, 0xa85183, 0x813474, 0x5a1765],
|
||||
// https://colorkit.co/palette/f68aa2-cf6d93-a85183-813474-5a1765/
|
||||
[0x03071e, 0x211c1b, 0x3d3019, 0x594417, 0x745814, 0x906b12, 0xac7f0f, 0xc8930d, 0xe3a60a, 0xffba08]
|
||||
// https://colorkit.co/palette/03071e-211c1b-3d3019-594417-745814-906b12-ac7f0f-c8930d-e3a60a-ffba08/
|
||||
]
|
||||
var barvnePaleteIdx = [0, 0, 0, 0]
|
||||
|
||||
/*********
|
||||
* ZOGICE *
|
||||
*********/
|
||||
var zogice = false
|
||||
var kegli = false
|
||||
/*
|
||||
var barvnaPaleta = [
|
||||
new THREE.Color(0x003F5C),
|
||||
new THREE.Color(0x58508D),
|
||||
new THREE.Color(0xBC5090),
|
||||
new THREE.Color(0xFF6361),
|
||||
new THREE.Color(0xFFA600),
|
||||
// Simetrija
|
||||
new THREE.Color(0xFF6361),
|
||||
new THREE.Color(0xBC5090),
|
||||
new THREE.Color(0x58508D),
|
||||
];
|
||||
console.log(barvnaPaleta);
|
||||
var barvnaPaletaIdx = 0;
|
||||
*/
|
||||
|
||||
var barvaKrogleO = new THREE.Color();
|
||||
barvaKrogleO.setHSL(Math.random(), 0.8, 0.5);
|
||||
function novaKrogla () {
|
||||
//var barvaKrogle = barvaKrogleO.clone();
|
||||
var bId = izbranKegel == 0 ? 2 : 3
|
||||
console.log('id barve:', bId);
|
||||
var barvaKrogle = new THREE.Color(barvnePalete[bId][barvnePaleteIdx[bId]]);
|
||||
var mat = new THREE.MeshBasicMaterial({
|
||||
color: barvaKrogle,
|
||||
wireframe: true,
|
||||
transparent: true
|
||||
});
|
||||
var velikost = 1 + Math.random() * 5;
|
||||
var kroglaGeo = new THREE.SphereGeometry(velikost, 12, 12);
|
||||
var krogla = new THREE.Mesh(kroglaGeo, mat);
|
||||
|
||||
krogla.position.x = (Math.random() - 1) * 200;
|
||||
krogla.position.y = (Math.random() - 1) * 10;
|
||||
krogla.position.z = (Math.random() - 1) * 300;
|
||||
|
||||
krogla.position.y -= 100;
|
||||
krogla.position.x += 150;
|
||||
krogla.position.z += 230; // gor/dol
|
||||
|
||||
|
||||
//krogla.position.y += 200;
|
||||
|
||||
scene.add(krogla);
|
||||
krogle.push(krogla);
|
||||
}
|
||||
|
||||
function spremeniZoom (kolicina) {
|
||||
const noviZum = camera.position.z * (1 + kolicina / 25)
|
||||
console.log(noviZum)
|
||||
if ((noviZum > 0.1) && (noviZum < 300)) {
|
||||
camera.position.z = noviZum
|
||||
}
|
||||
}
|
||||
function spremeniDeformiraj (kolicina) {
|
||||
const noviDeformiraj = deformiraj + (kolicina / 2)
|
||||
//console.log('deform', noviDeformiraj)
|
||||
if (noviDeformiraj > 0) {
|
||||
deformiraj = noviDeformiraj
|
||||
} else {
|
||||
deformiraj = 0
|
||||
}
|
||||
}
|
||||
|
||||
//skupina.add(kegel);
|
||||
|
||||
// Za pospeskomer - os X
|
||||
var gAX = new THREE.CylinderGeometry(10, 10, 10, 16);
|
||||
var mAX = new THREE.MeshBasicMaterial({ color: 0xff000055 });
|
||||
var AX = new THREE.Mesh(gAX, mAX);
|
||||
|
||||
//skupina.add(AX);
|
||||
|
||||
// Damo vse skupaj v kader
|
||||
// scene.add(skupina);
|
||||
scene.add(kegel);
|
||||
|
||||
// Quaternioni za rotacijo in kalibracijo
|
||||
var qWW = new THREE.Quaternion();
|
||||
var qPrej = new THREE.Quaternion();
|
||||
var qObj = new THREE.Quaternion();
|
||||
var qStart = new THREE.Quaternion();
|
||||
var reset = false;
|
||||
var calibrate = true;
|
||||
|
||||
|
||||
var objekti = [kegel];
|
||||
var dodatniObjekti = [];
|
||||
var krogle = [];
|
||||
var stevec = 0;
|
||||
|
||||
// Zacetna orientacija kegla
|
||||
scene.rotation.x = 90;
|
||||
scene.rotation.z = 270;
|
||||
|
||||
//skupina.position.z = 32;
|
||||
//skupina.position.y = -100;
|
||||
|
||||
var cakajDeformiraj = false
|
||||
var cakajZogice = false
|
||||
var cakajKegli = false
|
||||
let analiziramZvok = false
|
||||
|
||||
function inputHandle () {
|
||||
if (kbdPressed.c) {
|
||||
calibrate = true;
|
||||
sendAll('/ww/calibrate');
|
||||
}
|
||||
if (kbdPressed['-']) {
|
||||
sendAll('/ww/reload');
|
||||
window.location.reload();
|
||||
}
|
||||
/*
|
||||
if (kbdPressed.d && !cakajDeformiraj) {
|
||||
deformiraj = !deformiraj
|
||||
cakajDeformiraj = true
|
||||
const args = [{
|
||||
type: "f",
|
||||
value: deformiraj
|
||||
}];
|
||||
sendAll('/ww/zoom', args)
|
||||
setTimeout(() => cakajDeformiraj = false, 200)
|
||||
}
|
||||
*/
|
||||
if (kbdPressed.g && !cakajZogice) {
|
||||
zogice = !zogice
|
||||
cakajZogice = true
|
||||
const args = [{
|
||||
type: "i",
|
||||
value: zogice ? 1 : 0
|
||||
}];
|
||||
sendAll('/ww/zogice', args)
|
||||
setTimeout(() => cakajZogice = false, 200)
|
||||
}
|
||||
if (kbdPressed['l'] && !cakajKegli) {
|
||||
kegli = !kegli
|
||||
console.log('sprememba kegli', kegli)
|
||||
cakajKegli = true
|
||||
const args = [{
|
||||
type: "i",
|
||||
value: kegli ? 1 : 0
|
||||
}];
|
||||
sendAll('/ww/kegli', args)
|
||||
setTimeout(() => cakajKegli = false, 200)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
function render () {
|
||||
requestAnimationFrame(render);
|
||||
renderer.render(scene, camera);
|
||||
stevec += 1;
|
||||
|
||||
objAnim();
|
||||
inputHandle();
|
||||
|
||||
while (krogle.length > 50) {
|
||||
scene.remove(krogle[0]);
|
||||
krogle.shift();
|
||||
}
|
||||
};
|
||||
|
||||
var cakajDodatni = false
|
||||
|
||||
// Funkcija za animacijo objektov
|
||||
function objAnim() {
|
||||
// Rotacija kegla
|
||||
objekti.map(function (obj) {
|
||||
// Apliciramo rotacijo (po quaternionih - eulerji zajebavajo.)
|
||||
qObj = qWW.clone();
|
||||
qObj.multiply(qStart);
|
||||
obj.setRotationFromQuaternion(qObj);
|
||||
|
||||
AX.scale.x = accX / 1000;
|
||||
|
||||
|
||||
if (analyser) {
|
||||
analyser.getByteFrequencyData(stolpicki)
|
||||
deformiraj = (stolpicki[3] + stolpicki[4] + stolpicki[5]) / 30
|
||||
//console.log('FFT!', stolpicki)
|
||||
//napihni = 1 + stolpicki[0] / 10
|
||||
}
|
||||
|
||||
obj.scale.z = napihni
|
||||
|
||||
if (napihni > 1) {
|
||||
obj.scale.x = napihni * 2
|
||||
obj.scale.y = napihni * 2
|
||||
napihni = Math.max(napihni * 0.9, 1)
|
||||
} else {
|
||||
obj.scale.x = 1
|
||||
obj.scale.y = 1
|
||||
}
|
||||
|
||||
// Deformiranje kegla!
|
||||
// Random 500 zamaknemo
|
||||
var koti = obj.geometry.attributes.position.array;
|
||||
var faktorD = 5;
|
||||
/*
|
||||
// Random deformacija
|
||||
for (var i = 0; i < 500; i++) {
|
||||
koti[Math.floor(Math.random() * koti.length)] += (Math.random() - 1) * deformiraj;
|
||||
}
|
||||
*/
|
||||
// Deformacija po stolpickih FFT
|
||||
for (var i = 0; i < koti.length / 10; i += 1) {
|
||||
const stolpLen = 10;
|
||||
const stolpOffset = 0;
|
||||
const offset = Math.floor(Math.random() * 3)
|
||||
const vrednost = stolpicki[Math.floor(i * 10 / koti.length * stolpLen) + stolpOffset]
|
||||
/*
|
||||
if (i % 1000 == 0) {
|
||||
console.log('+', i, vrednost)
|
||||
}
|
||||
*/
|
||||
const neg = (Math.random() > 0.5) ? 1 : -1
|
||||
//console.log(offset, vrednost, neg)
|
||||
koti[koti.length - (i * 10 + offset)] += vrednost / 50 * neg
|
||||
}
|
||||
|
||||
|
||||
// In priblizamo osnovni geometriji
|
||||
for (var i = 0; i < koti.length; i++) {
|
||||
// Tole zamika cel kegel stran @TODO
|
||||
//koti[i] = (geo.attributes.position.array[i] - koti[i]) * 0.75;
|
||||
koti[i] = (geo.attributes.position.array[i] - koti[i]) * 0.75;
|
||||
}
|
||||
|
||||
obj.geometry.attributes.position.needsUpdate = true;
|
||||
});
|
||||
// Ce jih je prevec, pucaj
|
||||
while (dodatniObjekti.length > 100) {
|
||||
scene.remove(dodatniObjekti[0]);
|
||||
dodatniObjekti.shift();
|
||||
}
|
||||
|
||||
dodatniObjekti.map(function (obj) {
|
||||
// Apliciramo rotacijo (po quaternionih - eulerji zajebavajo.)
|
||||
qObj = qWW.clone();
|
||||
//qObj.multiply(obj.qStart).multiply(qStart);
|
||||
//obj.setRotationFromQuaternion(qObj);
|
||||
|
||||
obj.translateOnAxis(obj.premakniAxis, obj.premakniKolicina);
|
||||
|
||||
// obj.material.color.offsetHSL(0, 0, 0.003);
|
||||
obj.material.opacity *= 0.998;
|
||||
obj.premakniKolicina *= 0.98;
|
||||
|
||||
var dQ = obj.quaternion.multiply(obj.rotirajQ);
|
||||
/*
|
||||
dQ.multiply(obj.rotirajQ);
|
||||
obj.setRotationFromQuaternion(dQ);
|
||||
*/
|
||||
|
||||
/*
|
||||
obj.premakni.x *= 1.1;
|
||||
obj.premakni.y *= 1.1;
|
||||
obj.premakni.z *= 1.1;
|
||||
*/
|
||||
obj.material.opacity *= 0.98;
|
||||
});
|
||||
|
||||
barvaKrogleO.offsetHSL(-(2/1000), 0, 0);
|
||||
krogle.map(function (obj) {
|
||||
obj.material.opacity *= 0.98;
|
||||
var scaleF = 0.05;
|
||||
obj.scale.x += scaleF;
|
||||
obj.scale.y += scaleF;
|
||||
obj.scale.z += scaleF;
|
||||
});
|
||||
|
||||
// Kalibracija rotacije kegla
|
||||
if (calibrate) {
|
||||
qStart = qWW.clone();
|
||||
qStart.conjugate();
|
||||
calibrate = false;
|
||||
console.log("RESET!");
|
||||
}
|
||||
|
||||
|
||||
// rotiramo skupino da se vidi
|
||||
//skupina.rotation.x += 0.003;
|
||||
//skupina.rotation.y += 0.005;
|
||||
//skupina.rotation.z += 0.007;
|
||||
|
||||
if (kegel.scale.x > 1) {
|
||||
kegel.scale.x *= 0.95;
|
||||
}
|
||||
|
||||
if (kegel.scale.z > 1) {
|
||||
kegel.scale.z *= 0.95;
|
||||
}
|
||||
|
||||
// kegel.material.color.offsetHSL(2 / 1000, 0, 0);
|
||||
|
||||
// Dupliranje keglov
|
||||
if (kegli) {
|
||||
var vsota = Math.abs(accX) + Math.abs(accZ)
|
||||
if (vsota > 2 && !cakajDodatni) {
|
||||
cakajDodatni = true
|
||||
var dodatni = kegel.clone();
|
||||
dodatni.renderOrder = stevec;
|
||||
var dodatniMat = kegel.material.clone();
|
||||
//var dodatniBarva = barvaDodatni.clone();
|
||||
var bId = izbranKegel == 0 ? 0 : 1
|
||||
var dodatniBarva = new THREE.Color(barvnePalete[bId][barvnePaleteIdx[bId]])
|
||||
dodatniMat.color = dodatniBarva;
|
||||
dodatni.material = dodatniMat;
|
||||
dodatni.premakniAxis = new THREE.Vector3(
|
||||
Math.random(),
|
||||
Math.random(),
|
||||
Math.random()
|
||||
);
|
||||
dodatni.premakniKolicina = vsota;
|
||||
var rQ = qWW.clone();
|
||||
rQ.invert();
|
||||
rQ.multiply(qPrej);
|
||||
dodatni.rotirajQ = rQ;
|
||||
|
||||
//dodatni.qStart = kegel.quaternion.clone();
|
||||
dodatniObjekti.push(dodatni);
|
||||
scene.add(dodatni);
|
||||
barvnePaleteIdx[bId] = (barvnePaleteIdx[bId] + 1) % barvnePalete[bId].length;
|
||||
}
|
||||
if (cakajDodatni && vsota < 1) {
|
||||
cakajDodatni = false
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
// Inicializiraj
|
||||
document.onreadystatechange = function () {
|
||||
if (document.readyState === 'complete') {
|
||||
document.getElementById("anim-container").appendChild(renderer.domElement);
|
||||
render();
|
||||
}
|
||||
};
|
||||
|
||||
// Lep risajz
|
||||
function onWindowResize() {
|
||||
camera.aspect = window.innerWidth / window.innerHeight;
|
||||
camera.updateProjectionMatrix();
|
||||
renderer.setSize(window.innerWidth, window.innerHeight);
|
||||
}
|
||||
window.addEventListener('resize', onWindowResize, false);
|
||||
|
||||
|
||||
// Poslusaj OSC evente
|
||||
var keysPressed = [0, 0, 0, 0];
|
||||
|
||||
const getVal = function (msg) {
|
||||
return msg.value;
|
||||
}
|
||||
var prepend = `/ww/0/ww/${izbranKegel}`;
|
||||
console.log('prepend!', prepend);
|
||||
|
||||
var oscCallbacks = {};
|
||||
|
||||
oscCallbacks[`${prepend}'/keys`] = function(args) {
|
||||
keysPressed = args.map(getVal);
|
||||
};
|
||||
oscCallbacks[`${prepend}/quaternion`] = function (args) {
|
||||
// Popravimo osi (w x y z po defaultu HMM)
|
||||
[qPrej.w, qPrej.x, qPrej.y, qPrej.z] = [qWW.w, qWW.x, qWW.y, qWW.z];
|
||||
[qWW.w, qWW.x, qWW.y, qWW.z] = args.map(getVal);
|
||||
};
|
||||
oscCallbacks[`${prepend}/accel`] = function (args) {
|
||||
[accX, accY, accZ] = args.map(getVal);
|
||||
};
|
||||
oscCallbacks[`${prepend}/gyro`] = function (args) {
|
||||
[rotacijaX, rotacijaY, rotacijaZ] = args.map(getVal);
|
||||
};
|
||||
oscCallbacks['/ww/calibrate'] = function () {
|
||||
calibrate = true;
|
||||
};
|
||||
oscCallbacks['/ww/reload'] = function () {
|
||||
window.location.reload();
|
||||
};
|
||||
oscCallbacks['/ww/zoom'] = args => {
|
||||
const [kolicina] = args.map(getVal)
|
||||
spremeniZoom(kolicina)
|
||||
}
|
||||
oscCallbacks['/ww/deformiraj'] = args => {
|
||||
const [kolicina] = args.map(getVal)
|
||||
spremeniDeformiraj(kolicina)
|
||||
}
|
||||
oscCallbacks['/ww/kegli'] = args => {
|
||||
const [ali] = args.map(getVal)
|
||||
kegli = ali
|
||||
}
|
||||
oscCallbacks['/ww/zogice'] = args => {
|
||||
const [ali] = args.map(getVal)
|
||||
zogice = ali
|
||||
}
|
||||
function zogicaCB(args) {
|
||||
console.log("MAMOMO MIDI!", args[0].value, args[1].value, args[2].value);
|
||||
var minus = (izbranKegel == 1) ? -1 : 1;
|
||||
// kegel.material.color.offsetHSL(minus * args[2].value / 1000, 0, 0);
|
||||
barvaDodatni.offsetHSL(minus * args[2].value / 1000, 0, 0);
|
||||
|
||||
|
||||
if (Math.random() < 0.5) {
|
||||
kegel.scale.x *= 2;
|
||||
} else {
|
||||
kegel.scale.z *= 2;
|
||||
}
|
||||
|
||||
//kegel.scale.y *= 1 + (args[2] / 100000);
|
||||
//kegel.scale.z *= 1 + (args[2] / 100000);
|
||||
|
||||
if (zogice) {
|
||||
novaKrogla();
|
||||
var bId = izbranKegel == 0 ? 2 : 3
|
||||
console.log('id barve:', bId)
|
||||
barvnePaleteIdx[bId] = (barvnePaleteIdx[bId] + 1) % barvnePalete[bId].length;
|
||||
}
|
||||
|
||||
napihni = 3
|
||||
}
|
||||
|
||||
oscCallbacks['/midi-in/0'] = zogicaCB
|
||||
|
||||
const kbdPressed = {
|
||||
a: false,
|
||||
s: false,
|
||||
d: false,
|
||||
f: false,
|
||||
c: false
|
||||
};
|
||||
|
||||
window.addEventListener('keydown', e => {
|
||||
kbdPressed[e.key] = true
|
||||
})
|
||||
|
||||
window.addEventListener('keyup', e => {
|
||||
if (e.key in kbdPressed) {
|
||||
kbdPressed[e.key] = false
|
||||
}
|
||||
})
|
||||
|
||||
window.addEventListener('mousedown', e => {
|
||||
e.preventDefault()
|
||||
switch (e.button) {
|
||||
case 0:
|
||||
kbdPressed['miska'] = true
|
||||
|
||||
if (!analiziramZvok) {
|
||||
zacniAnalizo()
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
kbdPressed['miskaD'] = true
|
||||
}
|
||||
return false
|
||||
})
|
||||
window.addEventListener('mouseup', e => {
|
||||
if ('miska' in kbdPressed) {
|
||||
kbdPressed['miska'] = false
|
||||
}
|
||||
if ('miskaD' in kbdPressed) {
|
||||
kbdPressed['miskaD'] = false
|
||||
}
|
||||
})
|
||||
|
||||
var skrolam = false;
|
||||
var zadnjiSkrol = 0;
|
||||
window.addEventListener('mousemove', e => {
|
||||
if (kbdPressed['miska']) {
|
||||
const sprememba = (e.movementX + e.movementY) / 10
|
||||
|
||||
spremeniZoom(sprememba)
|
||||
const args = [{
|
||||
type: "f",
|
||||
value: sprememba
|
||||
}];
|
||||
sendAll('/ww/zoom', args)
|
||||
}
|
||||
if (kbdPressed['miskaD']) {
|
||||
const sprememba = (e.movementX + e.movementY) / 10
|
||||
|
||||
spremeniDeformiraj(sprememba)
|
||||
const args = [{
|
||||
type: "f",
|
||||
value: sprememba
|
||||
}];
|
||||
sendAll('/ww/deformiraj', args)
|
||||
}
|
||||
})
|
||||
|
||||
// Zacni audio analizo
|
||||
function zacniAnalizo() {
|
||||
if (!analiziramZvok) {
|
||||
// Analiza zvoka
|
||||
const audioCtx = new AudioContext()
|
||||
const mikrofon = navigator.mediaDevices.getUserMedia({ audio: true }).then(
|
||||
(stream) => {
|
||||
|
||||
const source = audioCtx.createMediaStreamSource(stream)
|
||||
|
||||
analyser = audioCtx.createAnalyser()
|
||||
analyser.minDecibels = -90;
|
||||
analyser.maxDecibels = -10;
|
||||
analyser.smoothingTimeConstant = 0.85;
|
||||
analyser.fftSize = fftSize
|
||||
source.connect(analyser)
|
||||
//analyser.connect(audioCtx.destination)
|
||||
},
|
||||
() => {
|
||||
console.log('napaka nalaganja mikrofona', arguments)
|
||||
analiziramZvok = false
|
||||
}
|
||||
)
|
||||
|
||||
analiziramZvok = true
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,180 @@
|
|||
#include "SLIPEncodedBluetoothSerial.h"
|
||||
#include "BluetoothSerial.h"
|
||||
|
||||
/*
|
||||
CONSTRUCTOR
|
||||
*/
|
||||
//instantiate with the tranmission layer
|
||||
//use BluetoothSerial
|
||||
SLIPEncodedBluetoothSerial::SLIPEncodedBluetoothSerial(BluetoothSerial &s){
|
||||
serial = &s;
|
||||
rstate = CHAR;
|
||||
}
|
||||
|
||||
static const uint8_t eot = 0300;
|
||||
static const uint8_t slipesc = 0333;
|
||||
static const uint8_t slipescend = 0334;
|
||||
static const uint8_t slipescesc = 0335;
|
||||
/*
|
||||
SERIAL METHODS
|
||||
*/
|
||||
bool SLIPEncodedBluetoothSerial::endofPacket()
|
||||
{
|
||||
if(rstate == SECONDEOT)
|
||||
{
|
||||
rstate = CHAR;
|
||||
return true;
|
||||
}
|
||||
if (rstate==FIRSTEOT)
|
||||
{
|
||||
if(serial->available())
|
||||
{
|
||||
uint8_t c =serial->peek();
|
||||
if(c==eot)
|
||||
{
|
||||
serial->read(); // throw it on the floor
|
||||
}
|
||||
}
|
||||
rstate = CHAR;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
int SLIPEncodedBluetoothSerial::available(){
|
||||
back:
|
||||
int cnt = serial->available();
|
||||
|
||||
if(cnt==0)
|
||||
return 0;
|
||||
if(rstate==CHAR)
|
||||
{
|
||||
uint8_t c =serial->peek();
|
||||
if(c==slipesc)
|
||||
{
|
||||
rstate = SLIPESC;
|
||||
serial->read(); // throw it on the floor
|
||||
goto back;
|
||||
}
|
||||
else if( c==eot)
|
||||
{
|
||||
rstate = FIRSTEOT;
|
||||
serial->read(); // throw it on the floor
|
||||
goto back;
|
||||
}
|
||||
return 1; // we may have more but this is the only sure bet
|
||||
}
|
||||
else if(rstate==SLIPESC)
|
||||
return 1;
|
||||
else if(rstate==FIRSTEOT)
|
||||
{
|
||||
if(serial->peek()==eot)
|
||||
{
|
||||
rstate = SECONDEOT;
|
||||
serial->read(); // throw it on the floor
|
||||
return 0;
|
||||
}
|
||||
rstate = CHAR;
|
||||
}else if (rstate==SECONDEOT) {
|
||||
rstate = CHAR;
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
//reads a byte from the buffer
|
||||
int SLIPEncodedBluetoothSerial::read(){
|
||||
back:
|
||||
uint8_t c = serial->read();
|
||||
if(rstate==CHAR)
|
||||
{
|
||||
if(c==slipesc)
|
||||
{
|
||||
rstate=SLIPESC;
|
||||
goto back;
|
||||
}
|
||||
else if(c==eot){
|
||||
|
||||
return -1; // xxx this is an error
|
||||
}
|
||||
return c;
|
||||
}
|
||||
else
|
||||
if(rstate==SLIPESC)
|
||||
{
|
||||
rstate=CHAR;
|
||||
if(c==slipescend)
|
||||
return eot;
|
||||
else if(c==slipescesc)
|
||||
return slipesc;
|
||||
else {
|
||||
// insert some error code here
|
||||
return -1;
|
||||
}
|
||||
|
||||
}
|
||||
else
|
||||
return -1;
|
||||
}
|
||||
|
||||
// as close as we can get to correct behavior
|
||||
int SLIPEncodedBluetoothSerial::peek(){
|
||||
uint8_t c = serial->peek();
|
||||
if(rstate==SLIPESC)
|
||||
{
|
||||
if(c==slipescend)
|
||||
return eot;
|
||||
else if(c==slipescesc)
|
||||
return slipesc;
|
||||
}
|
||||
return c;
|
||||
}
|
||||
|
||||
//the arduino and wiring libraries have different return types for the write function
|
||||
#if defined(WIRING) || defined(BOARD_DEFS_H)
|
||||
|
||||
//encode SLIP
|
||||
void SLIPEncodedBluetoothSerial::write(uint8_t b){
|
||||
if(b == eot){
|
||||
serial->write(slipesc);
|
||||
return serial->write(slipescend);
|
||||
} else if(b==slipesc) {
|
||||
serial->write(slipesc);
|
||||
return serial->write(slipescesc);
|
||||
} else {
|
||||
return serial->write(b);
|
||||
}
|
||||
}
|
||||
void SLIPEncodedBluetoothSerial::write(const uint8_t *buffer, size_t size) { while(size--) write(*buffer++); }
|
||||
#else
|
||||
//encode SLIP
|
||||
size_t SLIPEncodedBluetoothSerial::write(uint8_t b){
|
||||
if(b == eot){
|
||||
serial->write(slipesc);
|
||||
return serial->write(slipescend);
|
||||
} else if(b==slipesc) {
|
||||
serial->write(slipesc);
|
||||
return serial->write(slipescesc);
|
||||
} else {
|
||||
return serial->write(b);
|
||||
}
|
||||
}
|
||||
size_t SLIPEncodedBluetoothSerial::write(const uint8_t *buffer, size_t size) { size_t result=0; while(size--) result = write(*buffer++); return result; }
|
||||
|
||||
#endif
|
||||
|
||||
void SLIPEncodedBluetoothSerial::begin(String name){
|
||||
serial->begin(name);
|
||||
}
|
||||
//SLIP specific method which begins a transmitted packet
|
||||
void SLIPEncodedBluetoothSerial::beginPacket() { serial->write(eot); }
|
||||
|
||||
//signify the end of the packet with an EOT
|
||||
void SLIPEncodedBluetoothSerial::endPacket(){
|
||||
serial->write(eot);
|
||||
|
||||
}
|
||||
|
||||
void SLIPEncodedBluetoothSerial::flush(){
|
||||
serial->flush();
|
||||
}
|
||||
|
|
@ -0,0 +1,62 @@
|
|||
/*
|
||||
Extends the Serial class to encode SLIP over serial
|
||||
*/
|
||||
|
||||
#ifndef SLIPEncodedBluetoothSerial_h
|
||||
#define SLIPEncodedBluetoothSerial_h
|
||||
|
||||
|
||||
#include "Arduino.h"
|
||||
#include <Stream.h>
|
||||
#include "BluetoothSerial.h"
|
||||
|
||||
|
||||
class SLIPEncodedBluetoothSerial: public Stream{
|
||||
|
||||
private:
|
||||
enum erstate {CHAR, FIRSTEOT, SECONDEOT, SLIPESC } rstate;
|
||||
|
||||
//the serial port used
|
||||
BluetoothSerial * serial;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//the serial port used
|
||||
SLIPEncodedBluetoothSerial(BluetoothSerial & );
|
||||
|
||||
|
||||
int available();
|
||||
int read();
|
||||
int peek();
|
||||
void flush();
|
||||
|
||||
//same as Serial.begin
|
||||
void begin(String);
|
||||
|
||||
//SLIP specific method which begins a transmitted packet
|
||||
void beginPacket();
|
||||
|
||||
//SLIP specific method which ends a transmittedpacket
|
||||
void endPacket();
|
||||
// SLIP specific method which indicates that an EOT was received
|
||||
bool endofPacket();
|
||||
|
||||
|
||||
//the arduino and wiring libraries have different return types for the write function
|
||||
#if defined(WIRING) || defined(BOARD_DEFS_H)
|
||||
void write(uint8_t b);
|
||||
void write(const uint8_t *buffer, size_t size);
|
||||
|
||||
#else
|
||||
//overrides the Stream's write function to encode SLIP
|
||||
size_t write(uint8_t b);
|
||||
size_t write(const uint8_t *buffer, size_t size);
|
||||
|
||||
//using Print::write;
|
||||
#endif
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,190 @@
|
|||
// ESP32 Dev Module
|
||||
|
||||
#include <Wire.h>
|
||||
|
||||
// ID kegla mora bit unikaten za vsakega! (se poslje poleg parametrov)
|
||||
#define KEGEL_ID 2
|
||||
|
||||
// IMU libraries
|
||||
#include "I2Cdev.h"
|
||||
#include "RTIMUSettings.h"
|
||||
#include "RTIMU.h"
|
||||
#include "RTFusionRTQF.h"
|
||||
#include "CalLib.h"
|
||||
#include <EEPROM.h>
|
||||
|
||||
//#include "RTMath.h"
|
||||
|
||||
|
||||
#include <esp_now.h>
|
||||
#include <WiFi.h>
|
||||
|
||||
uint8_t sprejemnikMac[] = {0x08, 0x3A, 0xF2, 0x50, 0xEF, 0x6C };
|
||||
|
||||
typedef struct sensor_msg {
|
||||
int id;
|
||||
RTFLOAT aX;
|
||||
RTFLOAT aY;
|
||||
RTFLOAT aZ;
|
||||
RTFLOAT qX;
|
||||
RTFLOAT qY;
|
||||
RTFLOAT qZ;
|
||||
RTFLOAT qW;
|
||||
}sensor_msg;
|
||||
|
||||
sensor_msg odcitek;
|
||||
esp_now_peer_info_t peerInfo;
|
||||
|
||||
#define DISPLAY_INTERVAL 5 // interval between pose displays
|
||||
|
||||
// Motion sensor objects
|
||||
RTIMU *imu; // the IMU object
|
||||
RTFusionRTQF fusion; // the fusion object
|
||||
RTIMUSettings settings; // the settings object
|
||||
|
||||
unsigned long lastDisplay;
|
||||
unsigned long lastRate;
|
||||
int sampleCount;
|
||||
RTQuaternion gravity;
|
||||
|
||||
bool reset; // For quaternion calibration
|
||||
|
||||
void setup() {
|
||||
int errcode;
|
||||
|
||||
// Basic(debug) serial init
|
||||
Serial.begin(115200);
|
||||
//Serial.begin(115200); // set this as high as you can reliably run on your platform
|
||||
Serial.println("Starting up...");
|
||||
|
||||
// Init EEPROM based on magnet calibration size requirement
|
||||
EEPROM.begin(512);
|
||||
|
||||
// I2C init
|
||||
Wire.begin();
|
||||
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
|
||||
|
||||
// create the imu object
|
||||
imu = RTIMU::createIMU(&settings);
|
||||
|
||||
Serial.print("ArduinoIMU starting using device "); Serial.println(imu->IMUName());
|
||||
if ((errcode = imu->IMUInit()) < 0) {
|
||||
Serial.print("Failed to init IMU: "); Serial.println(errcode);
|
||||
}
|
||||
|
||||
|
||||
if (imu->getCalibrationValid())
|
||||
Serial.println("Using compass calibration");
|
||||
else
|
||||
Serial.println("No valid compass calibration data");
|
||||
|
||||
// Gravity obj
|
||||
gravity.setScalar(0);
|
||||
gravity.setX(0);
|
||||
gravity.setY(0);
|
||||
gravity.setZ(1);
|
||||
/*
|
||||
fusion.setSlerpPower(0.02);
|
||||
fusion.setGyroEnable(true);
|
||||
fusion.setAccelEnable(true);
|
||||
fusion.setCompassEnable(true);
|
||||
*/
|
||||
|
||||
lastDisplay = lastRate = millis();
|
||||
sampleCount = 0;
|
||||
|
||||
// WIFI init
|
||||
WiFi.mode(WIFI_STA);
|
||||
if (esp_now_init() != ESP_OK) {
|
||||
Serial.println("Error initializing ESP-NOW");
|
||||
return;
|
||||
}
|
||||
|
||||
//esp_now_register_send_cb(paketPoslan);
|
||||
|
||||
memcpy(peerInfo.peer_addr, sprejemnikMac, 6);
|
||||
peerInfo.channel = 0;
|
||||
peerInfo.encrypt = false;
|
||||
|
||||
if (esp_now_add_peer(&peerInfo) != ESP_OK){
|
||||
Serial.println("WIFI registracija ni uspela");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
void paketPoslan(const uint8_t *mac_addr, esp_now_send_status_t status) {
|
||||
Serial.print("\r\nStanje poslanega paketa:\t");
|
||||
if (status == ESP_NOW_SEND_SUCCESS) {
|
||||
Serial.println("Uspesno poslano!");
|
||||
} else {
|
||||
Serial.println("Napaka pri posiljanju...");
|
||||
}
|
||||
}
|
||||
|
||||
void loop() {
|
||||
unsigned long now = millis();
|
||||
unsigned long delta;
|
||||
RTVector3 realAccel;
|
||||
RTQuaternion rotatedGravity;
|
||||
RTQuaternion fusedConjugate;
|
||||
RTQuaternion qTemp;
|
||||
int loopCount = 0;
|
||||
|
||||
// get the latest data if ready yet
|
||||
while (imu->IMURead()) {
|
||||
// this flushes remaining data in case we are falling behind
|
||||
if (++loopCount >= 10)
|
||||
continue;
|
||||
|
||||
fusion.newIMUData(imu->getGyro(), imu->getAccel(), imu->getCompass(), imu->getTimestamp());
|
||||
|
||||
// do gravity rotation and subtraction
|
||||
|
||||
// create the conjugate of the pose
|
||||
fusedConjugate = fusion.getFusionQPose().conjugate();
|
||||
|
||||
// now do the rotation - takes two steps with qTemp as the intermediate variable
|
||||
qTemp = gravity * fusion.getFusionQPose();
|
||||
rotatedGravity = fusedConjugate * qTemp;
|
||||
|
||||
// now adjust the measured accel and change the signs to make sense
|
||||
realAccel.setX(-(imu->getAccel().x() - rotatedGravity.x()));
|
||||
realAccel.setY(-(imu->getAccel().y() - rotatedGravity.y()));
|
||||
realAccel.setZ(-(imu->getAccel().z() - rotatedGravity.z()));
|
||||
|
||||
sampleCount++;
|
||||
if ((delta = now - lastRate) >= 1000) {
|
||||
|
||||
//Serial.print("Sample rate: "); Serial.print(sampleCount);
|
||||
if (!imu->IMUGyroBiasValid()) {
|
||||
// Serial.println(", calculating gyro bias");
|
||||
} else {
|
||||
// Serial.println();
|
||||
}
|
||||
|
||||
sampleCount = 0;
|
||||
lastRate = now;
|
||||
}
|
||||
|
||||
if ((now - lastDisplay) >= DISPLAY_INTERVAL) {
|
||||
lastDisplay = now;
|
||||
|
||||
odcitek.id = KEGEL_ID;
|
||||
odcitek.aX = realAccel.x();
|
||||
odcitek.aY = realAccel.y();
|
||||
odcitek.aZ = realAccel.z();
|
||||
odcitek.qX = fusion.getFusionQPose().x();
|
||||
odcitek.qY = fusion.getFusionQPose().y();
|
||||
odcitek.qZ = fusion.getFusionQPose().z();
|
||||
odcitek.qW = fusion.getFusionQPose().scalar();
|
||||
|
||||
esp_err_t result = esp_now_send(sprejemnikMac, (uint8_t *) &odcitek, sizeof(odcitek));
|
||||
|
||||
if (result == ESP_OK) {
|
||||
Serial.println("Uspesno poslano");
|
||||
} else {
|
||||
Serial.println("Napaka pri posiljanju");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue