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Arduino prototypes, license, 3d models, documentation

eulerConversion
Jurij Podgoršek 2021-08-14 15:19:56 +02:00
parent d868c657a0
commit 2151e54753
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25
8266/#8266.org# 100644
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#+TITLE: 8266 demo za projekt na pifcampu
* Arduino intro:
https://create.arduino.cc/projecthub/electropeak/getting-started-w-nodemcu-esp8266-on-arduino-ide-28184f
* Arduino kbd matrika:
https://www.baldengineer.com/arduino-keyboard-matrix-tutorial.html
* GY-521 howto
https://create.arduino.cc/projecthub/Nicholas_N/how-to-use-the-accelerometer-gyroscope-gy-521-6dfc19
Daljsi tutorial:
https://olivertechnologydevelopment.wordpress.com/2017/08/17/esp8266-sensor-series-gy-521-imu-part-1/
* ModriZob
https://randomnerdtutorials.com/esp32-bluetooth-classic-arduino-ide/
https://github.com/espressif/arduino-esp32/tree/master/libraries/BluetoothSerial
https://randomnerdtutorials.com/esp32-bluetooth-classic-arduino-ide/
* OSC
https://github.com/CNMAT/OSC
* high level MPU-6050
*/
jjkkjkjk

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IMU_Zero/IMU_Zero/IMU_Zero.ino 100644
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// MPU6050 offset-finder, based on Jeff Rowberg's MPU6050_RAW
// 2016-10-19 by Robert R. Fenichel (bob@fenichel.net)
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class
// 10/7/2011 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
// 2019-07-11 - added PID offset generation at begninning Generates first offsets
// - in @ 6 seconds and completes with 4 more sets @ 10 seconds
// - then continues with origional 2016 calibration code.
// 2016-11-25 - added delays to reduce sampling rate to ~200 Hz
// added temporizing printing during long computations
// 2016-10-25 - requires inequality (Low < Target, High > Target) during expansion
// dynamic speed change when closing in
// 2016-10-22 - cosmetic changes
// 2016-10-19 - initial release of IMU_Zero
// 2013-05-08 - added multiple output formats
// - added seamless Fastwire support
// 2011-10-07 - initial release of MPU6050_RAW
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2011 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.
If an MPU6050
* is an ideal member of its tribe,
* is properly warmed up,
* is at rest in a neutral position,
* is in a location where the pull of gravity is exactly 1g, and
* has been loaded with the best possible offsets,
then it will report 0 for all accelerations and displacements, except for
Z acceleration, for which it will report 16384 (that is, 2^14). Your device
probably won't do quite this well, but good offsets will all get the baseline
outputs close to these target values.
Put the MPU6050 on a flat and horizontal surface, and leave it operating for
5-10 minutes so its temperature gets stabilized.
Run this program. A "----- done -----" line will indicate that it has done its best.
With the current accuracy-related constants (NFast = 1000, NSlow = 10000), it will take
a few minutes to get there.
Along the way, it will generate a dozen or so lines of output, showing that for each
of the 6 desired offsets, it is
* first, trying to find two estimates, one too low and one too high, and
* then, closing in until the bracket can't be made smaller.
The line just above the "done" line will look something like
[567,567] --> [-1,2] [-2223,-2223] --> [0,1] [1131,1132] --> [16374,16404] [155,156] --> [-1,1] [-25,-24] --> [0,3] [5,6] --> [0,4]
As will have been shown in interspersed header lines, the six groups making up this
line describe the optimum offsets for the X acceleration, Y acceleration, Z acceleration,
X gyro, Y gyro, and Z gyro, respectively. In the sample shown just above, the trial showed
that +567 was the best offset for the X acceleration, -2223 was best for Y acceleration,
and so on.
The need for the delay between readings (usDelay) was brought to my attention by Nikolaus Doppelhammer.
===============================================
*/
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"
#include "MPU6050.h"
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 accelgyro;
//MPU6050 accelgyro(0x69); // <-- use for AD0 high
const char LBRACKET = '[';
const char RBRACKET = ']';
const char COMMA = ',';
const char BLANK = ' ';
const char PERIOD = '.';
const int iAx = 0;
const int iAy = 1;
const int iAz = 2;
const int iGx = 3;
const int iGy = 4;
const int iGz = 5;
const int usDelay = 3150; // empirical, to hold sampling to 200 Hz
const int NFast = 1000; // the bigger, the better (but slower)
const int NSlow = 10000; // ..
const int LinesBetweenHeaders = 5;
int LowValue[6];
int HighValue[6];
int Smoothed[6];
int LowOffset[6];
int HighOffset[6];
int Target[6];
int LinesOut;
int N;
void ForceHeader()
{ LinesOut = 99; }
void GetSmoothed()
{ int16_t RawValue[6];
int i;
long Sums[6];
for (i = iAx; i <= iGz; i++)
{ Sums[i] = 0; }
// unsigned long Start = micros();
for (i = 1; i <= N; i++)
{ // get sums
accelgyro.getMotion6(&RawValue[iAx], &RawValue[iAy], &RawValue[iAz],
&RawValue[iGx], &RawValue[iGy], &RawValue[iGz]);
if ((i % 500) == 0)
Serial.print(PERIOD);
delayMicroseconds(usDelay);
for (int j = iAx; j <= iGz; j++)
Sums[j] = Sums[j] + RawValue[j];
} // get sums
// unsigned long usForN = micros() - Start;
// Serial.print(" reading at ");
// Serial.print(1000000/((usForN+N/2)/N));
// Serial.println(" Hz");
for (i = iAx; i <= iGz; i++)
{ Smoothed[i] = (Sums[i] + N/2) / N ; }
} // GetSmoothed
void Initialize()
{
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(9600);
// initialize device
Serial.println("Initializing I2C devices...");
accelgyro.initialize();
// verify connection
Serial.println("Testing device connections...");
Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
Serial.println("PID tuning Each Dot = 100 readings");
/*A tidbit on how PID (PI actually) tuning works.
When we change the offset in the MPU6050 we can get instant results. This allows us to use Proportional and
integral of the PID to discover the ideal offsets. Integral is the key to discovering these offsets, Integral
uses the error from set-point (set-point is zero), it takes a fraction of this error (error * ki) and adds it
to the integral value. Each reading narrows the error down to the desired offset. The greater the error from
set-point, the more we adjust the integral value. The proportional does its part by hiding the noise from the
integral math. The Derivative is not used because of the noise and because the sensor is stationary. With the
noise removed the integral value lands on a solid offset after just 600 readings. At the end of each set of 100
readings, the integral value is used for the actual offsets and the last proportional reading is ignored due to
the fact it reacts to any noise.
*/
accelgyro.CalibrateAccel(6);
accelgyro.CalibrateGyro(6);
Serial.println("\nat 600 Readings");
accelgyro.PrintActiveOffsets();
Serial.println();
accelgyro.CalibrateAccel(1);
accelgyro.CalibrateGyro(1);
Serial.println("700 Total Readings");
accelgyro.PrintActiveOffsets();
Serial.println();
accelgyro.CalibrateAccel(1);
accelgyro.CalibrateGyro(1);
Serial.println("800 Total Readings");
accelgyro.PrintActiveOffsets();
Serial.println();
accelgyro.CalibrateAccel(1);
accelgyro.CalibrateGyro(1);
Serial.println("900 Total Readings");
accelgyro.PrintActiveOffsets();
Serial.println();
accelgyro.CalibrateAccel(1);
accelgyro.CalibrateGyro(1);
Serial.println("1000 Total Readings");
accelgyro.PrintActiveOffsets();
Serial.println("\n\n Any of the above offsets will work nice \n\n Lets proof the PID tuning using another method:");
} // Initialize
void SetOffsets(int TheOffsets[6])
{ accelgyro.setXAccelOffset(TheOffsets [iAx]);
accelgyro.setYAccelOffset(TheOffsets [iAy]);
accelgyro.setZAccelOffset(TheOffsets [iAz]);
accelgyro.setXGyroOffset (TheOffsets [iGx]);
accelgyro.setYGyroOffset (TheOffsets [iGy]);
accelgyro.setZGyroOffset (TheOffsets [iGz]);
} // SetOffsets
void ShowProgress()
{ if (LinesOut >= LinesBetweenHeaders)
{ // show header
Serial.println("\tXAccel\t\t\tYAccel\t\t\t\tZAccel\t\t\tXGyro\t\t\tYGyro\t\t\tZGyro");
LinesOut = 0;
} // show header
Serial.print(BLANK);
for (int i = iAx; i <= iGz; i++)
{ Serial.print(LBRACKET);
Serial.print(LowOffset[i]),
Serial.print(COMMA);
Serial.print(HighOffset[i]);
Serial.print("] --> [");
Serial.print(LowValue[i]);
Serial.print(COMMA);
Serial.print(HighValue[i]);
if (i == iGz)
{ Serial.println(RBRACKET); }
else
{ Serial.print("]\t"); }
}
LinesOut++;
} // ShowProgress
void PullBracketsIn()
{ boolean AllBracketsNarrow;
boolean StillWorking;
int NewOffset[6];
Serial.println("\nclosing in:");
AllBracketsNarrow = false;
ForceHeader();
StillWorking = true;
while (StillWorking)
{ StillWorking = false;
if (AllBracketsNarrow && (N == NFast))
{ SetAveraging(NSlow); }
else
{ AllBracketsNarrow = true; }// tentative
for (int i = iAx; i <= iGz; i++)
{ if (HighOffset[i] <= (LowOffset[i]+1))
{ NewOffset[i] = LowOffset[i]; }
else
{ // binary search
StillWorking = true;
NewOffset[i] = (LowOffset[i] + HighOffset[i]) / 2;
if (HighOffset[i] > (LowOffset[i] + 10))
{ AllBracketsNarrow = false; }
} // binary search
}
SetOffsets(NewOffset);
GetSmoothed();
for (int i = iAx; i <= iGz; i++)
{ // closing in
if (Smoothed[i] > Target[i])
{ // use lower half
HighOffset[i] = NewOffset[i];
HighValue[i] = Smoothed[i];
} // use lower half
else
{ // use upper half
LowOffset[i] = NewOffset[i];
LowValue[i] = Smoothed[i];
} // use upper half
} // closing in
ShowProgress();
} // still working
} // PullBracketsIn
void PullBracketsOut()
{ boolean Done = false;
int NextLowOffset[6];
int NextHighOffset[6];
Serial.println("expanding:");
ForceHeader();
while (!Done)
{ Done = true;
SetOffsets(LowOffset);
GetSmoothed();
for (int i = iAx; i <= iGz; i++)
{ // got low values
LowValue[i] = Smoothed[i];
if (LowValue[i] >= Target[i])
{ Done = false;
NextLowOffset[i] = LowOffset[i] - 1000;
}
else
{ NextLowOffset[i] = LowOffset[i]; }
} // got low values
SetOffsets(HighOffset);
GetSmoothed();
for (int i = iAx; i <= iGz; i++)
{ // got high values
HighValue[i] = Smoothed[i];
if (HighValue[i] <= Target[i])
{ Done = false;
NextHighOffset[i] = HighOffset[i] + 1000;
}
else
{ NextHighOffset[i] = HighOffset[i]; }
} // got high values
ShowProgress();
for (int i = iAx; i <= iGz; i++)
{ LowOffset[i] = NextLowOffset[i]; // had to wait until ShowProgress done
HighOffset[i] = NextHighOffset[i]; // ..
}
} // keep going
} // PullBracketsOut
void SetAveraging(int NewN)
{ N = NewN;
Serial.print("averaging ");
Serial.print(N);
Serial.println(" readings each time");
} // SetAveraging
void setup()
{ Initialize();
for (int i = iAx; i <= iGz; i++)
{ // set targets and initial guesses
Target[i] = 0; // must fix for ZAccel
HighOffset[i] = 0;
LowOffset[i] = 0;
} // set targets and initial guesses
Target[iAz] = 16384;
SetAveraging(NFast);
PullBracketsOut();
PullBracketsIn();
Serial.println("-------------- done --------------");
} // setup
void loop()
{
} // loop

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IMU_ZeroBT/IMU_ZeroBT.ino 100644
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// MPU6050 offset-finder, based on Jeff Rowberg's MPU6050_RAW
// 2016-10-19 by Robert R. Fenichel (bob@fenichel.net)
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class
// 10/7/2011 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
// 2019-07-11 - added PID offset generation at begninning Generates first offsets
// - in @ 6 seconds and completes with 4 more sets @ 10 seconds
// - then continues with origional 2016 calibration code.
// 2016-11-25 - added delays to reduce sampling rate to ~200 Hz
// added temporizing printing during long computations
// 2016-10-25 - requires inequality (Low < Target, High > Target) during expansion
// dynamic speed change when closing in
// 2016-10-22 - cosmetic changes
// 2016-10-19 - initial release of IMU_Zero
// 2013-05-08 - added multiple output formats
// - added seamless Fastwire support
// 2011-10-07 - initial release of MPU6050_RAW
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2011 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.
If an MPU6050
* is an ideal member of its tribe,
* is properly warmed up,
* is at rest in a neutral position,
* is in a location where the pull of gravity is exactly 1g, and
* has been loaded with the best possible offsets,
then it will report 0 for all accelerations and displacements, except for
Z acceleration, for which it will report 16384 (that is, 2^14). Your device
probably won't do quite this well, but good offsets will all get the baseline
outputs close to these target values.
Put the MPU6050 on a flat and horizontal surface, and leave it operating for
5-10 minutes so its temperature gets stabilized.
Run this program. A "----- done -----" line will indicate that it has done its best.
With the current accuracy-related constants (NFast = 1000, NSlow = 10000), it will take
a few minutes to get there.
Along the way, it will generate a dozen or so lines of output, showing that for each
of the 6 desired offsets, it is
* first, trying to find two estimates, one too low and one too high, and
* then, closing in until the bracket can't be made smaller.
The line just above the "done" line will look something like
[567,567] --> [-1,2] [-2223,-2223] --> [0,1] [1131,1132] --> [16374,16404] [155,156] --> [-1,1] [-25,-24] --> [0,3] [5,6] --> [0,4]
As will have been shown in interspersed header lines, the six groups making up this
line describe the optimum offsets for the X acceleration, Y acceleration, Z acceleration,
X gyro, Y gyro, and Z gyro, respectively. In the sample shown just above, the trial showed
that +567 was the best offset for the X acceleration, -2223 was best for Y acceleration,
and so on.
The need for the delay between readings (usDelay) was brought to my attention by Nikolaus Doppelhammer.
===============================================
*/
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"
#include "MPU6050.h"
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 accelgyro;
//MPU6050 accelgyro(0x69); // <-- use for AD0 high
#include <BluetoothSerial.h>
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif
BluetoothSerial SerialBT;
const char LBRACKET = '[';
const char RBRACKET = ']';
const char COMMA = ',';
const char BLANK = ' ';
const char PERIOD = '.';
const int iAx = 0;
const int iAy = 1;
const int iAz = 2;
const int iGx = 3;
const int iGy = 4;
const int iGz = 5;
const int usDelay = 3150; // empirical, to hold sampling to 200 Hz
const int NFast = 1000; // the bigger, the better (but slower)
const int NSlow = 10000; // ..
const int LinesBetweenHeaders = 5;
int LowValue[6];
int HighValue[6];
int Smoothed[6];
int LowOffset[6];
int HighOffset[6];
int Target[6];
int LinesOut;
int N;
void ForceHeader()
{ LinesOut = 99; }
void GetSmoothed()
{ int16_t RawValue[6];
int i;
long Sums[6];
for (i = iAx; i <= iGz; i++)
{ Sums[i] = 0; }
// unsigned long Start = micros();
for (i = 1; i <= N; i++)
{ // get sums
accelgyro.getMotion6(&RawValue[iAx], &RawValue[iAy], &RawValue[iAz],
&RawValue[iGx], &RawValue[iGy], &RawValue[iGz]);
if ((i % 500) == 0)
Serial.print(PERIOD);
SerialBT.print(PERIOD);
delayMicroseconds(usDelay);
for (int j = iAx; j <= iGz; j++)
Sums[j] = Sums[j] + RawValue[j];
} // get sums
// unsigned long usForN = micros() - Start;
// Serial.print(" reading at ");
// Serial.print(1000000/((usForN+N/2)/N));
// Serial.println(" Hz");
for (i = iAx; i <= iGz; i++)
{ Smoothed[i] = (Sums[i] + N/2) / N ; }
} // GetSmoothed
void Initialize()
{
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(9600);
SerialBT.begin("WaveyWindCalibration"); //Bluetooth device name
// initialize device
Serial.println("Initializing I2C devices...");
SerialBT.println("Initializing I2C devices...");
accelgyro.initialize();
// verify connection
Serial.println("Testing device connections...");
Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
Serial.println("PID tuning Each Dot = 100 readings");
SerialBT.println("Testing device connections...");
SerialBT.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
SerialBT.println("PID tuning Each Dot = 100 readings");
/*A tidbit on how PID (PI actually) tuning works.
When we change the offset in the MPU6050 we can get instant results. This allows us to use Proportional and
integral of the PID to discover the ideal offsets. Integral is the key to discovering these offsets, Integral
uses the error from set-point (set-point is zero), it takes a fraction of this error (error * ki) and adds it
to the integral value. Each reading narrows the error down to the desired offset. The greater the error from
set-point, the more we adjust the integral value. The proportional does its part by hiding the noise from the
integral math. The Derivative is not used because of the noise and because the sensor is stationary. With the
noise removed the integral value lands on a solid offset after just 600 readings. At the end of each set of 100
readings, the integral value is used for the actual offsets and the last proportional reading is ignored due to
the fact it reacts to any noise.
*/
accelgyro.CalibrateAccel(6);
accelgyro.CalibrateGyro(6);
Serial.println("\nat 600 Readings");
SerialBT.println("\nat 600 Readings");
accelgyro.PrintActiveOffsets();
Serial.println();
SerialBT.println();
accelgyro.CalibrateAccel(1);
accelgyro.CalibrateGyro(1);
Serial.println("700 Total Readings");
SerialBT.println("700 Total Readings");
accelgyro.PrintActiveOffsets();
Serial.println();
SerialBT.println();
accelgyro.CalibrateAccel(1);
accelgyro.CalibrateGyro(1);
Serial.println("800 Total Readings");
Serial.println("800 Total Readings");
accelgyro.PrintActiveOffsets();
Serial.println();
SerialBT.println();
accelgyro.CalibrateAccel(1);
accelgyro.CalibrateGyro(1);
Serial.println("900 Total Readings");
SerialBT.println("900 Total Readings");
accelgyro.PrintActiveOffsets();
Serial.println();
SerialBT.println();
accelgyro.CalibrateAccel(1);
accelgyro.CalibrateGyro(1);
Serial.println("1000 Total Readings");
SerialBT.println("1000 Total Readings");
accelgyro.PrintActiveOffsets();
Serial.println("\n\n Any of the above offsets will work nice \n\n Lets proof the PID tuning using another method:");
SerialBT.println("\n\n Any of the above offsets will work nice \n\n Lets proof the PID tuning using another method:");
} // Initialize
void SetOffsets(int TheOffsets[6])
{ accelgyro.setXAccelOffset(TheOffsets [iAx]);
accelgyro.setYAccelOffset(TheOffsets [iAy]);
accelgyro.setZAccelOffset(TheOffsets [iAz]);
accelgyro.setXGyroOffset (TheOffsets [iGx]);
accelgyro.setYGyroOffset (TheOffsets [iGy]);
accelgyro.setZGyroOffset (TheOffsets [iGz]);
} // SetOffsets
void ShowProgress()
{ if (LinesOut >= LinesBetweenHeaders)
{ // show header
Serial.println("\tXAccel\t\t\tYAccel\t\t\t\tZAccel\t\t\tXGyro\t\t\tYGyro\t\t\tZGyro");
SerialBT.println("\tXAccel\t\t\tYAccel\t\t\t\tZAccel\t\t\tXGyro\t\t\tYGyro\t\t\tZGyro");
LinesOut = 0;
} // show header
Serial.print(BLANK);
SerialBT.print(BLANK);
for (int i = iAx; i <= iGz; i++)
{ Serial.print(LBRACKET);
Serial.print(LowOffset[i]),
Serial.print(COMMA);
Serial.print(HighOffset[i]);
Serial.print("] --> [");
Serial.print(LowValue[i]);
Serial.print(COMMA);
Serial.print(HighValue[i]);
SerialBT.print(LBRACKET);
SerialBT.print(LowOffset[i]),
SerialBT.print(COMMA);
SerialBT.print(HighOffset[i]);
SerialBT.print("] --> [");
SerialBT.print(LowValue[i]);
SerialBT.print(COMMA);
SerialBT.print(HighValue[i]);
if (i == iGz)
{
Serial.println(RBRACKET);
SerialBT.println(RBRACKET);
}
else
{
Serial.print("]\t");
SerialBT.print("]\t");
}
}
LinesOut++;
} // ShowProgress
void PullBracketsIn()
{ boolean AllBracketsNarrow;
boolean StillWorking;
int NewOffset[6];
Serial.println("\nclosing in:");
SerialBT.println("\nclosing in:");
AllBracketsNarrow = false;
ForceHeader();
StillWorking = true;
while (StillWorking)
{ StillWorking = false;
if (AllBracketsNarrow && (N == NFast))
{ SetAveraging(NSlow); }
else
{ AllBracketsNarrow = true; }// tentative
for (int i = iAx; i <= iGz; i++)
{ if (HighOffset[i] <= (LowOffset[i]+1))
{ NewOffset[i] = LowOffset[i]; }
else
{ // binary search
StillWorking = true;
NewOffset[i] = (LowOffset[i] + HighOffset[i]) / 2;
if (HighOffset[i] > (LowOffset[i] + 10))
{ AllBracketsNarrow = false; }
} // binary search
}
SetOffsets(NewOffset);
GetSmoothed();
for (int i = iAx; i <= iGz; i++)
{ // closing in
if (Smoothed[i] > Target[i])
{ // use lower half
HighOffset[i] = NewOffset[i];
HighValue[i] = Smoothed[i];
} // use lower half
else
{ // use upper half
LowOffset[i] = NewOffset[i];
LowValue[i] = Smoothed[i];
} // use upper half
} // closing in
ShowProgress();
} // still working
} // PullBracketsIn
void PullBracketsOut()
{ boolean Done = false;
int NextLowOffset[6];
int NextHighOffset[6];
Serial.println("expanding:");
SerialBT.println("expanding:");
ForceHeader();
while (!Done)
{ Done = true;
SetOffsets(LowOffset);
GetSmoothed();
for (int i = iAx; i <= iGz; i++)
{ // got low values
LowValue[i] = Smoothed[i];
if (LowValue[i] >= Target[i])
{ Done = false;
NextLowOffset[i] = LowOffset[i] - 1000;
}
else
{ NextLowOffset[i] = LowOffset[i]; }
} // got low values
SetOffsets(HighOffset);
GetSmoothed();
for (int i = iAx; i <= iGz; i++)
{ // got high values
HighValue[i] = Smoothed[i];
if (HighValue[i] <= Target[i])
{ Done = false;
NextHighOffset[i] = HighOffset[i] + 1000;
}
else
{ NextHighOffset[i] = HighOffset[i]; }
} // got high values
ShowProgress();
for (int i = iAx; i <= iGz; i++)
{ LowOffset[i] = NextLowOffset[i]; // had to wait until ShowProgress done
HighOffset[i] = NextHighOffset[i]; // ..
}
} // keep going
} // PullBracketsOut
void SetAveraging(int NewN)
{ N = NewN;
Serial.print("averaging ");
Serial.print(N);
Serial.println(" readings each time");
SerialBT.print("averaging ");
SerialBT.print(N);
SerialBT.println(" readings each time");
} // SetAveraging
void setup()
{ Initialize();
for (int i = iAx; i <= iGz; i++)
{ // set targets and initial guesses
Target[i] = 0; // must fix for ZAccel
HighOffset[i] = 0;
LowOffset[i] = 0;
} // set targets and initial guesses
Target[iAz] = 16384;
SetAveraging(NFast);
PullBracketsOut();
PullBracketsIn();
SerialBT.println("-------------- done --------------");
} // setup
void loop()
{
} // loop

661
LICENSE 100644
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@ -0,0 +1,661 @@
GNU AFFERO GENERAL PUBLIC LICENSE
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WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
SUCH DAMAGES.
17. Interpretation of Sections 15 and 16.
If the disclaimer of warranty and limitation of liability provided
above cannot be given local legal effect according to their terms,
reviewing courts shall apply local law that most closely approximates
an absolute waiver of all civil liability in connection with the
Program, unless a warranty or assumption of liability accompanies a
copy of the Program in return for a fee.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Affero General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Affero General Public License for more details.
You should have received a copy of the GNU Affero General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If your software can interact with users remotely through a computer
network, you should also make sure that it provides a way for users to
get its source. For example, if your program is a web application, its
interface could display a "Source" link that leads users to an archive
of the code. There are many ways you could offer source, and different
solutions will be better for different programs; see section 13 for the
specific requirements.
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU AGPL, see
<https://www.gnu.org/licenses/>.

23
kbd/kbd/kbd.ino 100644
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// Keyboard Matrix Tutorial Example
// baldengineer.com
// CC BY-SA 4.0
// JP1 is an input
byte keys[] = {16, 17, 5, 18};
byte pressed[] = {0, 0, 0, 0};
byte KEYLEN = 4;
void setup() {
Serial.begin(9600);
for(int i = 0; i < KEYLEN; i++) {
pinMode(keys[i], INPUT_PULLUP);
}
}
void loop() {
for(int i = 0; i < KEYLEN; i++) {
pressed[i] = !digitalRead(keys[i]);
Serial.print(String(pressed[i]) + " ");
}
Serial.println();
delay(50);
}

70
kbdtest/kbdtest/kbdtest.ino 100644
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// Keyboard Matrix Tutorial Example
// baldengineer.com
// CC BY-SA 4.0
// JP1 is an input
byte rows[] = {16,17};
const int rowCount = sizeof(rows)/sizeof(rows[0]);
// JP2 and JP3 are outputs
byte cols[] = {18, 2};
const int colCount = sizeof(cols)/sizeof(cols[0]);
byte keys[colCount][rowCount];
void setup() {
Serial.begin(9600);
for(int x=0; x<rowCount; x++) {
Serial.print(rows[x]); Serial.println(" as input");
pinMode(rows[x], INPUT);
}
for (int x=0; x<colCount; x++) {
Serial.print(cols[x]); Serial.println(" as input-pullup");
pinMode(cols[x], INPUT_PULLUP);
}
}
void readMatrix() {
// iterate the columns
for (int colIndex=0; colIndex < colCount; colIndex++) {
// col: set to output to low
byte curCol = cols[colIndex];
pinMode(curCol, OUTPUT);
digitalWrite(curCol, LOW);
// row: interate through the rows
for (int rowIndex=0; rowIndex < rowCount; rowIndex++) {
byte rowCol = rows[rowIndex];
pinMode(rowCol, INPUT_PULLUP);
keys[colIndex][rowIndex] = digitalRead(rowCol);
pinMode(rowCol, INPUT);
}
// disable the column
pinMode(curCol, INPUT);
}
}
void printMatrix() {
for (int rowIndex=0; rowIndex < rowCount; rowIndex++) {
if (rowIndex < 10)
Serial.print(F("0"));
Serial.print(rowIndex); Serial.print(F(": "));
for (int colIndex=0; colIndex < colCount; colIndex++) {
Serial.print(keys[colIndex][rowIndex]);
if (colIndex < colCount)
Serial.print(F(", "));
}
Serial.println("");
}
Serial.println("");
}
void loop() {
readMatrix();
printMatrix();
delay(1000);
}

63
keypadtest/keypadtest/keypadtest.ino 100644
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#include <Keypad.h>
const byte ROWS = 2; //four rows
const byte COLS = 2; //three columns
char keys[ROWS][COLS] = {
{'a','b'},
{'c','d'},
};
byte rowPins[ROWS] = {16,17}; //connect to the row pinouts of the kpd
byte colPins[COLS] = {18, 2}; //connect to the column pinouts of the kpd
Keypad kpd = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS );
unsigned long loopCount;
unsigned long startTime;
String msg;
void setup() {
Serial.begin(9600);
loopCount = 0;
startTime = millis();
msg = "";
}
void loop() {
loopCount++;
if ( (millis()-startTime)>5000 ) {
Serial.print("Average loops per second = ");
Serial.println(loopCount/5);
startTime = millis();
loopCount = 0;
}
// Fills kpd.key[ ] array with up-to 10 active keys.
// Returns true if there are ANY active keys.
if (kpd.getKeys())
{
for (int i=0; i<LIST_MAX; i++) // Scan the whole key list.
{
if ( kpd.key[i].stateChanged ) // Only find keys that have changed state.
{
switch (kpd.key[i].kstate) { // Report active key state : IDLE, PRESSED, HOLD, or RELEASED
case PRESSED:
msg = " PRESSED.";
break;
case HOLD:
msg = " HOLD.";
break;
case RELEASED:
msg = " RELEASED.";
break;
case IDLE:
msg = " IDLE.";
}
Serial.print("Key ");
Serial.print(kpd.key[i].kchar);
Serial.println(msg);
}
}
}
} // End loop

109
osc32/osc32/osc32.ino 100644
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// ESP32 Dev Module
#include "Wire.h"
#include <OSCBoards.h>
#include <OSCMessage.h>
/*
Make an OSC message and send it over serial
*/
#ifdef BOARD_HAS_USB_SERIAL
#include <SLIPEncodedUSBSerial.h>
SLIPEncodedUSBSerial SLIPSerial( thisBoardsSerialUSB );
#else
#include <SLIPEncodedSerial.h>
SLIPEncodedSerial SLIPSerial(Serial); // Change to Serial1 or Serial2 etc. for boards with multiple serial ports that don’t have Serial
#endif
/*
#include <BluetoothSerial.h>
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif
BluetoothSerial SerialBT;
*/
const int MPU_addr=0x68; // I2C address of the MPU-6050
// Sem dobimo vrednosti
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
void setup() {
Wire.begin();
SLIPSerial.begin(9600); // set this as high as you can reliably run on your platform
Wire.begin(21, 22, 100000); // sda, scl, clock speed
//check_I2c(MPU_addr);
Wire.beginTransmission(MPU_addr);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
delay(30); // Ensure gyro has enough time to power up
/*
SerialBT.begin("MotionGlove");
*/
}
void loop() {
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
OSCMessage msg("/accel/");
msg.add(AcX);
msg.add(AcY);
msg.add(AcZ);
SLIPSerial.beginPacket();
msg.send(SLIPSerial);
SLIPSerial.endPacket();
msg.empty();
OSCMessage gmsg("/gyro/");
gmsg.add(GyX);
gmsg.add(GyY);
gmsg.add(GyZ);
SLIPSerial.beginPacket();
gmsg.send(SLIPSerial);
SLIPSerial.endPacket();
gmsg.empty();
OSCMessage tmsg("/temp/");
tmsg.add(Tmp);
SLIPSerial.beginPacket();
tmsg.send(SLIPSerial);
SLIPSerial.endPacket();
tmsg.empty();
}
byte check_I2c(byte addr){
Serial.println("Looking for sensor...");
// We are using the return value of
// the Write.endTransmisstion to see if
// a device did acknowledge to the address.
byte error;
Wire.beginTransmission(addr);
error = Wire.endTransmission();
if (error == 0) {
Serial.print(" Device Found at 0x");
Serial.println(addr,HEX);
} else {
Serial.print(" No Device Found at 0x");
Serial.println(addr,HEX);
}
return error;
}

248
osc32final/osc32final.ino 100644
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// ESP32 Dev Module
#include "Wire.h"
#include "MPU6050_6Axis_MotionApps_V6_12.h"
#include <OSCBoards.h>
#include <OSCMessage.h>
/*
Make an OSC message and send it over serial
*/
#ifdef BOARD_HAS_USB_SERIAL
#include <SLIPEncodedUSBSerial.h>
SLIPEncodedUSBSerial SLIPSerial( thisBoardsSerialUSB );
#else
#include <SLIPEncodedSerial.h>
SLIPEncodedSerial SLIPSerial(Serial); // Change to Serial1 or Serial2 etc. for boards with multiple serial ports that don’t have Serial
#endif
MPU6050 mpu;
// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION
// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_EULER
// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_YAWPITCHROLL
// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL
// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
#define OUTPUT_READABLE_WORLDACCEL
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 gy; // [x, y, z] gyro sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// Sem dobimo vrednosti
int16_t AcX,AcY,AcZ;
float GyX, GyY, GyZ;
// Keys
byte keys[] = {16, 17, 5, 18};
byte pressed[] = {0, 0, 0, 0};
byte KEYLEN = 4;
OSCMessage msg("/accel/");
OSCMessage gmsg("/gyro/");
OSCMessage emsg("/error/");
OSCMessage kmsg("/keys/");
OSCMessage qmsg("/quaternion/");
void setup() {
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
SLIPSerial.begin(115200); // set this as high as you can reliably run on your platform
// Keys
for(int i = 0; i < KEYLEN; i++) {
pinMode(keys[i], INPUT_PULLUP);
}
mpu.initialize();
// setFullScaleGyroRange(MPU6050_GYRO_FS_250);
// setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
// DMP init
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
// !!! Run Zero IMU to get readings
mpu.setXGyroOffset(76);
mpu.setYGyroOffset(68);
mpu.setZGyroOffset(10);
mpu.setXAccelOffset(-3527);
mpu.setYAccelOffset(-913);
mpu.setZAccelOffset(1027);
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// Calibration Time: generate offsets and calibrate our MPU6050
mpu.CalibrateAccel(6);
mpu.CalibrateGyro(6);
//Serial.println();
mpu.PrintActiveOffsets();
// turn on the DMP, now that it's ready
//Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// set our DMP Ready flag so the main loop() function knows it's okay to use it
//Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
emsg.add("DMP Initialization failed (code " + String(devStatus) + ")");
SLIPSerial.beginPacket();
emsg.send(SLIPSerial);
SLIPSerial.endPacket();
emsg.empty();
//sendSerial(emsg);
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
}
}
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// read a packet from FIFO
if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
qmsg.add(q.w);
qmsg.add(q.x);
qmsg.add(q.y);
qmsg.add(q.z);
//sendSerial(msg);
SLIPSerial.beginPacket();
qmsg.send(SLIPSerial);
SLIPSerial.endPacket();
qmsg.empty();
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
GyX = euler[0];
GyY = euler[1];
GyZ = euler[2];
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
GyX = ypr[0];
GyY = ypr[1];
GyZ = ypr[2];
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
AcX = aaReal.x;
AcY = aaReal.y;
AcZ = aaReal.z;
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
AcX = aaWorld.x;
AcY = aaWorld.y;
AcZ = aaWorld.z;
#endif
// Send over serial
msg.add(AcX);
msg.add(AcY);
msg.add(AcZ);
//sendSerial(msg);
SLIPSerial.beginPacket();
msg.send(SLIPSerial);
SLIPSerial.endPacket();
msg.empty();
gmsg.add(GyX);
gmsg.add(GyY);
gmsg.add(GyZ);
//sendSerial(gmsg);
SLIPSerial.beginPacket();
gmsg.send(SLIPSerial);
SLIPSerial.endPacket();
gmsg.empty();
// Send keys
for(int i = 0; i < KEYLEN; i++) {
pressed[i] = !digitalRead(keys[i]);
kmsg.add(pressed[i]);
}
//sendSerial(kmsg);
SLIPSerial.beginPacket();
kmsg.send(SLIPSerial);
SLIPSerial.endPacket();
kmsg.empty();
}
}

70
osc32h/osc32h/osc32h.ino 100644
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// ESP32 Dev Module
#include "Wire.h"
#include "MPU6050.h"
#include <OSCBoards.h>
#include <OSCMessage.h>
/*
Make an OSC message and send it over serial
*/
#ifdef BOARD_HAS_USB_SERIAL
#include <SLIPEncodedUSBSerial.h>
SLIPEncodedUSBSerial SLIPSerial( thisBoardsSerialUSB );
#else
#include <SLIPEncodedSerial.h>
SLIPEncodedSerial SLIPSerial(Serial); // Change to Serial1 or Serial2 etc. for boards with multiple serial ports that don’t have Serial
#endif
/*
#include <BluetoothSerial.h>
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif
BluetoothSerial SerialBT;
*/
MPU6050 mpu;
// Sem dobimo vrednosti
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
void setup() {
Wire.begin();
SLIPSerial.begin(115200); // set this as high as you can reliably run on your platform
mpu.initialize();
// setFullScaleGyroRange(MPU6050_GYRO_FS_250);
// setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
/*
SerialBT.begin("MotionGlove");
*/
}
void loop() {
mpu.getMotion6(&AcX, &AcY, &AcZ, &GyX, &GyY, &GyZ);
OSCMessage msg("/accel/");
msg.add(AcX);
msg.add(AcY);
msg.add(AcZ);
SLIPSerial.beginPacket();
msg.send(SLIPSerial);
SLIPSerial.endPacket();
msg.empty();
OSCMessage gmsg("/gyro/");
gmsg.add(GyX);
gmsg.add(GyY);
gmsg.add(GyZ);
SLIPSerial.beginPacket();
gmsg.send(SLIPSerial);
SLIPSerial.endPacket();
gmsg.empty();
}

224
osc32hh/osc32hh/osc32hh.ino 100644
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// ESP32 Dev Module
#include "Wire.h"
#include "MPU6050_6Axis_MotionApps_V6_12.h"
#include <OSCBoards.h>
#include <OSCMessage.h>
/*
Make an OSC message and send it over serial
*/
#ifdef BOARD_HAS_USB_SERIAL
#include <SLIPEncodedUSBSerial.h>
SLIPEncodedUSBSerial SLIPSerial( thisBoardsSerialUSB );
#else
#include <SLIPEncodedSerial.h>
SLIPEncodedSerial SLIPSerial(Serial); // Change to Serial1 or Serial2 etc. for boards with multiple serial ports that don’t have Serial
#endif
MPU6050 mpu;
// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION
// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_EULER
// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_YAWPITCHROLL
// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL
// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
#define OUTPUT_READABLE_WORLDACCEL
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 gy; // [x, y, z] gyro sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// Sem dobimo vrednosti
int16_t AcX,AcY,AcZ;
float GyX, GyY, GyZ;
OSCMessage msg("/accel/");
OSCMessage gmsg("/gyro/");
OSCMessage emsg("/error/");
void setup() {
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
SLIPSerial.begin(115200); // set this as high as you can reliably run on your platform
mpu.initialize();
// setFullScaleGyroRange(MPU6050_GYRO_FS_250);
// setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
// DMP init
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
// !!! Run Zero IMU to get readings
mpu.setXGyroOffset(76);
mpu.setYGyroOffset(68);
mpu.setZGyroOffset(10);
mpu.setXAccelOffset(-3527);
mpu.setYAccelOffset(-913);
mpu.setZAccelOffset(1027);
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// Calibration Time: generate offsets and calibrate our MPU6050
mpu.CalibrateAccel(6);
mpu.CalibrateGyro(6);
//Serial.println();
mpu.PrintActiveOffsets();
// turn on the DMP, now that it's ready
//Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// set our DMP Ready flag so the main loop() function knows it's okay to use it
//Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
OSCMessage emsg("/error/");
emsg.add("DMP Initialization failed (code " + String(devStatus) + ")");
SLIPSerial.beginPacket();
emsg.send(SLIPSerial);
SLIPSerial.endPacket();
emsg.empty();
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
}
/*
SerialBT.begin("MotionGlove");
*/
}
void sendSerial(OSCMessage msg) {
SLIPSerial.beginPacket();
msg.send(SLIPSerial);
SLIPSerial.endPacket();
msg.empty();
}
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// read a packet from FIFO
if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet
/*
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
Serial.print("quat\t");
Serial.print(q.w);
Serial.print("\t");
Serial.print(q.x);
Serial.print("\t");
Serial.print(q.y);
Serial.print("\t");
Serial.println(q.z);
#endif
*/
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
GyX = euler[0]/* * 180 / M_PI*/;
GyY = euler[1]/* * 180 / M_PI*/;
GyZ = euler[2]/* * 180 / M_PI*/;
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
GyX = ypr[0]/* * 180 / M_PI*/;
GyY = ypr[1]/* * 180 / M_PI*/;
GyZ = ypr[2]/* * 180 / M_PI*/;
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
AcX = aaReal.x;
AcY = aaReal.y;
AcZ = aaReal.z;
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
AcX = aaWorld.x;
AcY = aaWorld.y;
AcZ = aaWorld.z;
#endif
// Send over serial
msg.add(AcX);
msg.add(AcY);
msg.add(AcZ);
sendSerial(msg);
gmsg.add(GyX);
gmsg.add(GyY);
gmsg.add(GyZ);
sendSerial(gmsg);
}
}

53
projekt.org
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@ -1,4 +1,7 @@
* Wavey Wind, the Modul-air Mitt
#+TITLE: Gibalna rokavička
* Opis
** Wavey Wind, the Modul-air Mitt
Using an ESP32 microcontroller with wifi and bluetooth capability, a gyroscope/accelerometer module and keyboards switches, I will be building an experimental low cost motion "glove" controller with a button for each finger.
@ -10,7 +13,7 @@
"What Can a Body Do?"
* Gibalna rokavička ("Wavey Wind, the Modul-air Mitt")
** Gibalna rokavička ("Wavey Wind, the Modul-air Mitt")
Z ESP32 mikrokontrolerjem, ki omogoča wifi in bluetooth povezljivost, modulom z žiroskopom in pospeškomerjem ter tipkovničnimi stikali bom izdelal eksperimentalni nizkocenovni gibalni vmesnik z gumbom za vsak prst.
@ -21,3 +24,49 @@
Rokavica oz. rokavice bodo pošiljale podatke preko OSC (open sound control) protokola, kar odpira tudi možnost rabe za zvočno sintezo/modulacijo ali celo kot splošni vmesnik.
"Kaj zmore telo?"
* Shematika
** ESP32 <-> MPU-6050 (gyro/accel)
- 21 - SDA (data)
- 22 - SCL (clock)
- 3V3 - VCC (strom)
- GND - GND (ZEMLA)
** key switches
- one pin of each to GND
- other pin of each to 16, 17, 5, 18
* Arduino sketch
** calibration
- IMU_Zero
** testing, prototypes
- kbdtest
- keypadtest (kbd matrix test, didn't work)
- proto32, proto32plot, osc32, osc32h, osc32hh
** Final sketch
- osc32final
* 3d models
- proto1.blend first prototype
- proto2.blend second prototype
* visual
https://git.kompot.si/g1smo/wavey-wind
start with `npm i; npm start`
localhost:6676/
localhost:6676/test
** older prototypes
- https://kreten.si/spin/
- https://kreten.si/spin-space/
- https://kreten.si/spin-color/
- https://vis.kreten.si/
* TODO
- ergonomic control
- wireless (wifi or bluetooth?)
- ad-hoc connection to use multiple controllers
- better starting parameters
- better documentation

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95
proto32/proto32.ino 100644
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@ -0,0 +1,95 @@
// ESP32 Dev Module
#include "Wire.h"
/*
#include <BluetoothSerial.h>
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif
BluetoothSerial SerialBT;
*/
const int MPU_addr=0x68; // I2C address of the MPU-6050
// Sem dobimo vrednosti
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
void setup() {
Wire.begin();
Serial.begin(9600);
// Pocakaj na serijski port
while (!Serial);
delay(1000);
Serial.println("Helllloooo. ☭");
Wire.begin(21, 22, 100000); // sda, scl, clock speed
check_I2c(MPU_addr);
Wire.beginTransmission(MPU_addr);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
delay(30); // Ensure gyro has enough time to power up
Serial.println("Here we go!");
/*
SerialBT.begin("MotionGlove");
Serial.print("BT on");
*/
}
void loop() {
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
Serial.print("AcX = "); Serial.print(AcX);
Serial.print(" | AcY = "); Serial.print(AcY);
Serial.print(" | AcZ = "); Serial.print(AcZ);
Serial.print(" | Tmp = "); Serial.print(Tmp);
Serial.print(" | GyX = "); Serial.print(GyX);
Serial.print(" | GyY = "); Serial.print(GyY);
Serial.print(" | GyZ = "); Serial.println(GyZ);
Serial.print("\n");
/*
SerialBT.write(String("/accel/0/x/" + String(AcX) + "\n"));
SerialBT.write(String("/accel/0/y/" + String(AcY) + "\n"));
SerialBT.write(String("/accel/0/z/" + String(AcZ) + "\n"));
SerialBT.write(String("/gy/0/x/" + String(GyX) + "\n"));
SerialBT.write(String("/gy/0/y/" + String(GyY) + "\n"));
SerialBT.write(String("/gy/0/z/" + String(GyZ) + "\n"));
SerialBT.write(String("/tmp/0/val/" + String(Tmp) + "\n"));
*/
}
byte check_I2c(byte addr){
Serial.println("Looking for sensor...");
// We are using the return value of
// the Write.endTransmisstion to see if
// a device did acknowledge to the address.
byte error;
Wire.beginTransmission(addr);
error = Wire.endTransmission();
if (error == 0) {
Serial.print(" Device Found at 0x");
Serial.println(addr,HEX);
} else {
Serial.print(" No Device Found at 0x");
Serial.println(addr,HEX);
}
return error;
}

65
proto32plot/proto32plot/proto32plot.ino 100644
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@ -0,0 +1,65 @@
// ESP32 Dev Module
#include "Wire.h"
const int MPU_addr=0x68; // I2C address of the MPU-6050
// Sem dobimo vrednosti
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
void setup() {
Wire.begin();
Serial.begin(9600);
// Pocakaj na serijski port
while (!Serial);
delay(1000);
Wire.begin(21, 22, 100000); // sda, scl, clock speed
Wire.beginTransmission(MPU_addr);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
delay(300); // Ensure gyro has enough time to power up
Serial.print("AcX");
Serial.print(" ");
Serial.print("AcY");
Serial.print(" ");
Serial.print("AcZ");
Serial.print(" ");
Serial.print("Tmp");
Serial.print(" ");
Serial.print("GyX");
Serial.print(" ");
Serial.print("GyY");
Serial.print(" ");
Serial.println("GyZ");
}
void loop() {
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
Serial.print(AcX);
Serial.print(" ");
Serial.print(AcY);
Serial.print(" ");
Serial.print(AcZ);
Serial.print(" ");
Serial.print(Tmp);
Serial.print(" ");
Serial.print(GyX);
Serial.print(" ");
Serial.print(GyY);
Serial.print(" ");
Serial.println(GyZ);
}

45
scan32/scan32.ino 100644
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@ -0,0 +1,45 @@
/*********
Rui Santos
Complete project details at https://randomnerdtutorials.com
*********/
#include <Wire.h>
void setup() {
Wire.begin();
Serial.begin(115200);
Serial.println("\nI2C Scanner");
}
void loop() {
byte error, address;
int nDevices;
Serial.println("Scanning...");
nDevices = 0;
for(address = 1; address < 127; address++ ) {
Wire.beginTransmission(address);
error = Wire.endTransmission();
if (error == 0) {
Serial.print("I2C device found at address 0x");
if (address<16) {
Serial.print("0");
}
Serial.println(address,HEX);
nDevices++;
}
else if (error==4) {
Serial.print("Unknow error at address 0x");
if (address<16) {
Serial.print("0");
}
Serial.println(address,HEX);
}
}
if (nDevices == 0) {
Serial.println("No I2C devices found\n");
}
else {
Serial.println("done\n");
}
delay(5000);
}