Use bundle, cleanup, enable accel

master
Jurij Podgoršek 2022-03-05 12:05:23 +01:00
parent e4e7f3b867
commit 3f6933a220
1 changed files with 28 additions and 95 deletions

View File

@ -3,14 +3,15 @@
#include "Wire.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include <OSCBundle.h>
#include <OSCBoards.h>
#include <OSCMessage.h>
//#define SERIAL_OSC
#define WIFI_OSC
#define SERIAL_OSC
//#define WIFI_OSC
//#define BT_OSC
#define OUTPUT_READABLE_WORLDACCEL
// SERIAL
#ifdef BOARD_HAS_USB_SERIAL
#include <SLIPEncodedUSBSerial.h>
@ -119,25 +120,13 @@ byte KEYLEN = 4;
/* OSC MSG channels */
// Quaternion - rotacija
OSCMessage qmsg("/quaternion/"); // W X Y Z
// Quaterion difference - rotacijska razlika (prejsnji reading - trenutni reading)
OSCMessage qdmsg("/quaternionDiff/"); // W X Y Z
// Accelerometer
OSCMessage amsg("/accel/"); // X Y Z
// Keys held down
OSCMessage kmsg("/keys/"); // A B C D E
OSCBundle bundle;
void setup() {
// Basic(debug) serial init
// Serial.begin(115200); // set this as high as you can reliably run on your platform
Serial.println("Starting up...");
// I2C init
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
@ -164,22 +153,22 @@ void setup() {
// supply your own gyro offsets here, scaled for min sensitivity
// !!! Run Zero IMU to get readings (read comments for instructions)
/* First proto (right hand, black&blue)
/* First proto (right hand, black&blue)*/
mpu.setXGyroOffset(76);
mpu.setYGyroOffset(68);
mpu.setZGyroOffset(10);
mpu.setXAccelOffset(-3527);
mpu.setYAccelOffset(-913);
mpu.setZAccelOffset(1027);
*/
/* Second proto, translucent / white */
/* Second proto, translucent / white
mpu.setXGyroOffset(-3650);
mpu.setYGyroOffset(-2531);
mpu.setZGyroOffset(1131);
mpu.setXAccelOffset(162);
mpu.setYAccelOffset(-16);
mpu.setZAccelOffset(-12);
*/
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
@ -242,51 +231,11 @@ void loop() {
//compute the differential rotation between the previous and new orientation
diff = q.getProduct(pq.getConjugate());
qmsg.add(q.w);
qmsg.add(q.y);
qmsg.add(q.x);
qmsg.add(q.z);
qdmsg.add(diff.w);
qdmsg.add(diff.y);
qdmsg.add(diff.x);
qdmsg.add(diff.z);
// Quaternion - rotacija
bundle.add("/quaternion").add(q.w).add(q.y).add(q.x).add(q.z); // W X Y Z
// Quaterion difference - rotacijska razlika (prejsnji reading - trenutni reading)
bundle.add("/quaternionDiff").add(diff.w).add(diff.y).add(diff.x).add(diff.z); // W X Y Z
#ifdef SERIAL_OSC
SLIPSerial.beginPacket();
qmsg.send(SLIPSerial);
SLIPSerial.endPacket();
SLIPSerial.beginPacket();
qdmsg.send(SLIPSerial);
SLIPSerial.endPacket();
#endif
#ifdef WIFI_OSC
udp.beginPacket(castIp, port);
qmsg.send(udp);
udp.endPacket();
udp.beginPacket(castIp, port);
qdmsg.send(udp);
udp.endPacket();
#endif
// Some bug below, it seems
#ifdef BT_OSC
SLIPBTSerial.beginPacket();
qmsg.send(SLIPBTSerial);
SLIPBTSerial.endPacket();
SLIPBTSerial.beginPacket();
qdmsg.send(SLIPBTSerial);
SLIPBTSerial.endPacket();
#endif
qmsg.empty();
qdmsg.empty();
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetAccel(&aa, fifoBuffer);
@ -309,54 +258,38 @@ void loop() {
AcZ = aaWorld.z;
#endif
amsg.add(AcX);
amsg.add(AcY);
amsg.add(AcZ);
// Accelerometer
bundle.add("/accel").add(AcX).add(AcY).add(AcZ); ; // X Y Z
#ifdef SERIAL_OSC
SLIPSerial.beginPacket();
amsg.send(SLIPSerial);
SLIPSerial.endPacket();
#endif
#ifdef WIFI_OSC
udp.beginPacket(castIp, port);
amsg.send(udp);
udp.endPacket();
#endif
#ifdef BT_OSC
SLIPBTSerial.beginPacket();
amsg.send(SLIPBTSerial);
SLIPBTSerial.endPacket();
#endif
amsg.empty();
// Keys held down
bundle.add("/keys"); // A B C D E
// Send keys
for(int i = 0; i < KEYLEN; i++) {
pressed[i] = !digitalRead(keys[i]);
kmsg.add(pressed[i]);
bundle.getOSCMessage("/keys")->add(pressed[i]);
}
#ifdef SERIAL_OSC
SLIPSerial.beginPacket();
kmsg.send(SLIPSerial);
bundle.send(SLIPSerial);
SLIPSerial.endPacket();
#endif
#ifdef WIFI_OSC
udp.beginPacket(castIp, port);
kmsg.send(udp);
bundle.send(udp);
udp.endPacket();
#endif
// Some bug below, it seems
#ifdef BT_OSC
SLIPBTSerial.beginPacket();
kmsg.send(SLIPBTSerial);
bundle.send(SLIPBTSerial);
SLIPBTSerial.endPacket();
#endif
kmsg.empty();
bundle.empty();
}
}