Merge branch 'positionTracking'
Martin
commit
d55edf3271
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@ -2,10 +2,15 @@
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#include "Wire.h"
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#include "MPU6050_6Axis_MotionApps20.h"
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#include "BasicLinearAlgebra.h"
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#include "BluetoothSerial.h"
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#include <SLIPEncodedSerial.h>
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#include "SLIPEncodedBluetoothSerial.h"
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#include <BasicLinearAlgebra.h>
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#include "math.h"
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using namespace BLA;
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#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
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#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
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@ -58,7 +63,7 @@ uint8_t devStatus; // return status after each device operation (0 = succes
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uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
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uint16_t fifoCount; // count of all bytes currently in FIFO
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uint8_t fifoBuffer[64]; // FIFO storage buffer
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unsigned long timeOn = 0;
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unsigned long timeOn;
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// orientation/motion vars
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Quaternion q; // [w, x, y, z] quaternion container
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@ -68,6 +73,10 @@ VectorInt16 gy; // [x, y, z] gyro sensor measurements
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VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
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VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
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VectorFloat gravity; // [x, y, z] gravity vector
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float euler[3]; // [psi, theta, phi] Euler angle container
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float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
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Matrix<3> position; // [x,y,z] tracks position of device
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Matrix<3> speed; // [x,y,z] tracks speed of device
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// Sem dobimo vrednosti
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@ -85,6 +94,9 @@ OSCMessage emsg("/error/");
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OSCMessage kmsg("/keys/");
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OSCMessage quaternionMessage("/quaternion/");
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OSCMessage quaternionDiffMessage("/quaternionDiff/");
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OSCMessage eulerDiffMessage("/eulerDiff/");
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OSCMessage positionMessage("/position/");
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OSCMessage speedMessage("/speed/");
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void setup() {
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Wire.begin();
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@ -95,6 +107,11 @@ void setup() {
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pinMode(keys[i], INPUT_PULLUP);
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}
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//Set position to origin, speed to nothing, and uptime to 0
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timeOn = 0;
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position.Fill(0);
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speed.Fill(0);
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Serial.begin(115200); // set this as high as you can reliably run on your platform
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SerialBT.begin("wavey wind");
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@ -152,6 +169,50 @@ void setup() {
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}
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}
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BLA::Matrix<3> eulerFromQuaternion(Quaternion q) {
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float x2 = q.x + q.x; float y2 = q.y + q.y; float z2 = q.z + q.z;
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float xx = q.x * x2; float xy = q.x * y2; float xz = q.x * z2;
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float yy = q.y * y2; float yz = q.y * z2; float zz = q.z * z2;
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float wx = q.w * x2; float wy = q.w * y2; float wz = q.w * z2;
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BLA::Matrix<4,4> rotationMatrix = {
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1 - (yy + zz), xy + wz, xz - wy, 0,
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xy - wz, 1 - ( xx + zz ), yz + wx, 0,
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xz + wy, yz - wx, 1 - ( xx + yy ), 0,
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0, 0, 0, 1
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};
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//TODO: test whether BLA library uses column-major matrix notation in code
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BLA::Matrix<3> eulerVector;
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eulerVector.Fill(0);
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eulerVector(1) = asin(clamp(rotationMatrix(1,3),-1,1));
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if (fabsf(rotationMatrix(1,3)) < 0.9999999) {
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eulerVector(0) = atan2f(-rotationMatrix(2,3), rotationMatrix(3,3));
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eulerVector(2) = atan2f( -rotationMatrix(1,2), rotationMatrix(1,1));
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} else {
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eulerVector(0) = atan2f(rotationMatrix(3,2), rotationMatrix(2,2));
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eulerVector(2) = 0;
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}
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return eulerVector;
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}
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void streamAndClearMessage(OSCMessage msg) {
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SLIPSerial.beginPacket();
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msg.send(SLIPSerial);
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SLIPSerial.endPacket();
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SLIPBTSerial.beginPacket();
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msg.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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msg.empty();
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}
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float clamp(float value,float min,float max) {
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return fmaxf( min, fminf(max, value));
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}
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void loop() {
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// if programming failed, don't try to do anything
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if (!dmpReady) return;
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@ -174,31 +235,23 @@ void loop() {
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quaternionMessage.add(q.x);
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quaternionMessage.add(q.y);
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quaternionMessage.add(q.z);
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SLIPBTSerial.beginPacket();
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quaternionMessage.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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SLIPSerial.beginPacket();
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quaternionMessage.send(SLIPSerial);
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SLIPSerial.endPacket();
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quaternionMessage.empty();
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streamAndClearMessage(quaternionMessage);
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quaternionDiffMessage.add(diff.w);
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quaternionDiffMessage.add(diff.x);
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quaternionDiffMessage.add(diff.y);
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quaternionDiffMessage.add(diff.z);
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SLIPBTSerial.beginPacket();
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quaternionDiffMessage.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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SLIPSerial.beginPacket();
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quaternionDiffMessage.send(SLIPSerial);
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SLIPSerial.endPacket();
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quaternionDiffMessage.empty();
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streamAndClearMessage(quaternionDiffMessage);
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Matrix<3> eulerDiffVector = eulerFromQuaternion(diff);
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eulerDiffMessage.add(eulerDiffVector(0));
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eulerDiffMessage.add(eulerDiffVector(1));
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eulerDiffMessage.add(eulerDiffVector(2));
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streamAndClearMessage(eulerDiffMessage);
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#endif
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@ -232,6 +285,11 @@ void loop() {
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int prevTime = timeOn;
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timeOn = millis();
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int elapsedTime = timeOn - prevTime;
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Matrix<3> speedGain = {AcX * elapsedTime, AcY * elapsedTime, AcZ * elapsedTime};
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//Assume linear acceleration over measured time window, multiply time by halfpoint between last-known and current speed
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position = position + (((speed + speedGain) + speed) /2 * elapsedTime);
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speed += speedGain;
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mpu.dmpGetGravity(&gravity, &q);
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mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
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@ -240,32 +298,27 @@ void loop() {
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msg.add(AcY);
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msg.add(AcZ);
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msg.add(elapsedTime);
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streamAndClearMessage(msg);
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positionMessage.add(position(0));
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positionMessage.add(position(1));
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positionMessage.add(position(2));
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streamAndClearMessage(positionMessage);
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speedMessage.add(speed(0));
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speedMessage.add(speed(1));
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speedMessage.add(speed(2));
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streamAndClearMessage(speedMessage);
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SLIPSerial.beginPacket();
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msg.send(SLIPSerial);
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SLIPSerial.endPacket();
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SLIPBTSerial.beginPacket();
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msg.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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msg.empty();
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// Send keys
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for(int i = 0; i < KEYLEN; i++) {
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pressed[i] = !digitalRead(keys[i]);
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kmsg.add(pressed[i]);
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}
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SLIPSerial.beginPacket();
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kmsg.send(SLIPSerial);
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SLIPSerial.endPacket();
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SLIPBTSerial.beginPacket();
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kmsg.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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kmsg.empty();
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streamAndClearMessage(kmsg);
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}
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}
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}
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@ -8,7 +8,7 @@
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#include <OSCMessage.h>
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//#define SERIAL_OSC
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//#define WIFI_OSC
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//#define WIFI_OSC BRIŠI
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#define BT_OSC
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// SERIAL
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