diff --git a/osc32final/osc32final.ino b/osc32final/osc32final.ino index ec221dd..19a73e1 100644 --- a/osc32final/osc32final.ino +++ b/osc32final/osc32final.ino @@ -8,8 +8,8 @@ #include //#define SERIAL_OSC -//#define WIFI_OSC -#define BT_OSC +#define WIFI_OSC +//#define BT_OSC // SERIAL #ifdef BOARD_HAS_USB_SERIAL @@ -135,7 +135,7 @@ OSCMessage kmsg("/keys/"); // A B C D E void setup() { // Basic(debug) serial init -// Serial.begin(115200); // set this as high as you can reliably run on your platform + // Serial.begin(115200); // set this as high as you can reliably run on your platform Serial.println("Starting up..."); // I2C init @@ -207,21 +207,21 @@ void setup() { } #ifdef WIFI_OSC - // WIFI init - Serial.print("Attempting to connect to SSID: "); - Serial.println(ssid); - connectToWiFi(ssid, password); - - // attempt to connect to Wifi network: - while (WiFi.status() != WL_CONNECTED) { - Serial.print("."); - // wait 1 second for re-trying - delay(1000); - } + // WIFI init + Serial.print("Attempting to connect to SSID: "); + Serial.println(ssid); + connectToWiFi(ssid, password); + + // attempt to connect to Wifi network: + while (WiFi.status() != WL_CONNECTED) { + Serial.print("."); + // wait 1 second for re-trying + delay(1000); + } #endif #ifdef BT_OSC - SerialBT.begin("wavey wind"); + SerialBT.begin("wavey wind"); #endif } @@ -243,24 +243,25 @@ void loop() { diff = q.getProduct(pq.getConjugate()); qmsg.add(q.w); - qmsg.add(q.x); qmsg.add(q.y); + qmsg.add(q.x); qmsg.add(q.z); - + qdmsg.add(diff.w); - qdmsg.add(diff.x); qdmsg.add(diff.y); + qdmsg.add(diff.x); qdmsg.add(diff.z); #ifdef SERIAL_OSC SLIPSerial.beginPacket(); - qdmsg.send(SLIPSerial); + qmsg.send(SLIPSerial); SLIPSerial.endPacket(); SLIPSerial.beginPacket(); - qmsg.send(SLIPSerial); + qdmsg.send(SLIPSerial); SLIPSerial.endPacket(); #endif + #ifdef WIFI_OSC udp.beginPacket(castIp, port); @@ -271,40 +272,41 @@ void loop() { 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(); + 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); - mpu.dmpGetGravity(&gravity, &q); - mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); - AcX = aaReal.x; - AcY = aaReal.y; - AcZ = aaReal.z; + // display real acceleration, adjusted to remove gravity + 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.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; + // display initial world-frame acceleration, adjusted to remove gravity + // and rotated based on known orientation from quaternion + 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 amsg.add(AcX); @@ -312,21 +314,21 @@ void loop() { amsg.add(AcZ); #ifdef SERIAL_OSC - SLIPSerial.beginPacket(); - amsg.send(SLIPSerial); - SLIPSerial.endPacket(); + SLIPSerial.beginPacket(); + amsg.send(SLIPSerial); + SLIPSerial.endPacket(); #endif #ifdef WIFI_OSC - udp.beginPacket(castIp, port); - amsg.send(udp); - udp.endPacket(); + udp.beginPacket(castIp, port); + amsg.send(udp); + udp.endPacket(); #endif #ifdef BT_OSC - SLIPBTSerial.beginPacket(); - amsg.send(SLIPBTSerial); - SLIPBTSerial.endPacket(); + SLIPBTSerial.beginPacket(); + amsg.send(SLIPBTSerial); + SLIPBTSerial.endPacket(); #endif amsg.empty(); @@ -338,21 +340,21 @@ void loop() { } #ifdef SERIAL_OSC - SLIPSerial.beginPacket(); - kmsg.send(SLIPSerial); - SLIPSerial.endPacket(); + SLIPSerial.beginPacket(); + kmsg.send(SLIPSerial); + SLIPSerial.endPacket(); #endif #ifdef WIFI_OSC - udp.beginPacket(castIp, port); - kmsg.send(udp); - udp.endPacket(); + udp.beginPacket(castIp, port); + kmsg.send(udp); + udp.endPacket(); #endif #ifdef BT_OSC - SLIPBTSerial.beginPacket(); - kmsg.send(SLIPBTSerial); - SLIPBTSerial.endPacket(); + SLIPBTSerial.beginPacket(); + kmsg.send(SLIPBTSerial); + SLIPBTSerial.endPacket(); #endif kmsg.empty();