Cleanup
parent
018887a13d
commit
e4e7f3b867
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@ -8,8 +8,8 @@
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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 BT_OSC
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#define WIFI_OSC
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//#define BT_OSC
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// SERIAL
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#ifdef BOARD_HAS_USB_SERIAL
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@ -135,7 +135,7 @@ OSCMessage kmsg("/keys/"); // A B C D E
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void setup() {
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// Basic(debug) serial init
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// Serial.begin(115200); // set this as high as you can reliably run on your platform
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// Serial.begin(115200); // set this as high as you can reliably run on your platform
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Serial.println("Starting up...");
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// I2C init
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@ -207,21 +207,21 @@ void setup() {
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}
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#ifdef WIFI_OSC
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// WIFI init
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Serial.print("Attempting to connect to SSID: ");
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Serial.println(ssid);
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connectToWiFi(ssid, password);
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// WIFI init
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Serial.print("Attempting to connect to SSID: ");
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Serial.println(ssid);
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connectToWiFi(ssid, password);
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// attempt to connect to Wifi network:
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while (WiFi.status() != WL_CONNECTED) {
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Serial.print(".");
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// wait 1 second for re-trying
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delay(1000);
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}
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// attempt to connect to Wifi network:
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while (WiFi.status() != WL_CONNECTED) {
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Serial.print(".");
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// wait 1 second for re-trying
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delay(1000);
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}
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#endif
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#ifdef BT_OSC
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SerialBT.begin("wavey wind");
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SerialBT.begin("wavey wind");
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#endif
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}
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@ -243,25 +243,26 @@ void loop() {
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diff = q.getProduct(pq.getConjugate());
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qmsg.add(q.w);
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qmsg.add(q.x);
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qmsg.add(q.y);
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qmsg.add(q.x);
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qmsg.add(q.z);
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qdmsg.add(diff.w);
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qdmsg.add(diff.x);
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qdmsg.add(diff.y);
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qdmsg.add(diff.x);
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qdmsg.add(diff.z);
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#ifdef SERIAL_OSC
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SLIPSerial.beginPacket();
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qdmsg.send(SLIPSerial);
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qmsg.send(SLIPSerial);
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SLIPSerial.endPacket();
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SLIPSerial.beginPacket();
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qmsg.send(SLIPSerial);
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qdmsg.send(SLIPSerial);
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SLIPSerial.endPacket();
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#endif
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#ifdef WIFI_OSC
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udp.beginPacket(castIp, port);
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qmsg.send(udp);
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@ -272,39 +273,40 @@ void loop() {
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udp.endPacket();
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#endif
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// Some bug below, it seems
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#ifdef BT_OSC
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SLIPBTSerial.beginPacket();
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qmsg.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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SLIPBTSerial.beginPacket();
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qmsg.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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SLIPBTSerial.beginPacket();
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qdmsg.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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SLIPBTSerial.beginPacket();
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qdmsg.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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#endif
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qmsg.empty();
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qdmsg.empty();
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#ifdef OUTPUT_READABLE_REALACCEL
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// display real acceleration, adjusted to remove gravity
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mpu.dmpGetAccel(&aa, fifoBuffer);
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mpu.dmpGetGravity(&gravity, &q);
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mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
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AcX = aaReal.x;
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AcY = aaReal.y;
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AcZ = aaReal.z;
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// display real acceleration, adjusted to remove gravity
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mpu.dmpGetAccel(&aa, fifoBuffer);
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mpu.dmpGetGravity(&gravity, &q);
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mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
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AcX = aaReal.x;
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AcY = aaReal.y;
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AcZ = aaReal.z;
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#endif
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#ifdef OUTPUT_READABLE_WORLDACCEL
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// display initial world-frame acceleration, adjusted to remove gravity
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// and rotated based on known orientation from quaternion
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mpu.dmpGetAccel(&aa, fifoBuffer);
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mpu.dmpGetGravity(&gravity, &q);
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mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
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mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
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AcX = aaWorld.x;
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AcY = aaWorld.y;
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AcZ = aaWorld.z;
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// display initial world-frame acceleration, adjusted to remove gravity
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// and rotated based on known orientation from quaternion
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mpu.dmpGetAccel(&aa, fifoBuffer);
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mpu.dmpGetGravity(&gravity, &q);
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mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
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mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
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AcX = aaWorld.x;
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AcY = aaWorld.y;
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AcZ = aaWorld.z;
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#endif
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amsg.add(AcX);
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@ -312,21 +314,21 @@ void loop() {
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amsg.add(AcZ);
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#ifdef SERIAL_OSC
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SLIPSerial.beginPacket();
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amsg.send(SLIPSerial);
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SLIPSerial.endPacket();
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SLIPSerial.beginPacket();
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amsg.send(SLIPSerial);
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SLIPSerial.endPacket();
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#endif
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#ifdef WIFI_OSC
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udp.beginPacket(castIp, port);
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amsg.send(udp);
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udp.endPacket();
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udp.beginPacket(castIp, port);
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amsg.send(udp);
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udp.endPacket();
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#endif
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#ifdef BT_OSC
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SLIPBTSerial.beginPacket();
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amsg.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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SLIPBTSerial.beginPacket();
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amsg.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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#endif
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amsg.empty();
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@ -338,21 +340,21 @@ void loop() {
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}
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#ifdef SERIAL_OSC
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SLIPSerial.beginPacket();
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kmsg.send(SLIPSerial);
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SLIPSerial.endPacket();
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SLIPSerial.beginPacket();
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kmsg.send(SLIPSerial);
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SLIPSerial.endPacket();
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#endif
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#ifdef WIFI_OSC
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udp.beginPacket(castIp, port);
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kmsg.send(udp);
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udp.endPacket();
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udp.beginPacket(castIp, port);
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kmsg.send(udp);
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udp.endPacket();
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#endif
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#ifdef BT_OSC
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SLIPBTSerial.beginPacket();
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kmsg.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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SLIPBTSerial.beginPacket();
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kmsg.send(SLIPBTSerial);
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SLIPBTSerial.endPacket();
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#endif
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kmsg.empty();
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