in/out usb for detection
in
Integration and Hardware
•
17 days ago
good morning every one;
import processing.serial.*;
i start with "processing" and i use the 32 bits version on my win xp computer..
i try to detect my arduino uno who's got the mpu5060 interface (may be i'm not in the right post!?)
the processing programm did not detect the mpu values sent...

my cube stay without signals...
my program is this one : ( from Copyright (C) 2011 Fabio Varesano -
http://www.varesano.net/)
import processing.serial.*;
Serial myPort; // Create object from Serial class
final String serialPort = "com5"; // replace this with your serial port. On windows you will need something like "COM1".
float [] q = new float [4];
float [] hq = null;
float [] Euler = new float [3]; // psi, theta, phi
int lf = 10; // 10 is '\n' in ASCII
byte[] inBuffer = new byte[22]; // this is the number of chars on each line from the Arduino (including /r/n)
PFont font;
final int VIEW_SIZE_X = 1024, VIEW_SIZE_Y = 768;
void setup()
{
size(VIEW_SIZE_X, VIEW_SIZE_Y, P3D);
myPort = new Serial(this, serialPort, 115200);
// The font must be located in the sketch's "data" directory to load successfully
font = loadFont("CourierNew36.vlw");
/*
float [] axis = new float[3];
axis[0] = 0.0;
axis[1] = 0.0;
axis[2] = 1.0;
float angle = PI/2.0;
hq = quatAxisAngle(axis, angle);
hq = new float[4];
hq[0] = 0.0;
hq[1] = 0.0;
hq[2] = 0.0;
hq[3] = 1.0;
*/
delay(100);
myPort.clear();
myPort.write("1");
}
float decodeFloat(String inString) {
byte [] inData = new byte[4];
if(inString.length() == 8) {
inData[0] = (byte) unhex(inString.substring(0, 2));
inData[1] = (byte) unhex(inString.substring(2, 4));
inData[2] = (byte) unhex(inString.substring(4, 6));
inData[3] = (byte) unhex(inString.substring(6, 8));
}
int intbits = (inData[3] << 24) | ((inData[2] & 0xff) << 16) | ((inData[1] & 0xff) << 8) | (inData[0] & 0xff);
return Float.intBitsToFloat(intbits);
}
void readQ() {
if(myPort.available() >= 18) {
String inputString = myPort.readStringUntil('\n');
//print(inputString);
if (inputString != null && inputString.length() > 0) {
String [] inputStringArr = split(inputString, ",");
if(inputStringArr.length >= 5) { // q1,q2,q3,q4,\r\n so we have 5 elements
q[0] = decodeFloat(inputStringArr[0]);
q[1] = decodeFloat(inputStringArr[1]);
q[2] = decodeFloat(inputStringArr[2]);
q[3] = decodeFloat(inputStringArr[3]);
}
}
}
}
void buildBoxShape() {
//box(60, 10, 40);
noStroke();
beginShape(QUADS);
//Z+ (to the drawing area)
fill(#00ff00);
vertex(-30, -5, 20);
vertex(30, -5, 20);
vertex(30, 5, 20);
vertex(-30, 5, 20);
//Z-
fill(#0000ff);
vertex(-30, -5, -20);
vertex(30, -5, -20);
vertex(30, 5, -20);
vertex(-30, 5, -20);
//X-
fill(#ff0000);
vertex(-30, -5, -20);
vertex(-30, -5, 20);
vertex(-30, 5, 20);
vertex(-30, 5, -20);
//X+
fill(#ffff00);
vertex(30, -5, -20);
vertex(30, -5, 20);
vertex(30, 5, 20);
vertex(30, 5, -20);
//Y-
fill(#ff00ff);
vertex(-30, -5, -20);
vertex(30, -5, -20);
vertex(30, -5, 20);
vertex(-30, -5, 20);
//Y+
fill(#00ffff);
vertex(-30, 5, -20);
vertex(30, 5, -20);
vertex(30, 5, 20);
vertex(-30, 5, 20);
endShape();
}
void drawCube() {
pushMatrix();
translate(VIEW_SIZE_X/2, VIEW_SIZE_Y/2 + 50, 0);
scale(5,5,5);
// a demonstration of the following is at
//
http://www.varesano.net/blog/fabio/ahrs-sensor-fusion-orientation-filter-3d-graphical-rotating-cube
rotateZ(-Euler[2]);
rotateX(-Euler[1]);
rotateY(-Euler[0]);
buildBoxShape();
popMatrix();
}
void draw() {
background(#000000);
fill(#ffffff);
readQ();
if(hq != null) { // use home quaternion
quaternionToEuler(quatProd(hq, q), Euler);
text("Disable home position by pressing \"n\"", 20, VIEW_SIZE_Y - 30);
}
else {
quaternionToEuler(q, Euler);
text("Point FreeIMU's X axis to your monitor then press \"h\"", 20, VIEW_SIZE_Y - 30);
}
textFont(font, 20);
textAlign(LEFT, TOP);
text("Q:\n" + q[0] + "\n" + q[1] + "\n" + q[2] + "\n" + q[3], 20, 20);
text("Euler Angles:\nYaw (psi) : " + degrees(Euler[0]) + "\nPitch (theta): " + degrees(Euler[1]) + "\nRoll (phi) : " + degrees(Euler[2]), 200, 20);
drawCube();
}
void keyPressed() {
if(key == 'h') {
println("pressed h");
// set hq the home quaternion as the quatnion conjugate coming from the sensor fusion
hq = quatConjugate(q);
}
else if(key == 'n') {
println("pressed n");
hq = null;
}
}
// See Sebastian O.H. Madwick report
// "An efficient orientation filter for inertial and intertial/magnetic sensor arrays" Chapter 2 Quaternion representation
void quaternionToEuler(float [] q, float [] euler) {
euler[0] = atan2(2 * q[1] * q[2] - 2 * q[0] * q[3], 2 * q[0]*q[0] + 2 * q[1] * q[1] - 1); // psi
euler[1] = -asin(2 * q[1] * q[3] + 2 * q[0] * q[2]); // theta
euler[2] = atan2(2 * q[2] * q[3] - 2 * q[0] * q[1], 2 * q[0] * q[0] + 2 * q[3] * q[3] - 1); // phi
}
float [] quatProd(float [] a, float [] b) {
float [] q = new float[4];
q[0] = a[0] * b[0] - a[1] * b[1] - a[2] * b[2] - a[3] * b[3];
q[1] = a[0] * b[1] + a[1] * b[0] + a[2] * b[3] - a[3] * b[2];
q[2] = a[0] * b[2] - a[1] * b[3] + a[2] * b[0] + a[3] * b[1];
q[3] = a[0] * b[3] + a[1] * b[2] - a[2] * b[1] + a[3] * b[0];
return q;
}
// returns a quaternion from an axis angle representation
float [] quatAxisAngle(float [] axis, float angle) {
float [] q = new float[4];
float halfAngle = angle / 2.0;
float sinHalfAngle = sin(halfAngle);
q[0] = cos(halfAngle);
q[1] = -axis[0] * sinHalfAngle;
q[2] = -axis[1] * sinHalfAngle;
q[3] = -axis[2] * sinHalfAngle;
return q;
}
// return the quaternion conjugate of quat
float [] quatConjugate(float [] quat) {
float [] conj = new float[4];
conj[0] = quat[0];
conj[1] = -quat[1];
conj[2] = -quat[2];
conj[3] = -quat[3];
return conj;
}
is there a little prog i can use to make shure my processing receive rightly the data from my usb port ?
thank you for...best...
1