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Transferring Arduino Code & Commands To a Processing Interface???

[2 Replies]
- 29-Mar-2013 11:22 PM
- Forum: Integration and Hardware
Hello, I have a rather difficult question for whoever thinks they are up to it!

I have created a program in Processing to respond to particular mouse clicks. However, I would like to link my code from Arduino into it. In my Arduino code I am controlling a Stewart Platform, and two different steppers.

How can I transfer this Arduino code to Processing. Should I be using serial commands? How do I do this? Should I also use FIRMATA since I have a lot of pins being used? (This is all run on the MEGA)

Thanks!
ARDUINO CODE:
2. #include <Servo.h>
3. double x = 0;
4. double y = 0;
5. double z = 0;
6. double psi = 0; // yaw nothing more than .4 // z-axis
7. double theta = 0; //roll nothing more than .2 // y-axis
8. double phi = 0; //pitch nothing more than .2 // x-axis
10. double pi = 3.1415;
12. double M[3][3];
13. double rxp[3][6];
14. double L[3][6];
15. double T[3];
16. double H[3] = {0,0,115.79};
18. double Len[6];
20. int pulse[6];
22. Servo S[6];
23. int pins[6] = {3,5,6,9,10,11};
25. void setup()
26. {
27. Serial.begin(9600);
28. Serial.println("test");
29. for (int i = 0; i < 6; i++)
30. {
31. S[i].attach(pins[i]);
32. }
34. }
36. void loop()
37. {
38. getT();
40. getmatrix();
41. getrxp();
42. getL();
43. getLen();
44. getPulses();
45. runservos();
46. //Serial.println("==================");
47. //for (int i = 0; i < 3; i++)
48. //{
49. for (int j = 0; j < 6; j++)
50. {
51. //Serial.println(map(pulse[j],1000,2000,0,180));
53. }
54. //Serial.println();
55. //}
56. //Serial.println("==================");
57. delay(100);
58. }
60. double rad(double a)
61. {
62. return a*pi/180;
63. }
65. void getmatrix()
66. {
67. M[0][0] = cos(psi)*cos(theta);
68. M[0][1] = -sin(psi)*cos(phi)+cos(psi)*sin(theta)*sin(phi);
69. M[0][2] = sin(psi)*sin(phi)+cos(psi)*cos(phi)*sin(theta);
70. M[1][0] = sin(psi)*cos(theta);
71. M[1][1] = cos(psi)*cos(phi)+sin(psi)*sin(theta)*sin(phi);
72. M[1][2] = -cos(psi)*sin(phi)+sin(psi)*sin(theta)*cos(phi);
73. M[2][0] = -sin(theta);
74. M[2][1] = cos(theta)*sin(phi);
75. M[2][2] = cos(theta)*cos(phi);
76. }
78. void getrxp()
79. {
80. rxp[0][0] = M[0][0]*(27.28)+M[0][1]*(27.3)+M[0][2]*0;
81. rxp[1][0] = M[1][0]*(27.28)+M[1][1]*(27.3)+M[1][2]*0;
82. rxp[2][0] = M[2][0]*(27.28)+M[2][1]*(27.3)+M[2][2]*0;
84. rxp[0][1] = M[0][0]*(37.28)+M[0][1]*(9.98)+M[0][2]*0;
85. rxp[1][1] = M[1][0]*(37.28)+M[1][1]*(9.98)+M[1][2]*0;
86. rxp[2][1] = M[2][0]*(37.28)+M[2][1]*(9.98)+M[2][2]*0;
88. rxp[0][2] = M[0][0]*(10)+M[0][1]*(-37.27)+M[0][2]*0;
89. rxp[1][2] = M[1][0]*(10)+M[1][1]*(-37.27)+M[1][2]*0;
90. rxp[2][2] = M[2][0]*(10)+M[2][1]*(-37.27)+M[2][2]*0;
92. rxp[0][3] = M[0][0]*(-10)+M[0][1]*(-37.27)+M[0][2]*0;
93. rxp[1][3] = M[1][0]*(-10)+M[1][1]*(-37.27)+M[1][2]*0;
94. rxp[2][3] = M[2][0]*(-10)+M[2][1]*(-37.27)+M[2][2]*0;
96. rxp[0][4] = M[0][0]*(-37.28)+M[0][1]*(9.98)+M[0][2]*0;
97. rxp[1][4] = M[1][0]*(-37.28)+M[1][1]*(9.98)+M[1][2]*0;
98. rxp[2][4] = M[2][0]*(-37.28)+M[2][1]*(9.98)+M[2][2]*0;
100. rxp[0][5] = M[0][0]*(-27.28)+M[0][1]*(27.3)+M[0][2]*0;
101. rxp[1][5] = M[1][0]*(-27.28)+M[1][1]*(27.3)+M[1][2]*0;
102. rxp[2][5] = M[2][0]*(-27.28)+M[2][1]*(27.3)+M[2][2]*0;
103. }
105. void getT()
106. {
107. T[0] = x+H[0];
108. T[1] = y+H[1];
109. T[2] = z+H[2];
110. }
112. void getL()
113. {
114. L[0][0] = T[0]+rxp[0][0]-(51.29);
115. L[1][0] = T[1]+rxp[1][0]-(41.26);
116. L[2][0] = T[2]+rxp[2][0]-(0);
118. L[0][1] = T[0]+rxp[0][1]-(61.29);
119. L[1][1] = T[1]+rxp[1][1]-(23.84);
120. L[2][1] = T[2]+rxp[2][1]-(0);
122. L[0][2] = T[0]+rxp[0][2]-(10);
123. L[1][2] = T[1]+rxp[1][2]-(-65);
124. L[2][2] = T[2]+rxp[2][2]-(0);
126. L[0][3] = T[0]+rxp[0][3]-(-10);
127. L[1][3] = T[1]+rxp[1][3]-(-65);
128. L[2][3] = T[2]+rxp[2][3]-(0);
130. L[0][4] = T[0]+rxp[0][4]-(-61.29);
131. L[1][4] = T[1]+rxp[1][4]-(23.84);
132. L[2][4] = T[2]+rxp[2][4]-(0);
134. L[0][5] = T[0]+rxp[0][5]-(-51.29);
135. L[1][5] = T[1]+rxp[1][5]-(41.26);
136. L[2][5] = T[2]+rxp[2][5]-(0);
138. }
140. void getLen()
141. {
142. int initLen = 119; // must be 119
143. for (int i = 0; i < 6; i++)
144. {
145. Len[i] = sqrt(L[0][i]*L[0][i]+L[1][i]*L[1][i]+L[2][i]*L[2][i])-initLen;
146. }
147. }
149. void getPulses()
150. {
151. for (int i = 0; i < 6; i++)
152. {
153. pulse[i] = map(Len[i],0,30,1000,2000);
154. }
156. }
157. void runservos()
158. {
159. for (int i = 0; i < 6; i++)
160. {
161. S[i].write(map(pulse[i],1000,2000,45,180)); //MATH
162. //S[i].write(45); //HOME
163. }
164. }

Immediate help required with a mouse clicking seven-segment counter setup

[10 Replies]
- 15-Mar-2013 07:15 PM
- Forum: Programming Questions
Hello all,

I am trying to create code in processing that will do three things:

1) Respond to mouse clicks on many different arrows on my size layout.

2) When a click is detected, to increase a specific counter (one counter per pair of arrows) correlating to that pair of arrows.

3) Only let the arrows increase that specific counter when my mouse is inside them.

I am very new to this and the working code I have now is just a graphic, the code I've been working on to get this some what working I will post separately.

Please, any help is accepted and appreciated! Thank-you!

// *Code for "THE ROBOGNATHIC" Dental Articulator Windows-based touch screen platform.*

PFont f; // Declaring an object.

void setup(){

size (900,550); // Setting up tablet screen size.

background(150); // Setting the background to grey.

stroke(0); // Setting the outline to black.

f = createFont ("Arial",16,false); // Referencing the font name and function; Arial, 16 pt., anti-aliasing off.

}

void draw(){

// *Seperating Lines*

line(170,550,170,280); // Parallel Robot Y-Axis Line.

line(170,280,900,280); // Parallel Robot X-Axis Line.

line(450,550,450,280); // Forward/Reverse & Elevation Divider Line.

line(740,550,740,280); // Elevation Divider Line.

// *ROBOT HOME Button*

fill(0,0,255); // Sets the blue button color.

rectMode(CORNERS); // Initiates rectangle mode.

rect(40,450,120,530); // States corner locations of rectangle.

// *Linear X-Slide HOME Button*

fill(0,0,255); // Sets the blue button color.

rectMode(CORNERS); // Initiates rectangle mode.

rect(250,335,350,370); // States corner locations of rectangle.

// *Stepper Motor HOME Button*

fill(0,0,255); // Sets the blue button color.

rectMode(CORNERS); // Initiates rectangle mode.

rect(550,335,650,370); // States corner locations of rectangle.

// *PITCH plus/minus arrows*

fill(0,255,0); // Setting the interior of the arrow to green.

beginShape(); // Shape of arrow begin.

vertex(60,150); // Point #1

vertex(50,150); // Point #2

vertex(85,110); // Point #3

vertex(120,150); // Point #4

vertex(110,150); // Point #5

vertex(110,190); // Point #6

vertex(60,190); // Point #7

vertex(60,150); // Point #1

endShape(); // Shape of arrow end.

line(40,220,130,220); // Arrow divider line.

fill(255,0,0); // Setting the interior of the arrow to red.

pushMatrix(); // Used for calling up translate and rotate.

translate(95,290); // Amount of space translatted up/down.

translate(75,150); // Centre of previous arrow.

rotate(PI); // Rotate arrow 180 degrees.

beginShape(); // Shape of arrow begin.

vertex(60,150); // Point #1

vertex(50,150); // Point #2

vertex(85,110); // Point #3

vertex(120,150); // Point #4

vertex(110,150); // Point #5

vertex(110,190); // Point #6

vertex(60,190); // Point #7

vertex(60,150); // Point #1

endShape(); // Shape of arrow end.

popMatrix(); // Used for closing the translate/rotate command.

// *ELEVATION plus/minus arrows*

fill(255,0,0); // Setting the interior of the arrow to red.

pushMatrix(); // Used for calling up translate and rotate.

translate(760,590); // Amount of space translatted up/down.

rotate(PI); // Rotate arrow 180 degrees.

beginShape(); // Shape of arrow begin.

vertex(60,150); // Point #1

vertex(50,150); // Point #2

vertex(85,110); // Point #3

vertex(120,150); // Point #4

vertex(110,150); // Point #5

vertex(110,190); // Point #6

vertex(60,190); // Point #7

vertex(60,150); // Point #1

endShape(); // Shape of arrow end.

popMatrix(); // Used for closing the translate/rotate command.

line(600,395,600,485); // Arrow divider line.

fill(0,255,0); // Setting the interior of the arrow to green.

pushMatrix(); // Used for calling up translate and rotate.

translate(440,290); // Amount of space translatted up/down.

beginShape(); // Shape of arrow begin.

vertex(60,150); // Point #1

vertex(50,150); // Point #2

vertex(85,110); // Point #3

vertex(120,150); // Point #4

vertex(110,150); // Point #5

vertex(110,190); // Point #6

vertex(60,190); // Point #7

vertex(60,150); // Point #1

endShape(); // Shape of arrow end.

popMatrix(); // Used for closing the translate/rotate command.

// *YAW plus/minus arrows*

fill(255,0,0); // Setting the interior of the arrow to green.

pushMatrix(); // Used for calling up translate and rotate.

translate(110,245); // Amount of space translatted up/down.

rotate(3*PI/2); // Rotate 270 degrees.

beginShape(); // Shape of arrow begin.

vertex(60,150); // Point #1

vertex(50,150); // Point #2

vertex(85,110); // Point #3

vertex(120,150); // Point #4

vertex(110,150); // Point #5

vertex(110,190); // Point #6

vertex(60,190); // Point #7

vertex(60,150); // Point #1

endShape(); // Shape of arrow end.

popMatrix();

line(330,120,330,210); // Arrow divider line.

fill(0,255,0); // Setting the interior of the arrow to red.

pushMatrix(); // Used for calling up translate and rotate.

translate(550,75); // Amount of space translatted up/down.

rotate(PI/2); // Rotate arrow 180 degrees.

beginShape(); // Shape of arrow begin.

vertex(60,150); // Point #1

vertex(50,150); // Point #2

vertex(85,110); // Point #3

vertex(120,150); // Point #4

vertex(110,150); // Point #5

vertex(110,190); // Point #6

vertex(60,190); // Point #7

vertex(60,150); // Point #1

endShape(); // Shape of arrow end.

popMatrix(); // Used for closing the translate/rotate command.

// *FORWARD/REVERSE plus/minus arrows*

fill(255,0,0); // Setting the interior of the arrow to green.

pushMatrix(); // Used for calling up translate and rotate.

translate(80,520); // Amount of space translated up/down.

rotate(3*PI/2); // Rotate 270 degrees.

beginShape(); // Shape of arrow begin.

vertex(60,150); // Point #1

vertex(50,150); // Point #2

vertex(85,110); // Point #3

vertex(120,150); // Point #4

vertex(110,150); // Point #5

vertex(110,190); // Point #6

vertex(60,190); // Point #7

vertex(60,150); // Point #1

endShape(); // Shape of arrow end.

popMatrix(); // Used for closing the translate/rotate command.

line(300,390,300,470); // Arrow divider line.

fill(0,255,0); // Setting the interior of the arrow to red.

pushMatrix(); // Used for calling up translate and rotate.

translate(520,350); // Amount of space translatted up/down.

rotate(PI/2); // Rotate arrow 180 degrees.

beginShape(); // Shape of arrow begin.

vertex(60,150); // Point #1

vertex(50,150); // Point #2

vertex(85,110); // Point #3

vertex(120,150); // Point #4

vertex(110,150); // Point #5

vertex(110,190); // Point #6

vertex(60,190); // Point #7

vertex(60,150); // Point #1

endShape(); // Shape of arrow end.

popMatrix(); // Used for closing the translate/rotate command.

// *ROLL plus/minus arrows*

fill(0,255,0); // Setting the interior of the arrow to green.

pushMatrix(); // Used for calling up translate and rotate.

translate(500,15); // Amount of space translatted up/down.

beginShape(); // Shape of arrow begin.

vertex(60,150); // Point #1

vertex(50,150); // Point #2

vertex(85,110); // Point #3

vertex(120,150); // Point #4

vertex(110,150); // Point #5

vertex(110,190); // Point #6

vertex(60,190); // Point #7

vertex(60,150); // Point #1

endShape(); // Shape of arrow end.

popMatrix(); // Used for closing the translate/rotate command.

line(650,120,650,210); // Arrow divider line.

fill(0,255,0); // Setting the interior of the arrow to green.

pushMatrix(); // Used for calling up translate and rotate.

translate(630,15); // Amount of space translatted up/down.

beginShape(); // Shape of arrow begin.

vertex(60,150); // Point #1

vertex(50,150); // Point #2

vertex(85,110); // Point #3

vertex(120,150); // Point #4

vertex(110,150); // Point #5

vertex(110,190); // Point #6

vertex(60,190); // Point #7

vertex(60,150); // Point #1

endShape(); // Shape of arrow end.

popMatrix(); // Used for closing the translate/rotate command.

// *Text Identifiers*

// *Title*

textAlign(CENTER); // Centres the text in the middle of the screen.

textFont(f,36); // Uses text variable and size to specify font being used.

fill(255); // Specifies color of letters.

text("THE ROBOGNATHIC",width/2,50); // Displays text using 3 arguments; the text, x and y location.

// *Pitch*

textAlign(CENTER);

textFont(f,25); // Uses text variable and size to specify font being used.

fill(255); // Specifies color of letters.

text("PITCH",85,80); // Displays text using 3 arguments; the text, x and y location.

// *Mini-Actuator HOME Position Title*

textAlign(CENTER); // Centres the text in the middle of the screen.

textFont(f,20); // Uses text variable and size to specify font being used.

fill(255); // Specifies color of letters.

text("ROBOT HOME",85,425); // Displays text using 3 arguments; the text, x and y location.

// *Mini-Actuator HOME Button*

textAlign(CENTER); // Centres the text in the middle of the screen.

textFont(f,22); // Uses text variable and size to specify font being used.

fill(255); // Specifies color of letters.

text("HOME",80,500); // Displays text using 3 arguments; the text, x and y location.

// *Yaw*

textAlign(CENTER); // Centres the text in the middle of the screen.

textFont(f,25); // Uses text variable and size to specify font being used.

fill(255); // Specifies color of letters.

text("YAW",330,110); // Displays text using 3 arguments; the text, x and y location.

// *Roll*

textAlign(CENTER); // Centres the text in the middle of the screen.

textFont(f,25); // Uses text variable and size to specify font being used.

fill(255); // Specifies color of letters.

text("ROLL",650,110); // Displays text using 3 arguments; the text, x and y location.

// *Linear X-Slide HOME Button*

textAlign(CENTER); // Centres the text in the middle of the screen.

textFont(f,22); // Uses text variable and size to specify font being used.

fill(255); // Specifies color of letters.

text("HOME",300,360); // Displays text using 3 arguments; the text, x and y location.

// *Forward/Reverse*

textAlign(CENTER); // Centres the text in the middle of the screen.

textFont(f,25); // Uses text variable and size to specify font being used.

fill(255); // Specifies color of letters.

text("FORWARD/REVERSE",310,310); // Displays text using 3 arguments; the text, x and y location.

// *Stepper Motor HOME Button*

textAlign(CENTER); // Centres the text in the middle of the screen.

textFont(f,22); // Uses text variable and size to specify font being used.

fill(255); // Specifies color of letters.

text("HOME",600,360); // Displays text using 3 arguments; the text, x and y location.

// *Elevation*

textAlign(CENTER); // Centres the text in the middle of the screen.

textFont(f,25); // Uses text variable and size to specify font being used.

fill(255); // Specifies color of letters.

text("ELEVATION",600,310); // Displays text using 3 arguments; the text, x and y location.

}

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