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    xenophage
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  • Trouble with scanning pixels[]
    Hi everyone! I've begun writing a crude AI for my robot now. My robot scans the room with sonar and an Arduino sends the data back up to a computer on the robot and it slowly builds a map of the room. The sonar window starts as a blank white screen, and when it receives a distance measurement from a sonar, it draws an arc filled green with a red stroke. Below is my AI so far, but I'm running it only in a "simulated" environment until I get it more complete. Left clicking in the sonar window will draw a large green ellipse, and right clicking will draw a small red ellipse. My problem: The scanner isn't finding the green pixels, but if I set the background to solid green (background(0, 255, 0);), the scanner works. My thoughts are somehow the green ellipse is drawing green on another layer, and the scanner is still only scanning the white background, for those of you who might have worked a little with Photoshop. Do I need to be using PImage? The scanner will eventually be looking for green areas for the robot to safely move to, while staying at least 6 to 12 inches away from any red area. It will do this by giving each pixel (1 pixel = 1 square inch in real world) a rank or grade from 0 to 255 based on if the robot can move there or not. After it makes it's full scan, it will tell the robot to move to the pixel with the highest rank. I've been working on this robot for a little over a year now and has been lots of fun. I'm open to any tips too! Appreciate any answer someone can give as to why the scanner isn't finding the green pixels when I draw them.

    2. int [][][] myArray = new int [600][600][2];
    3. int drawgray;
    4. int SPx, SPy, SPrad;
    5. int AIscanx, AIscany;
    6. boolean SPscanreset, SPradreset;
    7. AIWindow aiWindow;
    8. int SPstartrad, SPendrad;
    9. float SPang, SPatan;
    10. int scloc;
    11. float scr, scg, scb;
    12. int rank;

    14. //variables already initialized by outside
    15. float r, g, b;
    16. float ardposx, ardposy, ardheading, ardcompass, ardheaddraw, ardheaddraw2;
    17. int mpl; //remove other mpl when merging to main System
    18. //end outside variables



    22. void setup () {
    23.   
    24.   //variables set by outside of AI
    25.   ardposx = 0;
    26.   ardposy = 0;
    27.   size(600, 600);
    28.   background(255, 255, 255);
    29.   //end outside variables
    30.   
    31.   SPstartrad = 2;//inner start radius for scanning in inches
    32.   SPendrad = 300;//how far out in inches to scan
    33.   SPrad = SPstartrad;
    34.   aiWindow = new AIWindow();
    35.   
    36.   SPscanreset = false;
    37.   SPradreset = false;
    38.   
    39.   translate(300,300);
    40.   loadPixels();
    41. }

    43. void draw () {
    44.   translate(300,300);
    45.   mpl = millis();//remove when merging
    46.   println("start");
    47.   
    48.   if (SPscanreset == true){
    49.     for (int i = 0; i < 600; i++) {
    50.       for (int j = 0; j < 600; j++) {
    51.         myArray[i][j][1] = 0;
    52.       }
    53.     }
    54.     SPscanreset = false;
    55.   }
    56.   
    57.   if (mousePressed && mouseButton == LEFT) {
    58.     stroke(0,255,0,63); fill(0,255,0,63);
    59.     ellipse(mouseX - 300, mouseY - 300, 50, 50);
    60.     //loadPixels();
    61.   }
    62.   if (mousePressed && mouseButton == RIGHT) {
    63.     stroke(255,0,0,63); fill(255,0,0,63);
    64.     ellipse(mouseX - 300, mouseY - 300, 3, 3);
    65.     //loadPixels();
    66.   }
    67.   
    68.   //start main spiral scan
    69.   SPrad++;//increment through radius
    70.   if (SPrad >= SPendrad) {
    71.     SPrad = SPstartrad;
    72.     loadPixels();
    73.     SPradreset = true;
    74.   }
    75.   SPatan = atan2(1, SPrad);
    76.   for (SPang = 0; SPang < TWO_PI; SPang = SPang + SPatan) {//increment through angle
    77.     
    78.     SPx = int(cos(SPang) * SPrad + ardposx);
    79.     SPy = int(sin(SPang) * SPrad + ardposy);
    80.     
    81.     if (SPx < 300 && SPx > -300 && SPy < 300 && SPy > -300) {
    82.       if (myArray[SPx + 300][SPy + 300][1] == 0) {
    83.         AIscan();
    84.         
    85.       }
    86.       myArray[SPx + 300][SPy + 300][1] = 1;
    87.     }
    88.   }
    89.   
    90.   
    91.   
    92.   println("MPL: " + (millis() - mpl));//remove when merging
    93.   println("SPrad: " + SPrad);
    94.   println("scr: " + scr);
    95.   println("scg: " + scg);
    96.   println("scb: " + scb);
    97.   println("rank: " + rank);
    98.   println("end");
    99. }//end sonar draw


    102. void AIscan() {
    103.   scloc = SPx + (SPy * 600);
    104.   scloc = constrain(scloc,0,359999);
    105.   scr = red(pixels[scloc]);
    106.   scg = green(pixels[scloc]);
    107.   scb = blue(pixels[scloc]);
    108.   
    109.   //decide rank value for this location
    110.   rank = int(scg - scr);
    111.   
    112.   if (scr == 255 && scg == 255 && scb == 255) rank = 0;
    113.   
    114.   //record rank
    115.   myArray[SPx + 300][SPy + 300][0] = rank;
    116. }


    119. public class AIWindow extends PApplet {
    120.   Frame frame;
    121.   int width = 600;
    122.   int height = 600;
    123.   //data applet init
    124.   
    125.   
    126.   AIWindow () {
    127.     width = 600;
    128.     height = 600;
    129.     frame = new Frame();
    130.     frame.setBounds(0, 0, 600, 600);
    131.     
    132.     frame.add(this);
    133.     this.init();
    134.     frame.show();
    135.     frameRate(30);
    136.     frame.pack();
    137.   }
    138.   
    139.   void setup() {
    140.     
    141.     size(600, 600);
    142.     //frameRate(30);
    143.     frame.setTitle("AI");
    144.     background(255, 255, 255);
    145.     smooth();
    146.   }
    147.   
    148.   void draw() {
    149.     //if (SPradreset = true) {
    150.       for (int i = 0; i < 600; i++) {
    151.         for (int j = 0; j < 600; j++) {
    152.           drawgray = int(255 - myArray[i][j][0]);
    153.           stroke(drawgray,drawgray,drawgray);
    154.           point(i,j);
    155.         }
    156.       }
    157.     //}
    158.     SPradreset = false;
    159.   }//end AI draw
    160.   
    161. }//end AI window
  • Trying to extract a float from a string with letters, numbers, and chars.
    Hello folks, I have a fairly simple problem here. I have a robot project and I'll simplify a bit but basically the communication syntax between robot and computer looks a bit like this "<0.1234JX>". I realize now that its not the best way but it worked well when the robot was in its infant stages, and rather than rewrite every location where they communicate, i really just need to pull out the 0.1234 from that string. the < and > will always be at the beginning and end. Im looking at numbers in about the range of 1000 down to 0.0001, and including negatives. The Arduino on the robot can parse this out easily with the atof(str) function, but i can't seem to find a processing equivalent. I dont want to use a for() loop for parsing, if I can avoid it. I have tried using Float.parseFloat(trim(clientindata)); and similar, but I get either a NaN or a communication error. Any ideas? Greatly appreciated!

    Here is a section of the code:

    2.   try {
    3.   if (thisClient != null) {
    4.     String clientindata = thisClient.readStringUntil('\n');
    5.     if (clientindata != null) {
    6.       
    7.       //system can read data coming from client here
    8.       indata = Float.parseFloat(trim(clientindata));
    9.       
    10.       if (match(clientindata, "JZ") != null){
    11.         camHjoyset = indata;
    12.         println("joyyz=" + indata);
    13.       }
    14.       if (match(clientindata, "JS") != null){
    15.         camVjoyset = indata;
    16.         println("joyys=" + indata);
    17.       }
    18.       
    19.       
    20.       
    21.       com4.write(trim(clientindata));//forward client data to Arduino
    22.       println(thisClient.ip() + " : " + clientindata);
    23.     } 
    24.   }
    25. }catch(Exception e) {
    26. println("Client port error");
  • How can I get processing to send serial commands to a servo controller?
    I trying to get Processing to send serial commands to a USB 16 port servo controller. The model number of this controller is the ZX_SERVO16U. I'm following the syntax for the serial commands as close as I can but the unit isn't responding. I have the port configured at 2400 baud in the device properties too. I realize that the highbyte  and lowbyte are actually commands in arduino that pull the first or last 8 bits of a 16 bit word, but I couldn't find a Processing equivalent. When I turn it on, the servo's center, so don't think it's a hardware issue. The pdf that came with the servo controller is here. Its written in PBASIC I think, and I'm having difficulties translating it. I have tried a serial port terminal program to send the code, but I'm pretty sure my formatting is wrong. If anyone has some sample code to a similar servo controller that would really help too. Any help is really appreciated! Thanks!
    2. import processing.serial.*;
    3. Serial com2;
    4. Byte servoCh, servoRa, lowByte, highByte;
    5. String SC;
    6. String D;
    7. void setup(){
    8.   SC = "!SC";
    9.   D = "\n";
    10.   println(Serial.list());
    11.   com2 = new Serial(this, "COM2", 2400);
    12.   servoCh = 0;
    13.   servoRa = 7;
    14.   lowByte = 0;
    15.   highByte = 2;
    16.   //com2.write(SC + servoCh + servoRa + lowByte + highByte + D);
    17. }

    19. void draw() {
    20.   lowByte = 50;
    21.   highByte = 2;
    22.   println("High");
    23.   com2.write(SC + servoCh + servoRa + lowByte + highByte + D);
    24.   println(SC + servoCh + servoRa + lowByte + highByte + D);
    25.   delay(500);
    26.   lowByte = 50;
    27.   highByte = 1;
    28.   println("Low");
    29.   com2.write(SC + servoCh + servoRa + lowByte + highByte + D);
    30.   println(SC + servoCh + servoRa + lowByte + highByte + D);
    31.   delay(500);
    32.   servoCh = byte(servoCh + 1);
    33.   if (servoCh >= 16) servoCh = 0;
    34.   println("Servo:" + servoCh);
    35. }
  • Reading and drawing to two windows using PApplet with camera
    Hi everyone! I'm working on a robot project, and I'm having trouble with the processing code running on the computer on the robot. It communicates with the micro-controller through com4, a gps on com5, and with a client program running on my laptop through a VPN port. I'm trying to add a window that reads the camera and does some basic red color object detection. The code in the PApplet was originally a separate program, and was working fine, I am trying to migrate it into the main program running on the robot. Run it and see where it error's out. It seems it's confused about which window to read pixels from. You only need a USB (or built in) camera hooked up to run this (and work eventually hopefully). Can someone explain how to choose which window to read the pixel from? Also, I intend on adding a 3rd window displaying a grey scale of ratings of where the robot plans to move, and a 4th window which will be the main control window (pulling the text info out of the sonar window). If it helps I can post the working object detection code separately. Much appreciated!

    2. import processing.serial.*; //serial port read library
    3. import processing.net.*;
    4. UIWindow uiWindow;
    5. Server myServer;
    6. int serverport = 1234;//port used to communicate with clients over Hamachi
    7. Serial com5;
    8. Serial com4;
    9. String dataincom4, dataoutcom4, dataincom5;
    10. Float Latitude1 = 0.0, Latitude2 = 0.0;
    11. String Latitude;
    12. String NorSindicator;
    13. Float Longitude1 = 0.0, Longitude2 = 0.0;
    14. String Longitude;
    15. String EorWindicator;
    16. String Satellites;
    17. String  Altitude;
    18. String gpsdata, gpsdata2;
    19. Float Speed1 = 0.0, Heading1 = 0.0;
    20. String Speed, Heading, Lock;
    21. int Lock1 = 0, Satellites1 = 0;
    22. Float firstLat = 0.0, firstLon = 0.0;
    23. int px = 0, py = 0;
    24. int[] keys = new int[256];
    25. String dataCode1, dataCode2;
    26. Float indata;
    27. Float ardposx, ardposy, ardheading, ardcompass, ardheaddraw, ardheaddraw2;
    28. int sonarinchL1, sonarinchR1, sonarinchL2, sonarinchR2;
    29. Float sx, sy, sxp, syp;
    30. int mpltimer;
    31. float beamwidth = 0.08;

    33.  import processing.video.*;
    34.  Capture myCapture;

    36. void setup(){
    37.   frame.setTitle("Sonar Map");

    39.   myServer = new Server(this, serverport);
    40.   size(800,600); //window size
    41.   //frameRate(10);
    42.   PFont myFont = createFont(PFont.list()[2],16); // font type
    43.   textFont(myFont);
    44.   background(255, 255, 255);
    45.   stroke(0,0,0);
    46.   //smooth();
    47.   println(Serial.list()); // displays port numbers for program
    48.   com5 = new Serial(this, "COM5", 9600); // serial read setup
    49.   com5.bufferUntil('\r'); // library buffer
    50.   com4 = new Serial(this, "COM4", 9600); // serial read setup
    51.   com4.bufferUntil(10); // library buffer
    52.   
    53.   ardheaddraw = 0.0;
    54.   ardheaddraw2 = 0.0;
    55.   ardposx = 0.0; ardposy = 0.0;
    56.   com4.write("<0.0I0>");//request x and y position
    57.   mpltimer = millis();
    58.   
    59.   uiWindow = new UIWindow();
    60. }

    62. void draw(){
    63.  fill(255, 255, 255);
    64.  rect(0, 0, 200, 600);//clear left text area for new text
    65.  fill(0, 0, 0);
    66.  stroke(0,0,0);
    67.  //window display
    68.  textAlign(LEFT);
    69.  text(" Latitude: " + Latitude, 10, 10);
    70.  text(" Longitude: " + Longitude, 10,30);
    71.  text(" Position: " + NorSindicator + "   " + EorWindicator, 10,50);
    72.  text(" Positive Lock:  " + Lock, 10,70);
    73.  text(" Satellites Used:  " + Satellites, 10,90);
    74.  text(" Altitude: " + Altitude + " Meters", 10,110);
    75.  text(" Speed: " + Speed, 10, 130);
    76.  text(" Heading: " + Heading1, 10, 150);
    77.  
    78.  text(" Data from Arduino", 10, 310);
    79.  text(" PosX: " + ardposx, 10, 330);
    80.  text(" PosY: " + ardposy, 10, 350);
    81.  text(" Sonar L2: " + sonarinchL2, 10, 370);
    82.  text(" Sonar L1: " + sonarinchL1, 10, 390);
    83.  text(" Sonar R1: " + sonarinchR1, 10, 410);
    84.  text(" Sonar R2: " + sonarinchR2, 10, 430);
    85.  text(" Heading: " + ardheading, 10, 450);
    86.  text(" Compass: " + ardcompass, 10, 470);
    87.  line(160, 430, 160, 430 - sonarinchL2);
    88.  line(170, 430, 170, 430 - sonarinchL1);
    89.  line(180, 430, 180, 430 - sonarinchR1);
    90.  line(190, 430, 190, 430 - sonarinchR2);
    91.  
    92.  fill(255,255,255);
    93.  ellipse(180, 450, 30, 30);
    94.  fill(0,0,0);
    95.  //arc(180, 450, 30, 30, ardheaddraw2 + 0.5, ardheaddraw2 - 0.5);
    96.  line(180, 450, cos(ardheaddraw2) * 15 + 180, sin(ardheaddraw2) * 15 + 450);

    98.  //text(" GPS unparsed: " + gpsdata, 20,170);
    99.  //text(" GPS unparsed: " + gpsdata2, 20,190);
    100.  
    101.  // draw points where sonars detect objects
    102.  //fill(255, 0, 0);
    103.  //point((ardposx + 500)
    104.  
    105.  if (mousePressed && mouseButton == LEFT){
    106.     point(mouseX, mouseY);
    107.   }
    108.  if (firstLat == 0.0 && firstLon == 0.0){
    109.    if (Latitude1 != 0.0 && Longitude1 != 0.0){
    110.      if (Satellites1 >= 3 && Lock1 >= 1){
    111.        firstLat = Latitude1 * 1000000.0;
    112.        firstLon = Longitude1 * 1000000.0;
    113.      }
    114.    }
    115.  }
    116.  if (firstLat != 0.0 && firstLon != 0.0){
    117.    py = int((firstLat - (Latitude1 * 1000000.0)) + (width / 2.0));
    118.    px = int((firstLon - (Longitude1 * 1000000.0)) + (width / 2.0));
    119.    //ellipse(px, py, 2, 2);
    120.  }
    121.   
    122.   //Get the next available client
    123.   Client thisClient = myServer.available();
    124.   //If the client is not null, and says something, display what it said
    125.   try {
    126.   if (thisClient != null) {
    127.     String clientindata = thisClient.readStringUntil('\n');
    128.     if (clientindata != null) {
    129.       com4.write(trim(clientindata));//forward client data to Arduino
    130.       println(thisClient.ip() + " : " + clientindata);
    131.     } 
    132.   }
    133. }catch(Exception e) {
    134. println("Client port error");
    135. //decide what to do here for the error
    136.   }
    137. print("MPL:"); println(millis() - mpltimer);
    138. mpltimer = millis();
    139. }

    141. //camera object detection applet
    142. public class UIWindow extends PApplet {
    143.  Frame frame;
    144.  int width = 320;
    145.  int height = 240;
    146.  
    147.  //camera object detect applet init
    148.  import processing.video.*;
    149.  Capture myCapture;
    150.  PImage img;
    151.  int w = 80, pixdetect = 0;
    152.  int objx1, objx2, objy1, objy2;

    154.  UIWindow ()
    155.  {
    156.    width = 320;
    157.    height = 240;
    158.    frame = new Frame();
    159.    frame.setBounds(0, 0, width, height);
    160.    
    161.    frame.add(this);
    162.    this.init();
    163.    frame.show();
    164.    frameRate(30);
    165.  }
    166.  
    167. void setup() {
    168.   size(320, 240);
    169.   frameRate(30);
    170.   
    171.   myCapture = new Capture(this, 320, 240, 1);
    172.   myCapture.frameRate(30);
    173.   frame.setTitle("Camera object detect");
    174. }

    176. void draw() {
    177.   int[][] obj = new int[320][240];
    178.   
    179.   if(myCapture.available()) { 
    180.     myCapture.read();  
    181.     image(myCapture, 0, 0);
    182.     img = myCapture;
    183.   }
    184.   objx1 = 160; objx2 = 160; objy1 = 120; objy2 = 120;
    185.   loadPixels();
    186.   // Begin loop for every pixel
    187.   for (int x = 1; x < width; x++) {
    188.     for (int y = 1; y < height; y++ ) {
    189.       color c = detection(x,y,img);
    190.       int loc = x + y*320;
    191.       pixels[loc] = c;
    192.       obj[x][y] = pixdetect;
    193.     }
    194.   }
    195.   updatePixels();
    196.   //Begin search for objects
    197.   for (int x = 2; x < 320 - 1; x++) {
    198.     for (int y = 2; y < 240 - 1; y++ ) {
    199.       if (obj[x][y] == 1 && obj[x+1][y] == 1 && obj[x-1][y] == 1 && obj[x][y+1] == 1 && obj[x][y-1] == 1) {
    200.         if (x > objx1 && objx1 == int(width/2)) objx1 = x;
    201.         if (x < objx2 && objx2 == int(width/2)) objx2 = x;
    202.         if (x > objy1 && objy1 == int(height/2)) objy1 = y;
    203.         if (x > objy2 && objy2 == int(height/2)) objy2 = y;
    204.     
    205.         if (x < objx1) objx1 = x;
    206.         if (x > objx2) objx2 = x;
    207.         if (y < objy1) objy1 = y;
    208.         if (y > objy2) objy2 = y;
    209.       }
    210.       
    211.     }
    212.   }
    213.   stroke(255,0,0);
    214.   rect(objx1, objy1, objx2 - objx1, objy2 - objy1);
    215.   
    216.   stroke(0);
    217.   noFill();
    218.   //rect(xstart,ystart,w,w);
    219. }

    221. color detection(int x, int y, PImage img) {
    222.   // What pixel are we testing
    223.   
    224.   int loc = x + 320*y;
    225.   // Make sure we have not walked off the edge of the pixel array
    226.   loc = constrain(loc,1,76799);
    227.   float r = red(pixels[loc]);
    228.   float g = green(pixels[loc]);
    229.   float b = blue(pixels[loc]);
    230.   float br = brightness(pixels[loc]);
    231.   float sa = saturation(pixels[loc]);
    232.   if (br + sa > 255.0 && r > 70.0 && r > g + 40.0 && r > b + 40.0 && g - b < 30.0 && g - b > -30.0) {
    233.     r = 255.0; g = 0.0; b = 0.0;
    234.     pixdetect = 1;

    236.   }else {
    237.     pixdetect = 0;
    238.     //r = 0.0; g = 0.0; b = 0.0;
    239.   }
    240.   
    241.   // Return the resulting color
    242.   return color(r,g,b);
    243. }

    245. }
    246. //end camera object detect applet

    248. // function reads the gps or Arduino data and sends it to the parsing function
    249. void serialEvent(Serial thisPort) {
    250.   try {
    251.   if (thisPort == com5){
    252.     String dataincom5 = com5.readStringUntil('\n');
    253.     if (dataincom5 != null) {
    254.       //println("com5:");
    255.       //println(dataincom5);
    256.       myServer.write(trim(dataincom5) + ", com5\n");//forward data to client
    257.       parseStringcom5(dataincom5);
    258.     }
    259.   }
    260.   if (thisPort == com4){
    261.     String dataincom4 = com4.readStringUntil('\n');
    262.     if (dataincom4 != null) {
    263.       //println("com4:");
    264.       //println(dataincom4);
    265.       myServer.write(trim(dataincom4) + ", com4\n");//forward data to client
    266.       parseStringcom4(dataincom4);
    267.     }
    268.   }
    269. }catch(Exception e) {
    270. println("Com port error");
    271. //decide what to do here for the error
    272.   }
    273. }

    275. //parse com4 Arduino
    276. void parseStringcom4 (String serialString) {
    277.   String[] list = split(serialString, ',');
    278.   indata = float(list[0]);
    279.   dataCode1 = list[1];
    280.   dataCode2 = list[2];
    281.   //println(indata);
    282.   //println(dataCode1);
    283.   //println(dataCode2);
    284.   
    285.   if (dataCode1.equals("L") && dataCode2.contains("1")){
    286.     sonarinchL1 = int(indata);
    287.     sx = (500 + ardposx) + (cos(ardheaddraw + 0.5) * 15.0);
    288.     sy = (300 - ardposy) - (sin(ardheaddraw + 0.5) * 15.0);
    289.     sxp = sx + (cos(ardheaddraw) * sonarinchL1);
    290.     syp = sy - (sin(ardheaddraw) * sonarinchL1);
    291.     stroke(200,255,255,63); fill(200,255,255,63);
    292.     line(sx, sy, sxp, syp);
    293.     stroke(200,0,0,63);
    294.     if (sonarinchL1 > 240) stroke(200,255,255,63);
    295.     arc(sx, sy, sonarinchL1 * 2.0, sonarinchL1 * 2.0, (ardheaddraw2 - beamwidth), (ardheaddraw2 + beamwidth));
    296.   }
    297.   if (dataCode1.equals("L") && dataCode2.contains("2")){
    298.     sonarinchL2 = int(indata);
    299.     sx = (500 + ardposx) + (cos(ardheaddraw + 0.6) * 8.0);
    300.     sy = (300 - ardposy) - (sin(ardheaddraw + 0.6) * 8.0);
    301.     sxp = sx + (cos(ardheaddraw + QUARTER_PI) * sonarinchL2);
    302.     syp = sy - (sin(ardheaddraw + QUARTER_PI) * sonarinchL2);
    303.     stroke(200,255,255,63); fill(200,255,255,63);
    304.     line(sx, sy, sxp, syp);
    305.     stroke(200,0,0,63);
    306.     if (sonarinchL2 > 240) stroke(200,255,255,63);
    307.     arc(sx, sy, sonarinchL2 * 2.0, sonarinchL2 * 2.0, ((ardheaddraw2 - QUARTER_PI) - beamwidth), ((ardheaddraw2 - QUARTER_PI) + beamwidth));
    308.   }
    309.   if (dataCode1.equals("R") && dataCode2.contains("1")){
    310.     sonarinchR1 = int(indata);
    311.     sx = (500 + ardposx) + (cos(ardheaddraw - 0.5) * 15.0);
    312.     sy = (300 - ardposy) - (sin(ardheaddraw - 0.5) * 15.0);
    313.     sxp = sx + (cos(ardheaddraw) * sonarinchR1);
    314.     syp = sy - (sin(ardheaddraw) * sonarinchR1);
    315.     stroke(200,255,255,63); fill(200,255,255,63);
    316.     line(sx, sy, sxp, syp);
    317.     stroke(200,0,0,63);
    318.     if (sonarinchR1 > 240) stroke(200,255,255,63);
    319.     arc(sx, sy, sonarinchR1 * 2.0, sonarinchR1 * 2.0, (ardheaddraw2 - beamwidth), (ardheaddraw2 + beamwidth));
    320.   }
    321.   if (dataCode1.equals("R") && dataCode2.contains("2")){
    322.     sonarinchR2 = int(indata);
    323.     sx = (500 + ardposx) + (cos(ardheaddraw - 0.6) * 8.0);
    324.     sy = (300 - ardposy) - (sin(ardheaddraw - 0.6) * 8.0);
    325.     sxp = sx + (cos(ardheaddraw - QUARTER_PI) * sonarinchR2);
    326.     syp = sy - (sin(ardheaddraw - QUARTER_PI) * sonarinchR2);
    327.     stroke(200,255,255,63); fill(200,255,255,63);
    328.     line(sx, sy, sxp, syp);
    329.     stroke(200,0,0,63);
    330.     if (sonarinchR2 > 240) stroke(200,255,255,63);
    331.     arc(sx, sy, sonarinchR2 * 2.0, sonarinchR2 * 2.0, ((ardheaddraw2 + QUARTER_PI) - beamwidth), ((ardheaddraw2 + QUARTER_PI) + beamwidth));
    332.   }
    333.   
    334.   stroke(200,0,0,127);
    335.   point(sxp,syp);
    336.   
    337.   if (dataCode1.equals("P") && dataCode2.contains("X")){
    338.     ardposx = indata;
    339.   }
    340.   if (dataCode1.equals("P") && dataCode2.contains("Y")){
    341.     ardposy = indata;
    342.     stroke(200,255,255, 63); fill(200,255,255, 63);
    343.     ellipse(ardposx + 500, -ardposy + 300, 20, 20);
    344.     stroke(0,0,0);
    345.     point(ardposx + 500, -ardposy + 300);
    346.   }
    347.   if (dataCode1.equals("H") && dataCode2.contains("0")){
    348.     ardheading = indata;
    349.     ardheaddraw = indata + HALF_PI;
    350.     ardheaddraw2 = (-indata) - HALF_PI;
    351.   }
    352.   if (dataCode1.equals("H") && dataCode2.contains("1")){
    353.     ardcompass = indata;
    354.   }
    355.   stroke(0,0,0);
    356.   fill(0,0,0);
    357. }
    358.  //parse com5 GPS
    359. void parseStringcom5 (String serialString) {
    360.   //sets up an array and splits the gps info by comma
    361.   String items[] = split(serialString,','); 
    362.   if(items[0].equals("$GPGGA")) {  //looks for the GPGGA info
    363.     getGGA(items);
    364.   }
    365.   if(items[0].equals("$GPRMC")) {  //looks for the GPRMC info
    366.     getRMC(items);
    367.   }
    368.   
    369.   //Convert data for Arduino
    370.   Heading1 = int(-Heading1 * (PI / 180.0) * 1000.0) / 1000.0;//0-360 to 0 - -2PI
    371.   if (Heading1 < -PI) Heading1 = Heading1 + TWO_PI;//0-2PI to -PI - PI
    372.   
    373.   //begin transmitting data to Arduino
    374.   com4.write("<" + Satellites1 + "S0>");
    375.   com4.write("<" + Heading1 + "H0>");
    376.   //end transmission
    377. }

    379. //this function assigns the variables 
    380. //to array elements that have been parsed
    381. void getGGA(String[] gpsinfo){
    382.   //if (gpsinfo[1].equals("A")){
    383.   Latitude1 = float(gpsinfo[2])/100.0;//DD.MM.MMMM
    384.   Latitude2 = Latitude1 - int(Latitude1);//00.MMMMMM
    385.   Latitude2 = (Latitude2 * 100.0) / 60.0;//00.DDDD
    386.   Latitude1 = int(Latitude1) + Latitude2;//DD.DDDD
    387.   Latitude = nfs(Latitude1, 3,7);
    388.   NorSindicator = gpsinfo[3];
    389.   Longitude1 = float( gpsinfo[4])/100.0;//DDD.MM.MMMM
    390.   Longitude2 = Longitude1 - int(Longitude1);//00.MMMMMM
    391.   Longitude2 = (Longitude2 * 100.0) / 60.0;//00.DDDD
    392.   Longitude1 = int(Longitude1) + Longitude2;//DD.DDDD
    393.   Longitude = nfs(Longitude1, 3,7);
    394.   EorWindicator = gpsinfo[5];
    395.   Lock1 = int(gpsinfo[6]);
    396.   Lock = nfs(Lock1, 1, 0);
    397.   Satellites1 = int(gpsinfo[7]);
    398.   Satellites = nfs(Satellites1, 2, 0);
    399.   Altitude = gpsinfo[9];
    400.   gpsdata = join(gpsinfo,",");
    401.  }
    402.  
    403.  void getRMC(String[] gpsinfo){
    404.   //if (gpsinfo[1].equals("A")){
    405.   Speed1 = float(gpsinfo[7]);
    406.   Speed = nfs(Speed1, 3,2);
    407.   Heading1 = float( gpsinfo[8]);
    408.   Heading = nfs(Heading1, 3,2);
    409.   gpsdata2 = join(gpsinfo,",");
    410.  }

    412. //check for keys being pressed, and send them to arduino
    413. void keyPressed() {
    414.   if (keys[keyCode] == 0){
    415.     com4.write("<" + keyCode + "K1>");
    416.     keys[keyCode] = 1;
    417.   }
    418. }
    419. void keyReleased() {
    420.   if (keys[keyCode] == 1){
    421.     com4.write("<" + keyCode + "K0>");
    422.     keys[keyCode] = 0;
    423.   }
    424. }