i have a problem with a code can anyone help me? (arduino data)

mercialeite

So i am doing a project with arduino and the sensor mpu6050 ,i want to do an object in processing for to move according to the values readed in mpu6050 i have a code but i can't do rotate the object ,i fix the baud rate and the serial port according with the code in the IDE of arduino but i still can't .Can anyone help me please ? the code is :

/**
test sketch for mpu6050

copyright (c) Davide Gironi, 2012

Released under GPLv3.
Please refer to LICENSE file for licensing information.
*/

import processing.opengl.*;
import processing.serial.*;
Serial port;

float[] q = {0,0,0,0};
float roll = 0;
float pitch = 0;
float yaw = 0;

void setup() {
  size(400, 460, P3D);
  //println(Serial.list());
  myport=new Serial(this, "COM8",38400); 
  noLoop();
  myport.bufferUntil('\n');

}

void draw() {
  background(#000000);
  fill(#ffffff);

  int transX = 0;
  int transY = 0;

  //print data  
  text("Quaternion:\n  qw: " + q[0] + "\n  qx: " + q[1] + "\n  qy: " + q[2] + "\n  qz: " + q[3], 10, 20);

  //draw rotating cube
  transX = width/2;
  transY = height/2;
  translate(transX, transY);
  pushMatrix();
  draw_rotocube();
  popMatrix();
  translate(-transX, -transY);

  //draw pitch, roll and yaw
  transX = 55;
  transY = 420;
  translate(transX, transY);
  pushMatrix();
  draw_pitchrollyaw();
  popMatrix();
  translate(-transX, -transY);
}

/**
draw a rotating cube
*/
void draw_rotocube() {

  //ref:
  //  1 - [J. B. Kuipers] Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace and Virtual Reality
  //  2 - [Sebastian O.H. Madgwick] An ecient orientation filter for inertial and inertial/magnetic sensor arrays
  //  3 - [Jay A. Farrell] Aided Navigation GPS with High Rate Sensors

  //pre notes: for this purpose i do not use math notation, sorry :)

  //reference frames:
  // * 0e,Xe,Ye,Ze  =  inertial frame - Earth Centered Inertial (ECI)
  // * 0s,Xs,Ys,Zs  =  sensor frame - the sensor board frame
  // * 0d,Xd,Yd,Zd  =  display frame - the display system reference frame ("processing")
  //notation: is O=center X,Y,Z=axis

  //sensor frame return values according to the intertial frame
  //i.e. accel/gyro/magn return values according to physic properties of the intertial frame (earth)
  //an alghotim process those values to return a quaternion that defines the sensor attitude respet to intertial frame
  //  Sq = [q0, q1, q2, q3]
  //sensor quaternion can be translated to aerospace sequence of yaw/pitch/roll angles
  //  yaw = atan2(2*q1*q2 - 2*q0*q3, 2*(q0^2) + 2*(q1^2) - 1)
  //  pitch = -asin(2*q1*q3 + 2*q0*q2)
  //  roll = atan2(2*q2*q3 - 2*q0*q1, 2*(q0^2) + 2*(q3^2) - 1)
  //using the aerospace sequence the sensor attitude can be obtain applying those rotations (in order)
  //1. rotate sensor by yaw angle around sensor Z axis
  //   yaw -> Zs
  //2. rotate sensor by pitch angle around sensor Y axis
  //   pitch -> Ys
  //3. rotate sensor by roll angle around sensor X axis
  //   roll -> Xs
  //defined as:
  //   Rse = yaw -> Zs  +  pitch -> Ys  +  roll -> Xs

  //to print a 3d object on a display, we should know the display frame
  //in case of "processing" axis are transformed to fit a better 3d view
  // * Ze = Yd  =  inertial frame Z is Y "processing" axis (rotateY)
  // * Ye = Xd  =  inertial frame Y is X "processing" axis (rotateX)
  // * Xe = Zd  =  inertial frame X is Z "processing" axis (rotateZ)

  //to get the Euler angles to go from the rotated sensor frame to the inertial frame just negate the angles and reverse the order
  //so, the rotation sequence
  //   Rse = yaw -> Zs  +  pitch -> Ys  +  roll -> Xs
  //can be converted to
  //   Res = -roll -> Xe  +  -pitch -> Ye  +  -yaw -> Ze

  //resulting rotation is:
  //   Rds = -roll -> Zd  +  -pitch -> Xd  +  -yaw -> Yd
  //"processing" code is:
  //1. rotateZ(-roll);
  //2. rotateX(-pitch);
  //3. rotateY(-yaw);

  rotateZ(-roll);
  rotateX(-pitch); 
  rotateY(-yaw);

  //axis
  strokeWeight(2);
  stroke(255, 0, 0);
  line(-100, 0, 0, 100, 0, 0);
  translate(+100, 0, 0);
  box(10,10,10);
  translate(-100, 0, 0);
  stroke(0, 255, 0);
  line(0, -100, 0, 0, 100, 0);
  translate(0, -100, 0);
  box(10,10,10);
  translate(0, +100, 0);
  stroke(0, 0, 255);
  line(0, 0, -100, 0, 0, 100);
  translate(0, 0, +100);
  box(10,10,10);
  translate(0, 0, -100);

  //box
  strokeWeight(2);
  stroke(#009999);
  fill(#009999, 220);
  box(100,100,100);

}

/**
draw pitch, roll and yaw indicators
*/
void draw_pitchrollyaw() {
  //roll circle
  pushMatrix();
  strokeWeight(2);
  stroke(#009999);
  fill(#009999, 220);
  ellipse(25, -25, 50, 50);

  fill(255);
  text("roll: " + nf(roll,1,5), 0, 20);

  translate(25, -25);
  strokeWeight(2);
  rotateZ(roll);
  stroke(255, 0, 0);
  line(-25, 0, 0, 25, 0, 0);
  popMatrix();

  translate(120, 0);
  //pitch circle
  pushMatrix();
  strokeWeight(2);
  stroke(#009999);
  fill(#009999, 220);
  ellipse(25, -25, 50, 50);

  fill(255);
  text("pitch: " + nf(pitch,1,5), 0, 20);

  translate(25, -25);
  strokeWeight(2);
  rotateZ(pitch);
  stroke(0, 255, 0);
  line(-25, 0, 0, 25, 0, 0);
  popMatrix();

  translate(120, 0);
  //yaw circle
  pushMatrix();
  strokeWeight(2);
  stroke(#009999);
  fill(#009999, 220);
  ellipse(25, -25, 50, 50);

  fill(255);
  text("yaw: " + nf(yaw,1,5), 0, 20);

  translate(25, -25);
  strokeWeight(2);
  rotateZ(yaw);
  stroke(0, 0, 255);
  line(-25, 0, 0, 25, 0, 0);
  popMatrix();
}

void serialEvent(Serial Port) {  
  byte[] buf = new byte[128];
  int bufread = Port.readBytesUntil((byte)'\n', buf);
  if(bufread == 8) {
    int i = 0;
    q[0] = Float.intBitsToFloat( (buf[(i+3)] & 0xff)<<24 | (buf[(i+2)] & 0xff)<<16 | (buf[(i+1)] & 0xff)<<8 | (buf[i] & 0xff) );
    i=i+4;
    q[1] = Float.intBitsToFloat( (buf[(i+3)] & 0xff)<<24 | (buf[(i+2)] & 0xff)<<16 | (buf[(i+1)] & 0xff)<<8 | (buf[i] & 0xff) );
    i=i+4;
    q[2] = Float.intBitsToFloat( (buf[(i+3)] & 0xff)<<24 | (buf[(i+2)] & 0xff)<<16 | (buf[(i+1)] & 0xff)<<8 | (buf[i] & 0xff) );
    i=i+4;
    q[3] = Float.intBitsToFloat( (buf[(i+3)] & 0xff)<<24 | (buf[(i+2)] & 0xff)<<16 | (buf[(i+1)] & 0xff)<<8 | (buf[i] & 0xff) );
    i=i+4;
    roll = Float.intBitsToFloat( (buf[(i+3)] & 0xff)<<24 | (buf[(i+2)] & 0xff)<<16 | (buf[(i+1)] & 0xff)<<8 | (buf[i] & 0xff) );
    i=i+4;
    pitch = Float.intBitsToFloat( (buf[(i+3)] & 0xff)<<24 | (buf[(i+2)] & 0xff)<<16 | (buf[(i+1)] & 0xff)<<8 | (buf[i] & 0xff) );
    i=i+4;
    yaw = Float.intBitsToFloat( (buf[(i+3)] & 0xff)<<24 | (buf[(i+2)] & 0xff)<<16 | (buf[(i+1)] & 0xff)<<8 | (buf[i] & 0xff) );
    i=i+4;
  }
  redraw();
}

koogs

is it the rotating that isn't working or the reading of data?

what does the output look like? (from line 36)

if you post some of the data that you are seeing then the people without an arduino can use that to try and help.

mercialeite

actually is not even reading the data and not rotating just show the cube and only this.

koogs

so you're getting no data?

i have moved this to arduino section as it's arduino related.

koogs

rotation looks ok if you add (for testing)

  yaw += .01;
  pitch += .01;
  roll += .01;

to the bottom of draw() and remove noLoop();