Add the Arduino Code, the Processing code,
Add comments in all the code Add a new version of Gokumaster
JeanotP1314
parent
9d20dc1f74
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765246538c
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#include <Mouse.h>
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#include <Keyboard.h>
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//#include <Joystick.h> // the joystick is now transmit on serial
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#include <SPI.h> //Call SPI library so you can communicate with the nRF24L01+
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#include <nRF24L01.h>
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#include <RF24.h>
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#define button 4
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void read_Bluetooth();
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void print_Bluetooth();
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void send_Serial(byte id_num);
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//Bluetooth
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byte ID = 0;
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unsigned char bt_rx[4]; // The 4 byte reception bluetooth buffer
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unsigned char bt_tx = '1'; // Calibration data
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const int pinCE = 9; //This pin is used to set the nRF24 to standby (0) or active mode (1)
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const int pinCSN = 10; //This pin is used to tell the nRF24 whether the SPI communication is a command or message to send out
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RF24 wirelessSPI(pinCE, pinCSN); // Declare object from nRF24 library (Create your wireless SPI)
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// Here we have 5 bluetooth nodes communicating with the central. The first address is used for the Wii Nunchuck
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//Create pipe addresses for the 5 nodes to recieve data, the "LL" is for LongLong type
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const uint64_t rAddress[] = {0xB00B1E50C3LL, 0xB00B1E50D6LL, 0xB00B1E50D2LL, 0xB00B1E50A6LL, 0xB00B1E50A0LL};
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//Create pipe addresses for the 5 nodes to transmit data, the "LL" is for LongLong type
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const uint64_t wAddress[] = {0xB00B1E50A4LL, 0xB00B1E50B5LL, 0xB00B1E50B1LL, 0xB00B1E50A8LL, 0xB00B1E50A1LL};
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void setup()
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{
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pinMode(button, INPUT); // Safety button, in case of HID debugging
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digitalWrite(button, LOW);
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Serial.begin(9600); //start serial to communication
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wirelessSPI.begin(); //Start the nRF24 module
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wirelessSPI.openReadingPipe(1, rAddress[0]); //open pipe o for recieving meassages with pipe address
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wirelessSPI.openReadingPipe(2, rAddress[1]); //open pipe o for recieving meassages with pipe address
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wirelessSPI.openReadingPipe(3, rAddress[2]); //open pipe o for recieving meassages with pipe address
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wirelessSPI.openReadingPipe(4, rAddress[3]); //open pipe o for recieving meassages with pipe address
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wirelessSPI.openReadingPipe(5, rAddress[4]); //open pipe o for recieving meassages with pipe address
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wirelessSPI.startListening(); // Start listening for messages
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}
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void loop()
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{
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ID = 0;
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read_Bluetooth();
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if (digitalRead(button) == HIGH && 1 <= ID && ID <= 10) { // From nodes 1 to 10
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//print_Bluetooth();
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send_Serial(ID);
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}
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delay(1); // check if necessary
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}
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void send_Serial(byte id_num) {
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int tmp[4];
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tmp[0] = (unsigned char)bt_rx[0];
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tmp[1] = (unsigned char)bt_rx[1];
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tmp[2] = (unsigned char)bt_rx[2];
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tmp[3] = (unsigned char)bt_rx[3];
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if (id_num == 1 && bt_rx[3] == 0) {
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Serial.print('J');
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Serial.print(','); // before the joystick didn't had any virgule, check if still ok
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}
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if (id_num == 2) {
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Serial.print('A');
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Serial.print(',');
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}
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if (id_num == 3) {
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Serial.print('B');
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Serial.print(',');
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}
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if (id_num == 4) {
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Serial.print('C');
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Serial.print(',');
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}
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if (id_num == 5) {
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Serial.print('D');
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Serial.print(',');
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}
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// Here we can add some node if necessary
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if ((2 <= id_num && id_num <= 10) || (id_num == 1 && bt_rx[3] == 0)) {
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Serial.print(tmp[0]);
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Serial.print(",");
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Serial.print(tmp[1]);
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Serial.print(",");
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Serial.print(tmp[2]);
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Serial.print(",");
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Serial.print(",");
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Serial.print('\n');
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delay(20); //***** check if necessary
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}
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if (id_num == 1 && bt_rx[3] == 1)
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{
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calibrate_nodes();
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}
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}
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void calibrate_nodes() {
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int timeout = 100; // To have a non blocking calibration **** need to check the timeout
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wirelessSPI.stopListening(); //Stop listening, stop recieving data.
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for (int i = 1; i < 5; i++) {
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wirelessSPI.openWritingPipe(wAddress[i]);
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timeout = 100;
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while (!wirelessSPI.write(&bt_tx, 1) && timeout > 0) {
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//Serial.print("Failed sending ");
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//Serial.println(i);
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//delayMicroseconds(100);
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delay(1);
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timeout--;
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}
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if (timeout > 0 ) {
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//Serial.print("Success sending ");
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//Serial.println(i);
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} else {
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//Serial.println("FAILED 0");
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}
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}
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wirelessSPI.startListening(); //Switch back to a reciever
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}
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void read_Bluetooth() {
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while (wirelessSPI.available(&ID)) { //Check if recieved data
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wirelessSPI.read(&bt_rx, 4); //read one byte of data and store it in gotByte variable
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}
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}
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void print_Bluetooth() {
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Serial.print("BT rx : ");
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Serial.print(ID);
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Serial.print(" - ");
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Serial.print(bt_rx[0], DEC);
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Serial.print(" - ");
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Serial.print(bt_rx[1], DEC);
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Serial.print(" - ");
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Serial.print(bt_rx[2], DEC);
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Serial.print(" - ");
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Serial.print(bt_rx[3], DEC);
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Serial.println();
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}
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/**
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Visualize a cube which will assumes the orientation described
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in a quaternion coming from the serial port.
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INSTRUCTIONS:
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This program has to be run when you have the FreeIMU_quaternion
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program running on your Arduino and the Arduino connected to your PC.
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Remember to set the serialPort variable below to point to the name the
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Arduino serial port has in your system. You can get the port using the
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Arduino IDE from Tools->Serial Port: the selected entry is what you have
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to use as serialPort variable.
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Copyright (C) 2011 Fabio Varesano - http://www.varesano.net/
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This program is free software: you can redistribute it and/or modify
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it under the terms of the version 3 GNU General Public License as
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published by the Free Software Foundation.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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import processing.serial.*;
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Serial myPort; // Create object from Serial class
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//final String serialPort = "/dev/tty.usbmodem1421"; // replace this with your serial port. On windows you will need something like "COM1".
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final String serialPort = "/dev/cu.usbmodemHIDK1"; // replace this with your serial port. On windows you will need something like "COM1".
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float [] q = new float [4];
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float [] hq = null;
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float [] Euler = new float [3]; // psi, theta, phi
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int lf = 10; // 10 is '\n' in ASCII
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byte[] inBuffer = new byte[22]; // this is the number of chars on each line from the Arduino (including /r/n)
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PFont font;
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final int VIEW_SIZE_X = 1024, VIEW_SIZE_Y = 768;
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//final int VIEW_SIZE_X = 10, VIEW_SIZE_Y = 7;
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void setup()
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{
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size(1024, 768, P3D);
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myPort = new Serial(this, serialPort, 9600);
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// The font must be located in the sketch's "data" directory to load successfully
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font = loadFont("CourierNew36.vlw");
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/*
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float [] axis = new float[3];
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axis[0] = 0.0;
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axis[1] = 0.0;
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axis[2] = 1.0;
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float angle = PI/2.0;
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hq = quatAxisAngle(axis, angle);
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hq = new float[4];
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hq[0] = 0.0;
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hq[1] = 0.0;
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hq[2] = 0.0;
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hq[3] = 1.0;
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*/
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delay(100);
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myPort.clear();
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myPort.write("1");
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}
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float decodeFloat(String inString) {
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byte [] inData = new byte[4];
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if(inString.length() == 8) {
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inData[0] = (byte) unhex(inString.substring(0, 2));
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inData[1] = (byte) unhex(inString.substring(2, 4));
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inData[2] = (byte) unhex(inString.substring(4, 6));
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inData[3] = (byte) unhex(inString.substring(6, 8));
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}
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int intbits = (inData[3] << 24) | ((inData[2] & 0xff) << 16) | ((inData[1] & 0xff) << 8) | (inData[0] & 0xff);
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return Float.intBitsToFloat(intbits);
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}
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void readQ() {
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if(myPort.available() >= 18) {
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String inputString = myPort.readStringUntil('\n');
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//print(inputString);
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if (inputString != null && inputString.length() > 0) {
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String [] inputStringArr = split(inputString, ",");
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if(inputStringArr.length >= 4) { // q1,q2,q3,q4,\r\n so we have 5 elements
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Euler[0] = float(inputStringArr[1]);
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Euler[0] = ((Euler[0] * 2.5)-320)/100;
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Euler[1] = float(inputStringArr[2]);
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Euler[1] = ((Euler[1] * 2.5)-320)/100;
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Euler[2] = float(inputStringArr[3]);
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Euler[2] = ((Euler[2] * 2.5)-320)/100;
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//println(Euler[0]);
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/*
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q[0] = decodeFloat(inputStringArr[0]);
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q[1] = decodeFloat(inputStringArr[1]);
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q[2] = decodeFloat(inputStringArr[2]);
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q[3] = decodeFloat(inputStringArr[3]);
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*/
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}
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}
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}
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}
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void buildBoxShape() {
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//box(60, 10, 40);
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noStroke();
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beginShape(QUADS);
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//Z+ (to the drawing area)
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fill(#00ff00);
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vertex(-30, -5, 20);
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vertex(30, -5, 20);
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vertex(30, 5, 20);
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vertex(-30, 5, 20);
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//Z-
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fill(#0000ff);
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vertex(-30, -5, -20);
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vertex(30, -5, -20);
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vertex(30, 5, -20);
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vertex(-30, 5, -20);
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//X-
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fill(#ff0000);
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vertex(-30, -5, -20);
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vertex(-30, -5, 20);
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vertex(-30, 5, 20);
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vertex(-30, 5, -20);
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//X+
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fill(#ffff00);
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vertex(30, -5, -20);
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vertex(30, -5, 20);
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vertex(30, 5, 20);
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vertex(30, 5, -20);
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//Y-
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fill(#ff00ff);
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vertex(-30, -5, -20);
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vertex(30, -5, -20);
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vertex(30, -5, 20);
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vertex(-30, -5, 20);
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//Y+
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fill(#00ffff);
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vertex(-30, 5, -20);
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vertex(30, 5, -20);
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vertex(30, 5, 20);
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vertex(-30, 5, 20);
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endShape();
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}
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void drawCube() {
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pushMatrix();
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translate(VIEW_SIZE_X/2, VIEW_SIZE_Y/2 + 50, 0);
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scale(5,5,5);
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// a demonstration of the following is at
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// http://www.varesano.net/blog/fabio/ahrs-sensor-fusion-orientation-filter-3d-graphical-rotating-cube
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rotateZ(-Euler[2]);
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rotateX(-Euler[1]);
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rotateY(-Euler[0]);
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buildBoxShape();
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popMatrix();
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}
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void draw() {
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background(#000000);
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fill(#ffffff);
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readQ();
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if(hq != null) { // use home quaternion
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//quaternionToEuler(quatProd(hq, q), Euler);
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text("Disable home position by pressing \"n\"", 20, VIEW_SIZE_Y - 30);
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}
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else {
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//quaternionToEuler(q, Euler);
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text("Point FreeIMU's X axis to your monitor then press \"h\"", 20, VIEW_SIZE_Y - 30);
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}
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textFont(font, 20);
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textAlign(LEFT, TOP);
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text("Q:\n" + q[0] + "\n" + q[1] + "\n" + q[2] + "\n" + q[3], 20, 20);
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text("Euler Angles:\nYaw (psi) : " + degrees(Euler[0]) + "\nPitch (theta): " + degrees(Euler[1]) + "\nRoll (phi) : " + degrees(Euler[2]), 200, 20);
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drawCube();
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}
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void keyPressed() {
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if(key == 'h') {
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println("pressed h");
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// set hq the home quaternion as the quatnion conjugate coming from the sensor fusion
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hq = quatConjugate(q);
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}
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else if(key == 'n') {
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println("pressed n");
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hq = null;
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}
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}
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// See Sebastian O.H. Madwick report
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// "An efficient orientation filter for inertial and intertial/magnetic sensor arrays" Chapter 2 Quaternion representation
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void quaternionToEuler(float [] q, float [] euler) {
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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
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euler[1] = -asin(2 * q[1] * q[3] + 2 * q[0] * q[2]); // theta
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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
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}
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float [] quatProd(float [] a, float [] b) {
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float [] q = new float[4];
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q[0] = a[0] * b[0] - a[1] * b[1] - a[2] * b[2] - a[3] * b[3];
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q[1] = a[0] * b[1] + a[1] * b[0] + a[2] * b[3] - a[3] * b[2];
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q[2] = a[0] * b[2] - a[1] * b[3] + a[2] * b[0] + a[3] * b[1];
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q[3] = a[0] * b[3] + a[1] * b[2] - a[2] * b[1] + a[3] * b[0];
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return q;
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}
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// returns a quaternion from an axis angle representation
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float [] quatAxisAngle(float [] axis, float angle) {
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float [] q = new float[4];
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float halfAngle = angle / 2.0;
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float sinHalfAngle = sin(halfAngle);
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q[0] = cos(halfAngle);
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q[1] = -axis[0] * sinHalfAngle;
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q[2] = -axis[1] * sinHalfAngle;
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q[3] = -axis[2] * sinHalfAngle;
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return q;
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}
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// return the quaternion conjugate of quat
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float [] quatConjugate(float [] quat) {
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float [] conj = new float[4];
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conj[0] = quat[0];
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conj[1] = -quat[1];
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conj[2] = -quat[2];
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conj[3] = -quat[3];
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return conj;
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}
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#include <Wire.h>
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#include <avr/interrupt.h>
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#include <avr/pgmspace.h>
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#define MPU_ADDR 0x68
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#define MEM_START_ADDR 0x6E
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#define MEM_R_W 0x6F
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#define NODE_NUMBER 1
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#include <SPI.h> //Call SPI library so you can communicate with the nRF24L01+
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#include <nRF24L01.h> //nRF2401 libarary found at https://github.com/tmrh20/RF24/
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#include <RF24.h> //nRF2401 libarary found at https://github.com/tmrh20/RF24/
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const int pinCE = 3; //This pin is used to set the nRF24 to standby (0) or active mode (1)
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const int pinCSN = 10; //This pin is used to tell the nRF24 whether the SPI communication is a command or message to send out
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byte counter = 1; //used to count the packets sent
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bool done = false; //used to know when to stop sending packets
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RF24 wirelessSPI(pinCE, pinCSN); // Create your nRF24 object or wireless SPI connection
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#if NODE_NUMBER == 1
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const uint64_t wAddress = 0xB00B1E50D6LL; // Pipe to write or transmit on
|
||||
const uint64_t rAddress = 0xB00B1E50B5LL; //pipe to recive data on
|
||||
#endif
|
||||
#if NODE_NUMBER == 2
|
||||
const uint64_t wAddress = 0xB00B1E50D2LL; // Pipe to write or transmit on
|
||||
const uint64_t rAddress = 0xB00B1E50B1LL; //pipe to recive data on
|
||||
#endif
|
||||
#if NODE_NUMBER == 3
|
||||
const uint64_t wAddress = 0xB00B1E50A6LL;
|
||||
const uint64_t rAddress = 0xB00B1E50A8LL;
|
||||
#endif
|
||||
#if NODE_NUMBER == 4
|
||||
const uint64_t wAddress = 0xB00B1E50A0LL;
|
||||
const uint64_t rAddress = 0xB00B1E50A1LL;
|
||||
#endif
|
||||
|
||||
// Variable to read the sensor
|
||||
long lastRead = 0;
|
||||
byte processed_packet[8];
|
||||
byte received_packet[50];
|
||||
byte temp = 0;
|
||||
byte fifoCountL = 0;
|
||||
byte fifoCountL2 = 0;
|
||||
//byte packetCount = 0x00;
|
||||
boolean longPacket = false;
|
||||
boolean firstPacket = true;
|
||||
|
||||
// Variable for bluetooth transmission
|
||||
unsigned char tx_data[4];
|
||||
unsigned char rx_data;
|
||||
int flag_calibration = 0;
|
||||
|
||||
// Variable for Quaternion an Euler calculation
|
||||
float q[4]; // QUaternion received
|
||||
float q2[4];
|
||||
float hq[4]; // Quaternion Qualibration reference
|
||||
float Euler[3]; // The three Euler angle calculated from Quaternion
|
||||
|
||||
unsigned const char dmpMem[8][16][16] PROGMEM = {
|
||||
{
|
||||
{0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00},
|
||||
{0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01},
|
||||
{0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01},
|
||||
{0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00},
|
||||
{0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00},
|
||||
{0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82},
|
||||
{0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00},
|
||||
{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0},
|
||||
{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC},
|
||||
{0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4},
|
||||
{0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10}
|
||||
},
|
||||
{
|
||||
{0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8},
|
||||
{0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7},
|
||||
{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C},
|
||||
{0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C},
|
||||
{0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0}
|
||||
},
|
||||
{
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
|
||||
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
|
||||
},
|
||||
{
|
||||
{0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F},
|
||||
{0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2},
|
||||
{0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF},
|
||||
{0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C},
|
||||
{0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1},
|
||||
{0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01},
|
||||
{0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80},
|
||||
{0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C},
|
||||
{0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80},
|
||||
{0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E},
|
||||
{0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9},
|
||||
{0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24},
|
||||
{0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0},
|
||||
{0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86},
|
||||
{0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1},
|
||||
{0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86}
|
||||
},
|
||||
{
|
||||
{0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA},
|
||||
{0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C},
|
||||
{0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8},
|
||||
{0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3},
|
||||
{0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84},
|
||||
{0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5},
|
||||
{0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3},
|
||||
{0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1},
|
||||
{0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5},
|
||||
{0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D},
|
||||
{0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
|
||||
{0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D},
|
||||
{0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
|
||||
{0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A},
|
||||
{0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8},
|
||||
{0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87}
|
||||
},
|
||||
{
|
||||
{0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8},
|
||||
{0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68},
|
||||
{0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D},
|
||||
{0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94},
|
||||
{0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA},
|
||||
{0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56},
|
||||
{0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9},
|
||||
{0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA},
|
||||
{0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A},
|
||||
{0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60},
|
||||
{0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97},
|
||||
{0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04},
|
||||
{0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78},
|
||||
{0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79},
|
||||
{0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68},
|
||||
{0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68}
|
||||
},
|
||||
{
|
||||
{0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04},
|
||||
{0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66},
|
||||
{0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31},
|
||||
{0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60},
|
||||
{0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76},
|
||||
{0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56},
|
||||
{0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD},
|
||||
{0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91},
|
||||
{0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8},
|
||||
{0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE},
|
||||
{0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9},
|
||||
{0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD},
|
||||
{0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E},
|
||||
{0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8},
|
||||
{0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89},
|
||||
{0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79}
|
||||
},
|
||||
{
|
||||
{0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8},
|
||||
{0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA},
|
||||
{0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB},
|
||||
{0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3},
|
||||
{0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3},
|
||||
{0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3},
|
||||
{0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3},
|
||||
{0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC},
|
||||
{0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF}
|
||||
}
|
||||
};
|
||||
|
||||
//DMP update transmissions (Bank, Start Address, Update Length, Update Data...)
|
||||
|
||||
static byte dmp_updates[29][9] =
|
||||
{
|
||||
{
|
||||
0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C
|
||||
} //FCFG_1 inv_set_gyro_calibration
|
||||
,
|
||||
{
|
||||
0x03, 0xAB, 0x03, 0x36, 0x56, 0x76
|
||||
} //FCFG_3 inv_set_gyro_calibration
|
||||
,
|
||||
{
|
||||
0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2
|
||||
} //D_0_104 inv_set_gyro_calibration
|
||||
,
|
||||
{
|
||||
0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1
|
||||
} //D_0_24 inv_set_gyro_calibration
|
||||
,
|
||||
{
|
||||
0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00
|
||||
} //D_1_152 inv_set_accel_calibration
|
||||
,
|
||||
{
|
||||
0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97
|
||||
} //FCFG_2 inv_set_accel_calibration
|
||||
,
|
||||
{
|
||||
0x03, 0x89, 0x03, 0x26, 0x46, 0x66
|
||||
} //FCFG_7 inv_set_accel_calibration
|
||||
,
|
||||
{
|
||||
0x00, 0x6C, 0x02, 0x20, 0x00
|
||||
} //D_0_108 inv_set_accel_calibration
|
||||
,
|
||||
{
|
||||
0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00
|
||||
} //CPASS_MTX_00 inv_set_compass_calibration
|
||||
,
|
||||
{
|
||||
0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00
|
||||
} //CPASS_MTX_01
|
||||
,
|
||||
{
|
||||
0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00
|
||||
} //CPASS_MTX_02
|
||||
,
|
||||
{
|
||||
0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00
|
||||
} //CPASS_MTX_10
|
||||
,
|
||||
{
|
||||
0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00
|
||||
} //CPASS_MTX_11
|
||||
,
|
||||
{
|
||||
0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00
|
||||
} //CPASS_MTX_12
|
||||
,
|
||||
{
|
||||
0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00
|
||||
} //CPASS_MTX_20
|
||||
,
|
||||
{
|
||||
0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00
|
||||
} //CPASS_MTX_21
|
||||
,
|
||||
{
|
||||
0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00
|
||||
} //CPASS_MTX_22
|
||||
,
|
||||
{
|
||||
0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00
|
||||
} //D_1_236 inv_apply_endian_accel
|
||||
,
|
||||
{
|
||||
0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97
|
||||
} //FCFG_2 inv_set_mpu_sensors
|
||||
,
|
||||
{
|
||||
0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D
|
||||
} //CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
|
||||
,
|
||||
{
|
||||
0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D
|
||||
} //FCFG_5 inv_set_bias_update
|
||||
,
|
||||
{
|
||||
0x00, 0xA3, 0x01, 0x00
|
||||
} //D_0_163 inv_set_dead_zone
|
||||
,
|
||||
//SET INT_ENABLE at i=22
|
||||
{
|
||||
0x07, 0x86, 0x01, 0xFE
|
||||
} //CFG_6 inv_set_fifo_interupt
|
||||
,
|
||||
{
|
||||
0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38
|
||||
} //CFG_8 inv_send_quaternion
|
||||
,
|
||||
{
|
||||
0x07, 0x7E, 0x01, 0x30
|
||||
} //CFG_16 inv_set_footer
|
||||
,
|
||||
{
|
||||
0x07, 0x46, 0x01, 0x9A
|
||||
} //CFG_GYRO_SOURCE inv_send_gyro
|
||||
,
|
||||
{
|
||||
0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38
|
||||
} //CFG_9 inv_send_gyro -> inv_construct3_fifo
|
||||
,
|
||||
{
|
||||
0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38
|
||||
} //CFG_12 inv_send_accel -> inv_construct3_fifo
|
||||
,
|
||||
{
|
||||
0x02, 0x16, 0x02, 0x00, 0x0A
|
||||
} //D_0_22 inv_set_fifo_rate
|
||||
};
|
||||
|
||||
void setup() {
|
||||
|
||||
Serial.begin(9600); //start serial to communicate process
|
||||
wirelessSPI.begin(); //Start the nRF24 module
|
||||
wirelessSPI.openWritingPipe(wAddress); //open writing or transmit pipe
|
||||
wirelessSPI.openReadingPipe(1, rAddress); //open reading or recieve pipe
|
||||
wirelessSPI.stopListening(); //go into transmit mode
|
||||
|
||||
Wire.begin();
|
||||
delay(1);
|
||||
check_MPU();
|
||||
//Serial.println("MPU-6050 6-Axis");
|
||||
|
||||
regWrite(0x6B, 0xC0);
|
||||
regWrite(0x6C, 0x00);
|
||||
delay(10);
|
||||
|
||||
//regWrite(0x6B, 0x70);
|
||||
regWrite(0x6B, 0x00);
|
||||
regWrite(0x6D, 0x70);
|
||||
regWrite(0x6E, 0x06);
|
||||
temp = regRead(0x6F);
|
||||
//Serial.print("Bank 1, Reg 6 = ");
|
||||
//Serial.println(temp, HEX);
|
||||
|
||||
// temp = regRead(0x6B);
|
||||
// Serial.println(temp, HEX);
|
||||
|
||||
regWrite(0x6D, 0x00);
|
||||
|
||||
temp = regRead(0x00);
|
||||
//Serial.println(temp, HEX);
|
||||
temp = regRead(0x01);
|
||||
//Serial.println(temp, HEX);
|
||||
temp = regRead(0x02);
|
||||
//Serial.println(temp, HEX);
|
||||
temp = regRead(0x6A);
|
||||
//Serial.println(temp, HEX);
|
||||
|
||||
regWrite(0x37, 0x32);
|
||||
|
||||
temp = regRead(0x6B);
|
||||
//Serial.println(temp, HEX);
|
||||
delay(5);
|
||||
// regWrite(0x25, 0x68); //Set Slave 0 to self
|
||||
//
|
||||
// regWrite(0x6A, 0x02);
|
||||
|
||||
mem_init();
|
||||
delay(20);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
// =========================================================
|
||||
// This part is from the DOF sensor exemple
|
||||
|
||||
if (millis() >= lastRead + 1) {
|
||||
lastRead = millis();
|
||||
|
||||
int toto = fifoReady();
|
||||
if ( toto == 1) {
|
||||
getPacket();
|
||||
temp = regRead(0x3A);
|
||||
if (firstPacket) {
|
||||
delay(1);
|
||||
bank_sel(0x00);
|
||||
regWrite(0x6E, 0x60);
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(0x6F);
|
||||
Wire.write(0x04); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
|
||||
// Wire.write(0x00); Wire.write(0x80); Wire.write(0x00); Wire.write(0x00);
|
||||
Wire.endTransmission();
|
||||
bank_sel(1);
|
||||
regWrite(0x6E, 0x62);
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(0x6F);
|
||||
Wire.endTransmission();
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.requestFrom(MPU_ADDR, 2);
|
||||
temp = Wire.read();
|
||||
temp = Wire.read();
|
||||
firstPacket = false;
|
||||
|
||||
fifoReady();
|
||||
}
|
||||
// resetFifo();
|
||||
|
||||
// =====================================================
|
||||
// If the fifo count is good, enter the function to transform Quaternions to
|
||||
// Euler, send the Bluetooth data, and read Bluetooth for recalibration.
|
||||
if (fifoCountL == 42) {
|
||||
processQuat();
|
||||
sendQuat();
|
||||
if (flag_calibration == 1) { // use home quaternion
|
||||
//Serial.println("HQ Activate");
|
||||
quatProd(hq, q);
|
||||
quaternionToEuler(q2, Euler);
|
||||
print_data(); // use the print data for debugging purposes is you have a Serial port
|
||||
}
|
||||
else {
|
||||
quaternionToEuler(q, Euler);
|
||||
}
|
||||
|
||||
pack_data(); // Function to pack and store the data into tx_data[] for Bluetooth
|
||||
if (!wirelessSPI.write( &tx_data, 4 )) {
|
||||
Serial.println("Guess delivery failed");
|
||||
}
|
||||
else {
|
||||
Serial.println("Success sending guess: ");
|
||||
}
|
||||
|
||||
// ================================================================
|
||||
// This part read shortly the bluetooth in case a recalibration message is send from the central
|
||||
wirelessSPI.startListening();
|
||||
rx_data = '0';
|
||||
for (int i = 0; i < 10; i++) {
|
||||
if (!wirelessSPI.available()) {
|
||||
delayMicroseconds(100);
|
||||
}
|
||||
else {
|
||||
wirelessSPI.read( &rx_data, 1); //read value
|
||||
}
|
||||
}
|
||||
if (rx_data == '1') {
|
||||
Serial.println("Calibration OK");
|
||||
quatConjugate(q); // store the Quaternions into reference Quaternion hq[]
|
||||
flag_calibration = 1; // Flag to use the qualibration
|
||||
}
|
||||
wirelessSPI.stopListening(); //go back to transmit mode
|
||||
}
|
||||
}
|
||||
}
|
||||
delay(10);
|
||||
}
|
||||
|
||||
void pack_data() {
|
||||
|
||||
int tmp0 = Euler[0] * 100;
|
||||
int tmp1 = Euler[1] * 100;
|
||||
int tmp2 = Euler[2] * 100;
|
||||
|
||||
tmp0 = map(tmp0, -320, 320, 0, 255);
|
||||
tmp1 = map(tmp1, -320, 320, 0, 255);
|
||||
tmp2 = map(tmp2, -320, 320, 0, 255);
|
||||
tx_data[0] = tmp0;
|
||||
tx_data[1] = tmp1;
|
||||
tx_data[2] = tmp2;
|
||||
// tx_data[3] is empty. So we can add the buttons action in this byte
|
||||
}
|
||||
|
||||
void print_data() {
|
||||
Serial.print(" HQ : ");
|
||||
Serial.print(hq[0], 3);
|
||||
Serial.print(" --- ");
|
||||
Serial.print(hq[1], 3);
|
||||
Serial.print(" --- ");
|
||||
Serial.print(hq[2], 3);
|
||||
Serial.print(" --- ");
|
||||
Serial.print(hq[3], 3);
|
||||
Serial.print(" Q : ");
|
||||
Serial.print(q[0], 3);
|
||||
Serial.print(" --- ");
|
||||
Serial.print(q[1], 3);
|
||||
Serial.print(" --- ");
|
||||
Serial.print(q[2], 3);
|
||||
Serial.print(" --- ");
|
||||
Serial.print(q[3], 3);
|
||||
Serial.print(" Euler : ");
|
||||
Serial.print(Euler[0], 3);
|
||||
Serial.print(" --- ");
|
||||
Serial.print(Euler[1], 3);
|
||||
Serial.print(" --- ");
|
||||
Serial.print(Euler[2], 3);
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
void check_MPU() {
|
||||
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(0x75);
|
||||
Wire.endTransmission();
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.requestFrom(MPU_ADDR, 1);
|
||||
byte aByte = Wire.read();
|
||||
// Wire.endTransmission();
|
||||
// while(Wire.available() == 0){
|
||||
// }
|
||||
// byte temp = Wire.read();
|
||||
// Serial.println(temp);
|
||||
if (aByte == 0x68) {
|
||||
//Serial.println("Found MPU6050");
|
||||
}
|
||||
else {
|
||||
Serial.println("Didn't find MPU6050");
|
||||
}
|
||||
}
|
||||
|
||||
void processQuat() {
|
||||
processed_packet[0] = received_packet[0];
|
||||
processed_packet[1] = received_packet[1];
|
||||
processed_packet[2] = received_packet[4];
|
||||
processed_packet[3] = received_packet[5];
|
||||
processed_packet[4] = received_packet[8];
|
||||
processed_packet[5] = received_packet[9];
|
||||
processed_packet[6] = received_packet[12];
|
||||
processed_packet[7] = received_packet[13];
|
||||
}
|
||||
|
||||
void sendQuat() {
|
||||
|
||||
// following conversion adapted from Invensense's TeaPot example
|
||||
q[0] = (long) ((((unsigned long) processed_packet[0]) << 8) + ((unsigned long) processed_packet[1]));
|
||||
q[1] = (long) ((((unsigned long) processed_packet[2]) << 8) + ((unsigned long) processed_packet[3]));
|
||||
q[2] = (long) ((((unsigned long) processed_packet[4]) << 8) + ((unsigned long) processed_packet[5]));
|
||||
q[3] = (long) ((((unsigned long) processed_packet[6]) << 8) + ((unsigned long) processed_packet[7]));
|
||||
for (int i = 0; i < 4; i++ ) {
|
||||
if ( q[i] > 32767 ) {
|
||||
q[i] -= 65536;
|
||||
}
|
||||
q[i] = ((float) q[i]) / 16384.0f;
|
||||
}
|
||||
}
|
||||
|
||||
void quaternionToEuler(float q[4], float euler[3]) {
|
||||
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
|
||||
}
|
||||
|
||||
void quatProd(float a[4], float b[4]) {
|
||||
|
||||
q2[0] = a[0] * b[0] - a[1] * b[1] - a[2] * b[2] - a[3] * b[3];
|
||||
q2[1] = a[0] * b[1] + a[1] * b[0] + a[2] * b[3] - a[3] * b[2];
|
||||
q2[2] = a[0] * b[2] - a[1] * b[3] + a[2] * b[0] + a[3] * b[1];
|
||||
q2[3] = a[0] * b[3] + a[1] * b[2] - a[2] * b[1] + a[3] * b[0];
|
||||
|
||||
}
|
||||
|
||||
void quatConjugate(float quat[]) {
|
||||
|
||||
hq[0] = quat[0];
|
||||
hq[1] = -quat[1];
|
||||
hq[2] = -quat[2];
|
||||
hq[3] = -quat[3];
|
||||
|
||||
//return conj;
|
||||
}
|
||||
|
||||
void bank_sel(byte bank) {
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(0x6D);
|
||||
Wire.write(bank);
|
||||
Wire.endTransmission();
|
||||
}
|
||||
|
||||
void dmp_init() {
|
||||
|
||||
for (int i = 0; i < 7; i++) {
|
||||
bank_sel(i);
|
||||
for (byte j = 0; j < 16; j++) {
|
||||
|
||||
byte start_addy = j * 0x10;
|
||||
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(MEM_START_ADDR);
|
||||
Wire.write(start_addy);
|
||||
Wire.endTransmission();
|
||||
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(MEM_R_W);
|
||||
for (int k = 0; k < 16; k++) {
|
||||
unsigned char byteToSend = pgm_read_byte(&(dmpMem[i][j][k]));
|
||||
Wire.write((byte) byteToSend);
|
||||
}
|
||||
Wire.endTransmission();
|
||||
}
|
||||
|
||||
// Wire.beginTransmission(MPU_ADDR);
|
||||
// Wire.write(MEM_R_W);
|
||||
// Wire.endTransmission();
|
||||
// Wire.requestFrom(MPU_ADDR, 16);
|
||||
// byte echoback[16];
|
||||
// for(int j = 0; j < 16; j++){
|
||||
// echoback[j] = Wire.read();
|
||||
// }
|
||||
// for(int j = 0; j < 16; j++){
|
||||
// Serial.print(echoback[j], HEX);
|
||||
// }
|
||||
}
|
||||
|
||||
bank_sel(7);
|
||||
|
||||
for (byte j = 0; j < 8; j++) {
|
||||
|
||||
byte start_addy = j * 0x10;
|
||||
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(MEM_START_ADDR);
|
||||
Wire.write(start_addy);
|
||||
Wire.endTransmission();
|
||||
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(MEM_R_W);
|
||||
for (int k = 0; k < 16; k++) {
|
||||
unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][j][k]));
|
||||
Wire.write((byte) byteToSend);
|
||||
}
|
||||
Wire.endTransmission();
|
||||
}
|
||||
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(MEM_START_ADDR);
|
||||
Wire.write(0x80);
|
||||
Wire.endTransmission();
|
||||
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(MEM_R_W);
|
||||
for (int k = 0; k < 9; k++) {
|
||||
unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][8][k]));
|
||||
Wire.write((byte) byteToSend);
|
||||
}
|
||||
Wire.endTransmission();
|
||||
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(MEM_R_W);
|
||||
Wire.endTransmission();
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.requestFrom(MPU_ADDR, 9);
|
||||
// Wire.endTransmission();
|
||||
byte incoming[9];
|
||||
for (int i = 0; i < 9; i++) {
|
||||
incoming[i] = Wire.read();
|
||||
}
|
||||
}
|
||||
|
||||
void mem_init() {
|
||||
|
||||
dmp_init();
|
||||
|
||||
for (byte i = 0; i < 22; i++) {
|
||||
bank_sel(dmp_updates[i][0]);
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(MEM_START_ADDR);
|
||||
Wire.write(dmp_updates[i][1]);
|
||||
Wire.endTransmission();
|
||||
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(MEM_R_W);
|
||||
for (byte j = 0; j < dmp_updates[i][2]; j++) {
|
||||
Wire.write(dmp_updates[i][j + 3]);
|
||||
}
|
||||
Wire.endTransmission();
|
||||
}
|
||||
|
||||
regWrite(0x38, 0x32);
|
||||
|
||||
for (byte i = 22; i < 29; i++) {
|
||||
bank_sel(dmp_updates[i][0]);
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(MEM_START_ADDR);
|
||||
Wire.write(dmp_updates[i][1]);
|
||||
Wire.endTransmission();
|
||||
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(MEM_R_W);
|
||||
for (byte j = 0; j < dmp_updates[i][2]; j++) {
|
||||
Wire.write(dmp_updates[i][j + 3]);
|
||||
}
|
||||
Wire.endTransmission();
|
||||
}
|
||||
|
||||
temp = regRead(0x6B);
|
||||
//Serial.println(temp, HEX);
|
||||
temp = regRead(0x6C);
|
||||
//Serial.println(temp, HEX);
|
||||
|
||||
regWrite(0x38, 0x02);
|
||||
regWrite(0x6B, 0x03);
|
||||
// regWrite(0x6B, 0x70);
|
||||
// regWrite(0x38, 0x38);
|
||||
// regWrite(0x6B, 0x73);
|
||||
regWrite(0x19, 0x04);
|
||||
regWrite(0x1B, 0x18);
|
||||
regWrite(0x1A, 0x0B);
|
||||
regWrite(0x70, 0x03);
|
||||
regWrite(0x71, 0x00);
|
||||
regWrite(0x00, 0x00);
|
||||
regWrite(0x01, 0x00);
|
||||
regWrite(0x02, 0x00);
|
||||
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(0x13);
|
||||
for (byte i = 0; i < 6; i++) {
|
||||
Wire.write(0x00);
|
||||
}
|
||||
Wire.endTransmission();
|
||||
|
||||
// regWrite(0x24, 0x00);
|
||||
|
||||
bank_sel(0x01);
|
||||
regWrite(0x6E, 0xB2);
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(0x6F);
|
||||
Wire.write(0xFF); Wire.write(0xFF);
|
||||
Wire.endTransmission();
|
||||
|
||||
bank_sel(0x01);
|
||||
regWrite(0x6E, 0x90);
|
||||
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(0x6F);
|
||||
Wire.write(0x09); Wire.write(0x23); Wire.write(0xA1); Wire.write(0x35);
|
||||
Wire.endTransmission();
|
||||
|
||||
temp = regRead(0x6A);
|
||||
|
||||
regWrite(0x6A, 0x04);
|
||||
|
||||
//Insert FIFO count read?
|
||||
fifoReady();
|
||||
|
||||
regWrite(0x6A, 0x00);
|
||||
regWrite(0x6B, 0x03);
|
||||
|
||||
delay(2);
|
||||
|
||||
temp = regRead(0x6C);
|
||||
// Serial.println(temp, HEX);
|
||||
regWrite(0x6C, 0x00);
|
||||
temp = regRead(0x1C);
|
||||
// Serial.println(temp, HEX);
|
||||
regWrite(0x1C, 0x00);
|
||||
delay(2);
|
||||
temp = regRead(0x6B);
|
||||
// Serial.println(temp, HEX);
|
||||
regWrite(0x1F, 0x02);
|
||||
regWrite(0x21, 0x9C);
|
||||
regWrite(0x20, 0x50);
|
||||
regWrite(0x22, 0x00);
|
||||
regWrite(0x6A, 0x04);
|
||||
regWrite(0x6A, 0x00);
|
||||
regWrite(0x6A, 0xC8);
|
||||
|
||||
bank_sel(0x01);
|
||||
regWrite(0x6E, 0x6A);
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(0x6F);
|
||||
Wire.write(0x06); Wire.write(0x00);
|
||||
Wire.endTransmission();
|
||||
|
||||
bank_sel(0x01);
|
||||
regWrite(0x6E, 0x60);
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(0x6F);
|
||||
for (byte i = 0; i < 8; i++) {
|
||||
Wire.write(0x00);
|
||||
}
|
||||
Wire.endTransmission();
|
||||
|
||||
// bank_sel(0x01);
|
||||
// regWrite(0x6E, 0x60);
|
||||
// Wire.beginTransmission(MPU_ADDR);
|
||||
// Wire.write(0x6F);
|
||||
// Wire.write(0x04); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
|
||||
// Wire.endTransmission();
|
||||
|
||||
bank_sel(0x00);
|
||||
regWrite(0x6E, 0x60);
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(0x6F);
|
||||
Wire.write(0x40); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
|
||||
Wire.endTransmission();
|
||||
|
||||
//resetFifo();
|
||||
|
||||
}
|
||||
|
||||
void regWrite(byte addy, byte regUpdate) {
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(addy);
|
||||
Wire.write(regUpdate);
|
||||
Wire.endTransmission();
|
||||
}
|
||||
|
||||
byte regRead(byte addy) {
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(addy);
|
||||
Wire.endTransmission();
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.requestFrom(MPU_ADDR, 1);
|
||||
// Wire.endTransmission();
|
||||
while (!Wire.available()) {
|
||||
}
|
||||
byte incoming = Wire.read();
|
||||
return incoming;
|
||||
}
|
||||
|
||||
void getPacket() {
|
||||
if (fifoCountL > 32) {
|
||||
fifoCountL2 = fifoCountL - 32;
|
||||
longPacket = true;
|
||||
}
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(0x74);
|
||||
Wire.endTransmission();
|
||||
// Wire.requestFrom(MPU_ADDR, 42);
|
||||
// for(byte i = 0; i < fifoCountL; i++){
|
||||
if (longPacket) {
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.requestFrom(MPU_ADDR, 32);
|
||||
for (byte i = 0; i < 32; i++) {
|
||||
received_packet[i] = Wire.read();
|
||||
}
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(0x74);
|
||||
Wire.endTransmission();
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.requestFrom(MPU_ADDR, (unsigned int)fifoCountL2);
|
||||
for (byte i = 32; i < fifoCountL; i++) {
|
||||
received_packet[i] = Wire.read();
|
||||
}
|
||||
longPacket = false;
|
||||
}
|
||||
else {
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.requestFrom(MPU_ADDR, (unsigned int)fifoCountL);
|
||||
for (byte i = 0; i < fifoCountL; i++) {
|
||||
received_packet[i] = Wire.read();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
byte read_interrupt() {
|
||||
byte int_status = regRead(0x3A);
|
||||
return int_status;
|
||||
}
|
||||
|
||||
boolean fifoReady() {
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.write(0x72);
|
||||
Wire.endTransmission();
|
||||
Wire.beginTransmission(MPU_ADDR);
|
||||
Wire.requestFrom(MPU_ADDR, 2);
|
||||
// Wire.endTransmission();
|
||||
byte fifoCountH = Wire.read();
|
||||
fifoCountL = Wire.read();
|
||||
//Serial.print("fifoCount :");
|
||||
//Serial.println(fifoCountL, DEC);
|
||||
if (fifoCountL == 42 || fifoCountL == 44) {
|
||||
return 1;
|
||||
}
|
||||
else if (fifoCountL != 0) {
|
||||
resetFifo();
|
||||
}
|
||||
|
||||
// else if(fifoCountL == 42){
|
||||
// getPacket();
|
||||
// bank_sel(0);
|
||||
// regWrite(0x6E, 0x60);
|
||||
// Wire.beginTransmission(MPU_ADDR);
|
||||
// Wire.write(0x40); Wire.write(0x00); Wire.write (0x00); Wire.write(0x00);
|
||||
// Wire.endTransmission();
|
||||
// resetFifo();
|
||||
// }
|
||||
|
||||
// if(Wire.read() == 0x2C){
|
||||
// return 1;
|
||||
// }
|
||||
else return 0;
|
||||
}
|
||||
|
||||
void resetFifo() {
|
||||
byte ctrl = regRead(0x6A);
|
||||
ctrl |= 0b00000100;
|
||||
regWrite(0x6A, ctrl);
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,71 @@
|
|||
|
||||
#include "Wire.h"
|
||||
#include "WiiChuck.h"
|
||||
|
||||
#include <SPI.h> //Call SPI library so you can communicate with the nRF24L01+
|
||||
#include <nRF24L01.h> //nRF2401 libarary found at https://github.com/tmrh20/RF24/
|
||||
#include <RF24.h> //nRF2401 libarary found at https://github.com/tmrh20/RF24/
|
||||
|
||||
const int pinCE = 9; //This pin is used to set the nRF24 to standby (0) or active mode (1)
|
||||
const int pinCSN = 10; //This pin is used to tell the nRF24 whether the SPI communication is a command or message to send out
|
||||
//bool done = false; //used to know when to stop sending guesses
|
||||
RF24 wirelessSPI(pinCE, pinCSN); // Create your nRF24 object or wireless SPI connection
|
||||
|
||||
const uint64_t wAddress = 0xB00B1E50C3LL; //pipe for writing or transmitting data
|
||||
const uint64_t rAddress = 0xB00B1E50A4LL; //pipe for reading or recieving data
|
||||
|
||||
int buttonPin = 2;
|
||||
int flag_zero = 0;
|
||||
|
||||
WiiChuck chuck = WiiChuck();
|
||||
|
||||
void setup() {
|
||||
|
||||
Serial.begin(9600); //for debugging purposes
|
||||
chuck.begin();
|
||||
chuck.update();
|
||||
|
||||
wirelessSPI.begin(); //Start the nRF24 module
|
||||
wirelessSPI.openWritingPipe(wAddress); // setup pipe to transmit over
|
||||
wirelessSPI.openReadingPipe(1, rAddress); //set up pipe to recieve data
|
||||
wirelessSPI.stopListening(); //turn off recieve capability so you can transmit
|
||||
|
||||
}
|
||||
|
||||
void loop() {
|
||||
|
||||
char tx_data[4];
|
||||
chuck.update();
|
||||
|
||||
tx_data[0] = chuck.readJoyX();
|
||||
tx_data[1] = chuck.readJoyY();
|
||||
tx_data[2] = chuck.buttonZ;
|
||||
tx_data[3] = chuck.buttonC;
|
||||
|
||||
Serial.print(tx_data[0], DEC);
|
||||
Serial.print(",");
|
||||
Serial.print(tx_data[1], DEC);
|
||||
Serial.print(",");
|
||||
Serial.print(tx_data[2], DEC);
|
||||
Serial.print(",");
|
||||
Serial.print(tx_data[3], DEC);
|
||||
Serial.print(",");
|
||||
Serial.println();
|
||||
|
||||
if (digitalRead(buttonPin) == HIGH && ((tx_data[0] < -10 || 10 < tx_data[0] || tx_data[1] < -10 || 10 < tx_data[1] || tx_data[2] == 1 || tx_data[3] == 1) || flag_zero == 1 )) {
|
||||
flag_zero = 1;
|
||||
if (!wirelessSPI.write( &tx_data, 4 )) { //if the write fails let the user know over serial monitor
|
||||
//Serial.println("Guess delivery failed");
|
||||
}
|
||||
else { //if the write was successful
|
||||
//Serial.print("Success sending guess: ");
|
||||
if (tx_data[0] >= -10 || 10 >= tx_data[0] || tx_data[1] >= -10 || 10 >= tx_data[1] || tx_data[2] != 1 || tx_data[3] != 1)
|
||||
{
|
||||
flag_zero = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
delay(20); // adapt the speed of the communication
|
||||
}
|
||||
|
||||
|
||||
|
Before Width: | Height: | Size: 145 KiB After Width: | Height: | Size: 145 KiB |
|
Before Width: | Height: | Size: 19 KiB After Width: | Height: | Size: 19 KiB |
|
Before Width: | Height: | Size: 19 KiB After Width: | Height: | Size: 19 KiB |
|
|
@ -1,8 +1,8 @@
|
|||
# Blender MTL File: 'goku_armL.blend'
|
||||
# Blender MTL File: 'Full_remake.blend'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl shirt.png
|
||||
Ns 94.117647
|
||||
newmtl shirt.png.002
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,8 +1,8 @@
|
|||
# Blender MTL File: 'goku_armR.blend'
|
||||
# Blender MTL File: 'Full_remake.blend'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl shirt.png
|
||||
Ns 94.117647
|
||||
newmtl shirt.png.003
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,8 +1,8 @@
|
|||
# Blender MTL File: 'goku_body.blend'
|
||||
# Blender MTL File: 'Full_remake.blend'
|
||||
# Material Count: 2
|
||||
|
||||
newmtl face.png
|
||||
Ns 94.117647
|
||||
newmtl face.png.002
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
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map_Kd face.png
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newmtl shirt.png
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File diff suppressed because it is too large
Load Diff
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@ -1,8 +1,8 @@
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|||
# Blender MTL File: 'goku_but.blend'
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# Blender MTL File: 'Full_remake.blend'
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# Material Count: 1
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newmtl pants.png
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Ns 94.117647
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Ns 92.156863
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Ka 0.000000 0.000000 0.000000
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@ -0,0 +1,768 @@
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# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
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# www.blender.org
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mtllib goku_butt.mtl
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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||||
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,8 +1,8 @@
|
|||
# Blender MTL File: 'goku_foot.blend'
|
||||
# Blender MTL File: 'Full_remake.blend'
|
||||
# Material Count: 2
|
||||
|
||||
newmtl face.png
|
||||
Ns 94.117647
|
||||
newmtl face.png.007
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
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Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
@ -12,8 +12,8 @@ d 1.000000
|
|||
illum 2
|
||||
map_Kd face.png
|
||||
|
||||
newmtl pants.png
|
||||
Ns 94.117647
|
||||
newmtl pants.png.008
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,8 +1,8 @@
|
|||
# Blender MTL File: 'goku_legs.blend'
|
||||
# Blender MTL File: 'Full_remake.blend'
|
||||
# Material Count: 2
|
||||
|
||||
newmtl face.png
|
||||
Ns 94.117647
|
||||
newmtl face.png.006
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
@ -12,8 +12,8 @@ d 1.000000
|
|||
illum 2
|
||||
map_Kd face.png
|
||||
|
||||
newmtl pants.png
|
||||
Ns 94.117647
|
||||
newmtl pants.png.007
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,57 +0,0 @@
|
|||
# Blender MTL File: 'goku_full.blend'
|
||||
# Material Count: 5
|
||||
|
||||
newmtl eyes.png
|
||||
Ns 94.117647
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd eyes.png
|
||||
|
||||
newmtl face.png
|
||||
Ns 94.117647
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd face.png
|
||||
|
||||
newmtl hair.png
|
||||
Ns 94.117647
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.027208 0.027208 0.027208
|
||||
Ks 0.024625 0.024625 0.024625
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd hair.png
|
||||
|
||||
newmtl pants.png
|
||||
Ns 94.117647
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd pants.png
|
||||
|
||||
newmtl shirt.png
|
||||
Ns 94.117647
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd shirt.png
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,8 +1,8 @@
|
|||
# Blender MTL File: 'goku_handL.blend'
|
||||
# Blender MTL File: 'Full_remake.blend'
|
||||
# Material Count: 3
|
||||
|
||||
newmtl face.png
|
||||
Ns 94.117647
|
||||
newmtl face.png.004
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
@ -12,8 +12,8 @@ d 1.000000
|
|||
illum 2
|
||||
map_Kd face.png
|
||||
|
||||
newmtl pants.png
|
||||
Ns 94.117647
|
||||
newmtl pants.png.003
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
@ -23,8 +23,8 @@ d 1.000000
|
|||
illum 2
|
||||
map_Kd pants.png
|
||||
|
||||
newmtl shirt.png
|
||||
Ns 94.117647
|
||||
newmtl shirt.png.004
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,8 +1,8 @@
|
|||
# Blender MTL File: 'goku_handR.blend'
|
||||
# Blender MTL File: 'Full_remake.blend'
|
||||
# Material Count: 3
|
||||
|
||||
newmtl face.png
|
||||
Ns 94.117647
|
||||
newmtl face.png.005
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
@ -12,8 +12,8 @@ d 1.000000
|
|||
illum 2
|
||||
map_Kd face.png
|
||||
|
||||
newmtl pants.png
|
||||
Ns 94.117647
|
||||
newmtl pants.png.004
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
@ -23,10 +23,10 @@ d 1.000000
|
|||
illum 2
|
||||
map_Kd pants.png
|
||||
|
||||
newmtl shirt.png
|
||||
Ns 94.117647
|
||||
newmtl shirt.png.005
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 1.000000 0.617207 0.417885
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,8 +1,8 @@
|
|||
# Blender MTL File: 'goku_head.blend'
|
||||
# Blender MTL File: 'Full_remake.blend'
|
||||
# Material Count: 4
|
||||
|
||||
newmtl eyes.png
|
||||
Ns 94.117647
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
@ -12,8 +12,8 @@ d 1.000000
|
|||
illum 2
|
||||
map_Kd eyes.png
|
||||
|
||||
newmtl face.png
|
||||
Ns 94.117647
|
||||
newmtl face.png.001
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
@ -24,7 +24,7 @@ illum 2
|
|||
map_Kd face.png
|
||||
|
||||
newmtl hair.png
|
||||
Ns 94.117647
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.027208 0.027208 0.027208
|
||||
Ks 0.024625 0.024625 0.024625
|
||||
|
|
@ -34,8 +34,8 @@ d 1.000000
|
|||
illum 2
|
||||
map_Kd hair.png
|
||||
|
||||
newmtl shirt.png
|
||||
Ns 94.117647
|
||||
newmtl shirt.png.001
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,8 +1,8 @@
|
|||
# Blender MTL File: 'goku_legL.blend'
|
||||
# Blender MTL File: 'Full_remake.blend'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl pants.png
|
||||
Ns 94.117647
|
||||
newmtl pants.png.005
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
|
|
|
|||
|
|
@ -1,98 +1,100 @@
|
|||
# Blender v2.78 (sub 0) OBJ File: 'goku_legL.blend'
|
||||
# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
|
||||
# www.blender.org
|
||||
mtllib goku_legL.mtl
|
||||
o Mesh.404_DrawCall_231
|
||||
v 0.424893 -10.608627 4.949482
|
||||
v 2.236749 -10.923356 2.956954
|
||||
v 1.169725 -9.011127 -0.536196
|
||||
v 2.509670 -8.868757 1.008370
|
||||
v 1.049754 -8.268933 -0.005599
|
||||
v 1.336176 -7.799356 -0.805991
|
||||
v 2.665817 -7.434734 0.781920
|
||||
v 1.501240 -5.455472 -1.018057
|
||||
v 2.770802 -5.046062 0.535011
|
||||
v 2.838188 -3.110165 0.227148
|
||||
v -1.588822 1.188293 -0.093029
|
||||
v -1.166129 1.249268 0.275240
|
||||
v -3.113583 -0.984687 2.190746
|
||||
v -1.514320 -1.537658 4.393212
|
||||
v -2.640762 -1.843260 3.331730
|
||||
v -1.555381 -3.301793 4.753983
|
||||
v -2.541874 -3.484594 3.894073
|
||||
v -1.607124 -5.540161 5.168834
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usemtl pants.png
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usemtl pants.png.005
|
||||
s 1
|
||||
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|
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
|
|
|||
|
|
@ -0,0 +1,13 @@
|
|||
# Blender MTL File: 'Full_remake.blend'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl pants.png.002
|
||||
Ns 92.156863
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.250000 0.250000 0.250000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
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||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd pants.png
|
||||
|
|
@ -0,0 +1,272 @@
|
|||
# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
|
||||
# www.blender.org
|
||||
mtllib goku_legR.mtl
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usemtl pants.png.002
|
||||
s 1
|
||||
f 1/1/1 2/2/2 3/3/3
|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
f 7/7/7 52/52/52 5/5/5
|
||||
f 7/7/7 53/53/53 52/52/52
|
||||
f 9/9/9 53/53/53 7/7/7
|
||||
f 23/23/23 54/54/54 55/55/55
|
||||
f 25/25/25 54/54/54 23/23/23
|
||||
f 25/25/25 56/56/56 54/54/54
|
||||
f 21/21/21 56/56/56 25/25/25
|
||||
f 21/21/21 57/57/57 56/56/56
|
||||
f 20/20/20 57/57/57 21/21/21
|
||||
f 12/12/12 57/58/57 10/10/10
|
||||
f 12/12/12 56/59/56 57/58/57
|
||||
f 11/11/11 56/59/56 12/12/12
|
||||
f 11/11/11 54/60/54 56/59/56
|
||||
f 14/14/14 54/60/54 11/11/11
|
||||
f 14/14/14 55/61/55 54/60/54
|
||||
f 16/16/16 55/61/55 14/14/14
|
||||
f 38/38/38 42/42/42 39/39/39
|
||||
f 38/38/38 40/40/40 42/42/42
|
||||
f 37/37/37 40/40/40 38/38/38
|
||||
f 37/37/37 44/44/44 40/40/40
|
||||
f 34/34/34 44/44/44 37/37/37
|
||||
f 48/48/48 32/32/32 30/30/30
|
||||
f 33/33/33 32/32/32 48/48/48
|
||||
f 42/42/42 41/41/41 23/23/23 55/55/55 16/16/16 17/17/17 39/39/39
|
||||
f 41/41/41 48/48/48 23/23/23
|
||||
File diff suppressed because it is too large
Load Diff
|
Before Width: | Height: | Size: 24 KiB After Width: | Height: | Size: 24 KiB |
|
Before Width: | Height: | Size: 27 KiB After Width: | Height: | Size: 27 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 1.5 MiB |
|
|
@ -5,24 +5,32 @@ import math,random
|
|||
import pi3d
|
||||
import avatars
|
||||
import maps
|
||||
import objects
|
||||
#import sys
|
||||
from serial_data import Serial_data
|
||||
#sys.path.insert(0, "../python-vrzero")
|
||||
from vrzero import engine
|
||||
|
||||
USE_SERIAL = True
|
||||
USE_STEREO = False
|
||||
USE_TUNNEL = True
|
||||
SHOW_STAT = True
|
||||
###### Select the mode here
|
||||
USE_SERIAL = False # try the app without a serial connection, keyboard still work
|
||||
USE_STEREO = False # Mode Stereoscopic
|
||||
USE_TUNNEL = True # If mode stereo is on, use Tunnel effect
|
||||
SHOW_STAT = False # Show FPS stat (Calibrated for Raspberry Pi)
|
||||
|
||||
DEFAULT_SCREEN_WIDTH=1920
|
||||
DEFAULT_SCREEN_HEIGHT=1080
|
||||
# Change screen size to adapt your config
|
||||
DEFAULT_SCREEN_WIDTH=300
|
||||
DEFAULT_SCREEN_HEIGHT=200
|
||||
DEFAULT_EYE_SEPERATION=0.65
|
||||
|
||||
# height of the camera
|
||||
DEFAULT_AVATAR_EYE_HEIGHT = 4.0
|
||||
DEFAULT_AVATAR_MOVEMENT_SPEED = 1.0
|
||||
DEFAULT_AVATAR_MOVEMENT_SPEED = 0.6
|
||||
|
||||
# two maps for now, so Hall (True) or Forest (False) :)
|
||||
MAP_HALL = True
|
||||
# Select your Avatars here (you can manualy add more)
|
||||
AVATAR_1 = 'Lego'
|
||||
AVATAR_2 = 'Roshi'
|
||||
|
||||
if(USE_STEREO):
|
||||
engine.show_stats=SHOW_STAT
|
||||
|
|
@ -33,12 +41,9 @@ if(USE_STEREO):
|
|||
engine.hmd_screen_width = DEFAULT_SCREEN_WIDTH
|
||||
engine.hmd_screen_height = DEFAULT_SCREEN_HEIGHT
|
||||
engine.hmd_eye_seperation = DEFAULT_EYE_SEPERATION
|
||||
|
||||
|
||||
engine.init()
|
||||
#engine.use_crosseyed_method=False
|
||||
|
||||
|
||||
# Setup display and initialise pi3d
|
||||
if(USE_STEREO == False):
|
||||
DISPLAY = pi3d.Display.create()
|
||||
|
|
@ -50,30 +55,53 @@ if(USE_STEREO == False):
|
|||
|
||||
#========================================
|
||||
|
||||
# Create Hero & map
|
||||
# Create Hero & map, Select your avatars here
|
||||
#avatar = avatars.cloud()
|
||||
avatar = avatars.link()
|
||||
avatar2 = avatars.roshi()
|
||||
if AVATAR_1 == 'Link':
|
||||
avatar = avatars.link()
|
||||
elif AVATAR_1 == 'Cloud':
|
||||
avatar = avatars.cloud()
|
||||
elif AVATAR_1 == 'Lego':
|
||||
avatar = avatars.lego()
|
||||
elif AVATAR_1 == 'Roshi':
|
||||
avatar = avatars.roshi()
|
||||
elif AVATAR_1 == 'Goku':
|
||||
avatar = avatars.goku()
|
||||
elif AVATAR_1 == 'Goomba':
|
||||
avatar = avatars.goomba()
|
||||
|
||||
if AVATAR_2 == 'Link':
|
||||
avatar2 = avatars.link()
|
||||
elif AVATAR_2 == 'Cloud':
|
||||
avatar2 = avatars.cloud()
|
||||
elif AVATAR_2 == 'Lego':
|
||||
avatar2 = avatars.lego()
|
||||
elif AVATAR_2 == 'Roshi':
|
||||
avatar2 = avatars.roshi()
|
||||
elif AVATAR_2 == 'Goku':
|
||||
avatar2 = avatars.goku()
|
||||
|
||||
if MAP_HALL:
|
||||
map1 = maps.hall()
|
||||
else:
|
||||
map1 = maps.forest()
|
||||
#avatar = avatars.goku()
|
||||
|
||||
#avatar camera
|
||||
rot = 0.0
|
||||
tilt = -7.0
|
||||
bulle = objects.object()
|
||||
|
||||
#avatar
|
||||
step = [0.0, 0.0, 0.0]
|
||||
xm = 0.0
|
||||
zm = 0.0
|
||||
if MAP_HALL:
|
||||
avhgt = 15
|
||||
avhgt = 15 # doit etre DEFAULT_AVATAR_EYE_HEIGHT
|
||||
ym = avhgt
|
||||
else:
|
||||
avhgt = 9#9
|
||||
avhgt = 9
|
||||
ym = map1.mymap.calcHeight(xm, zm) + avhgt
|
||||
|
||||
step = [0.0, 0.0, 0.0]
|
||||
# camera position
|
||||
rot = 0.0
|
||||
tilt = -7.0
|
||||
norm = None
|
||||
crab = False
|
||||
roll = 0.0
|
||||
|
|
@ -82,20 +110,21 @@ roll = 0.0
|
|||
#distance_hero = 15
|
||||
synchro_serial=0
|
||||
movement = 0
|
||||
mv_tmp = 0
|
||||
mv_run = 0
|
||||
mv_run_diff = 0
|
||||
avatar_speed = 0.6
|
||||
avatar_speed = DEFAULT_AVATAR_MOVEMENT_SPEED
|
||||
lx = 0
|
||||
ly = 0
|
||||
lz = 0
|
||||
orientation = 0
|
||||
camera_distance = -13
|
||||
|
||||
shader = pi3d.Shader("uv_light")
|
||||
|
||||
shader_light = pi3d.Shader("uv_light")
|
||||
coffimg = pi3d.Texture("../textures/COFFEE.PNG")
|
||||
earth = pi3d.Texture("../textures/rock1.png")
|
||||
flatsh = pi3d.Shader("uv_flat")
|
||||
#font = pi3d.Pngfont("../fonts/GillSansMT.png", (221,0,170,255))
|
||||
font = pi3d.Pngfont("../fonts/GillSansMT.png", (255,80,0,255))
|
||||
mystring = pi3d.String(font=font, string="NOW NO EXCUSES", size=0.8, x=2, y=2, z=2, is_3d=True)
|
||||
mystring2 = pi3d.String(font=font, string="BE YOUR HERO !!!", size=0.8, x=2, y=2, z=2, is_3d=True)
|
||||
|
|
@ -119,10 +148,6 @@ pos_forarmR = [0, 0, 0]
|
|||
pos_armL = [0, 0, 0]
|
||||
pos_forarmL = [0, 0, 0]
|
||||
body_orientation = 0
|
||||
joystick_h_axis_pos = 0.0
|
||||
joystick_v_axis_pos = 0.0
|
||||
joystick_right_h_axis_pos = 0.0
|
||||
joystick_right_v_axis_pos = 0.0
|
||||
timer =0
|
||||
keep_running = True
|
||||
|
||||
|
|
@ -132,7 +157,7 @@ if(USE_STEREO == False):
|
|||
CAMERA = pi3d.Camera(absolute=False)
|
||||
|
||||
def roger_handler(sensor, Euler0, Euler1, Euler2):
|
||||
global pos_armR, pos_forarmR, pos_armL, pos_forarmL, timer, body_orientation, step, crab, mv_run, mv_run_diff, xm, zm
|
||||
global pos_armR, pos_forarmR, pos_armL, pos_forarmL, timer, body_orientation, mv_run, mv_run_diff, xm, zm
|
||||
timer += 1
|
||||
print("Sensor:", sensor)
|
||||
if timer == 13:
|
||||
|
|
@ -150,7 +175,6 @@ def roger_handler(sensor, Euler0, Euler1, Euler2):
|
|||
avatar.armR.rotateToY(math.degrees(-Euler0))
|
||||
#pos_forarmR = [-Euler0 - pos_armL[0], -Euler0 - pos_armL[1], -Euler0 - pos_armL[2]]
|
||||
|
||||
|
||||
elif sensor == 'D':
|
||||
avatar.head.rotateToZ(math.degrees(-Euler1))
|
||||
avatar.head.rotateToX(math.degrees(-Euler2))
|
||||
|
|
@ -159,10 +183,7 @@ def roger_handler(sensor, Euler0, Euler1, Euler2):
|
|||
#if timer == 1:
|
||||
# print(" Avant : E0 = ", math.degrees(Euler0), " E1 = ", math.degrees(Euler1), " E2 = ", math.degrees(Euler2))
|
||||
elif sensor == 'J':
|
||||
|
||||
|
||||
#print("JOY {:03.2f} {:03.2f}".format(Euler0, Euler1))
|
||||
|
||||
if Euler0 <= 128 and Euler1 <= 128:
|
||||
body_orientation = 270 - Euler1 #
|
||||
elif Euler0 >= 128 and Euler1 <= 128:
|
||||
|
|
@ -200,8 +221,6 @@ def roger_handler(sensor, Euler0, Euler1, Euler2):
|
|||
|
||||
#print(xm, ym, zm, "Euler : ",joystick_v_axis_pos, joystick_h_axis_pos )
|
||||
|
||||
avatar.center.rotateToY(body_orientation)
|
||||
|
||||
else:
|
||||
print("unhandled sensor:", sensor)
|
||||
|
||||
|
|
@ -220,7 +239,7 @@ def update():
|
|||
pass
|
||||
else:
|
||||
engine.avatar_y_pos = map1.mymap.calcHeight(x, z+18) + engine.avatar_eye_height +0
|
||||
|
||||
|
||||
if not USE_STEREO:
|
||||
if step != [0.0, 0.0, 0.0]: #i.e. previous loop set movmement
|
||||
pass
|
||||
|
|
@ -231,6 +250,7 @@ def update():
|
|||
ym += avhgt
|
||||
#print(" Position : ", xm, " === ", ym, " === ",zm, " === ")
|
||||
step = [0.0, 0.0, 0.0]
|
||||
|
||||
|
||||
map1.myecube.position(xm, ym, zm)
|
||||
roll = 0.0
|
||||
|
|
@ -238,20 +258,17 @@ def update():
|
|||
#avatar.body.position(xm, mymap.calcHeight(xm, zm+distance_hero)+5.5, zm+distance_hero)
|
||||
|
||||
if MAP_HALL:
|
||||
#avatar.body.position(xm, ym+0, zm) # goku
|
||||
avatar.center.position(xm, ym-5, zm) # others
|
||||
avatar2.center.position(-10, 10, 15) # equivalent a -13, 15 et 0
|
||||
mystring.position(-10, ym+2.5, 14.9)
|
||||
mystring2.position(-10, ym+1.5, 14.9)
|
||||
mycone.position(-10, ym+2, 15)
|
||||
myPlane.position(-10, ym+2, 15)
|
||||
#bulle.Position(xm,ym,zm)
|
||||
mystring.position(-10, 18.5, 14.9)
|
||||
mystring2.position(-10, 17.5, 14.9)
|
||||
#bulle.mycone.position(-10, ym+2, 15)
|
||||
myPlane.position(-10, 18, 15)
|
||||
else:
|
||||
avatar.center.position(xm, map1.mymap.calcHeight(xm, zm)+1, zm)
|
||||
avatar.center.position(xm, map1.mymap.calcHeight(xm, zm), zm)
|
||||
avatar2.center.position(-30, map1.mymap.calcHeight(-30, 80), 80)
|
||||
print(xm, ym, zm)
|
||||
|
||||
#roger.body.position(0, mymap.calcHeight(0, 28)+7, 28)
|
||||
#mv_run += 0.05
|
||||
#print(xm, ym, zm)
|
||||
|
||||
if(mv_run_diff > 0):
|
||||
avatar.run(mv_run, mv_run_diff)
|
||||
|
|
@ -263,7 +280,8 @@ def update():
|
|||
if (synchro_serial > 0):
|
||||
synchro_serial -=1
|
||||
|
||||
mycone.rotateToY(movement)
|
||||
avatar.center.rotateToY(body_orientation)
|
||||
#bulle.mycone.rotateToY(movement)
|
||||
|
||||
mv_run_diff=0
|
||||
lx = xm
|
||||
|
|
@ -284,12 +302,18 @@ def update_scenario():
|
|||
zm = 13
|
||||
elif 14.5 <= zm and zm <= 16:
|
||||
zm = 16
|
||||
myPlane.draw(shader, [earth])
|
||||
mystring.draw()
|
||||
mystring2.draw()
|
||||
#mycone.draw(shader, [coffimg])
|
||||
#bulle.myPlane.draw(shader_light, [earth])
|
||||
mystring.draw()
|
||||
mystring2.draw()
|
||||
myPlane.draw(shader_light, [earth])
|
||||
|
||||
|
||||
def draw():
|
||||
global mv_tmp
|
||||
mv_tmp += 0.2
|
||||
|
||||
#bulle.mycone.draw(shader, [coffimg])
|
||||
#avatar.handR.rotateToY(50 * math.sin(mv_tmp))
|
||||
avatar2.center.draw()
|
||||
avatar.center.draw()
|
||||
map1.mymap.draw()
|
||||
|
|
@ -299,26 +323,44 @@ def draw():
|
|||
|
||||
|
||||
def read_inputs():
|
||||
global step, crab, mymouse, my, mx, rot, tilt, keep_running, xm, zm
|
||||
global mymouse, my, mx, rot, tilt, keep_running, xm, zm, mv_run, mv_run_diff, body_orientation
|
||||
|
||||
#Press ESCAPE to terminate
|
||||
k = mykeys.read()
|
||||
k = mykeys.read() # Read Keyboard inputs
|
||||
|
||||
if k >-1:
|
||||
if k == 119: #key w forward
|
||||
zm+=1
|
||||
mv_run += math.fabs(avatar_speed*2/3)
|
||||
mv_run_diff = 1
|
||||
body_orientation = 180
|
||||
elif k == 115: #kry s back
|
||||
zm+= -1
|
||||
elif k == 97: #key a crab left
|
||||
xm+=1
|
||||
elif k == 100: #key d crab right
|
||||
mv_run += math.fabs(avatar_speed*2/3)
|
||||
mv_run_diff = 1
|
||||
body_orientation = 0
|
||||
elif k == 97: #key a left
|
||||
xm+= -1
|
||||
mv_run += math.fabs(avatar_speed*2/3)
|
||||
mv_run_diff = 1
|
||||
body_orientation = 90
|
||||
elif k == 100: #key d right
|
||||
xm+=1
|
||||
mv_run += math.fabs(avatar_speed*2/3)
|
||||
mv_run_diff = 1
|
||||
body_orientation = 270
|
||||
elif k == 112: #key p picture
|
||||
pi3d.screenshot("forestWalk" + str(scshots) + ".jpg")
|
||||
scshots += 1
|
||||
elif k == 10: #key RETURN
|
||||
mc = 0
|
||||
elif k == 27: #Escape key
|
||||
keep_running = False
|
||||
elif k == 27: #Escape key to exit
|
||||
print("***** Try to quit *****")
|
||||
if USE_STEREO:
|
||||
engine.hmd.close()
|
||||
engine.DISPLAY.destroy()
|
||||
engine.keep_running = False
|
||||
else:
|
||||
keep_running = False
|
||||
mykeys.close()
|
||||
if USE_SERIAL:
|
||||
ser.stop()
|
||||
|
|
@ -336,7 +378,7 @@ def read_inputs():
|
|||
|
||||
|
||||
def camera_update():
|
||||
global xm, ym, zm, rot, tilt, step, norm, crab
|
||||
global xm, ym, zm, rot, tilt, norm
|
||||
camRad = [camera_distance, camera_distance, camera_distance]
|
||||
#print("DBG {:03.2f},{:03.2f},{:03.2f} dist {:03.2f},{:03.2f},{:03.2f}".format(xm, ym, zm, *step))
|
||||
#xm, ym, zm = CAMERA.relocate(rot, tilt, point=[xm, ym, zm], distance=step,
|
||||
|
|
@ -348,11 +390,10 @@ def camera_update():
|
|||
CAMERA.relocate(rot, tilt, point=[xm, map1.mymap.calcHeight(xm, zm)+3, zm], distance=camRad)
|
||||
CAMERA.rotateZ(roll)
|
||||
|
||||
#CAMERA.relocate(rot, tilt, [0.0, 0.0, 0.0], camRad)
|
||||
|
||||
# Main loop
|
||||
if(USE_STEREO):
|
||||
while engine.DISPLAY.loop_running() or engine.keep_running:
|
||||
#read_inputs()
|
||||
engine.poll_inputs()
|
||||
engine.update_avatar()
|
||||
update()
|
||||
|
|
@ -364,11 +405,11 @@ if(USE_STEREO):
|
|||
|
||||
else: # not stereo
|
||||
while DISPLAY.loop_running() or keep_running:
|
||||
read_inputs()
|
||||
camera_update()
|
||||
update()
|
||||
update_scenario()
|
||||
draw()
|
||||
read_inputs()
|
||||
print(" STOP STOP")
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -19,75 +19,114 @@ class BaseAvatar:
|
|||
setattr(self, name, BaseAvatar.FakeModel())
|
||||
|
||||
|
||||
class cloud(object):
|
||||
class cloud(BaseAvatar):
|
||||
|
||||
def __init__(self):
|
||||
self.body = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_Body.obj", name="monument")
|
||||
#body.translate(90.0, -mymap.calcHeight(100.0, 235) + 20.0, 235.0)
|
||||
super().__init__()
|
||||
shader = pi3d.Shader("uv_flat")
|
||||
self.body.set_shader(shader)
|
||||
self.body.scale(6, 6, 6)
|
||||
#self.body.rotateToY(90)
|
||||
|
||||
self.head = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_head.obj", name="monument", cy=-0.88, cz=-0.0)
|
||||
self.center = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_butt.obj")
|
||||
self.center.set_shader(shader)
|
||||
self.center.scale(6, 6, 6)
|
||||
|
||||
self.body = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_Body.obj")
|
||||
self.body.set_shader(shader)
|
||||
self.head = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_head.obj", cy=-0.88, cz=-0.0)
|
||||
self.head.set_shader(shader)
|
||||
self.butt = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_butt.obj", name="monument")
|
||||
self.butt.set_shader(shader)
|
||||
|
||||
self.armR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_armR.obj", name="monument", cy=-0.85, cx=0.08, cz=-0.06)
|
||||
|
||||
self.armR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_armR.obj", cy=-0.85, cx=0.08, cz=-0.06)
|
||||
self.armR.set_shader(shader)
|
||||
self.forarmR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_forarmR.obj", name="monument", cy=-0.85, cx=0.23, cz=-0)
|
||||
self.forarmR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_forarmR.obj", cy=-0.85, cx=0.23, cz=-0)
|
||||
self.forarmR.set_shader(shader)
|
||||
self.handR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_handR.obj", name="monument", cy=-8.8, cx=4.4, cz=-0.7)
|
||||
self.handR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_handR.obj", cy=-8.8, cx=4.4, cz=-0.7)
|
||||
self.handR.set_shader(shader)
|
||||
|
||||
self.armL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_armL.obj", cy=-0.85, cx=-0.08, cz=-0.02)
|
||||
self.armL.set_shader(shader)
|
||||
self.forarmL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_forarmL.obj", name="monument", cy=-0.65, cx=-0.12, cz=-0.04)
|
||||
self.forarmL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_forarmL.obj", cy=-0.65, cx=-0.12, cz=-0.04)
|
||||
self.forarmL.set_shader(shader)
|
||||
|
||||
self.legL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_legL.obj", name="monument", cy = -0.53)
|
||||
self.legL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_legL.obj", cy = -0.53)
|
||||
self.legL.set_shader(shader)
|
||||
#self.legL.scale(0.75, 0.75, 0.75)
|
||||
self.footL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_footL.obj", name="monument", cy = -0.28)
|
||||
self.footL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_footL.obj", cy = -0.28)
|
||||
self.footL.set_shader(shader)
|
||||
#self.footL.scale(1.1, 1.1, 1.1)
|
||||
|
||||
self.legR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_legR.obj", name="monument", cy = -0.53)
|
||||
self.legR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_legR.obj", cy = -0.53)
|
||||
self.legR.set_shader(shader)
|
||||
#self.legR.scale(0.75, 0.75, 0.75)
|
||||
self.footR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_footR.obj", name="monument", cy = -0.28)
|
||||
self.footR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_footR.obj", cy = -0.28)
|
||||
self.footR.set_shader(shader)
|
||||
|
||||
|
||||
self.center.add_child(self.body)
|
||||
self.body.add_child(self.head)
|
||||
self.body.add_child(self.butt)
|
||||
self.body.add_child(self.armR)
|
||||
self.armR.add_child(self.forarmR)
|
||||
self.forarmR.add_child(self.handR)
|
||||
self.body.add_child(self.armL)
|
||||
self.armL.add_child(self.forarmL)
|
||||
|
||||
self.butt.add_child(self.legL)
|
||||
self.center.add_child(self.legL)
|
||||
self.legL.add_child(self.footL)
|
||||
self.butt.add_child(self.legR)
|
||||
self.center.add_child(self.legR)
|
||||
self.legR.add_child(self.footR)
|
||||
|
||||
def run(self, position):
|
||||
self.legR.rotateToX(20 * math.sin(position))
|
||||
self.legL.rotateToX(-20 * math.sin(position))
|
||||
self.footR.rotateToX(-15+15 * math.sin(position))
|
||||
self.footL.rotateToX(-15-15 * math.sin(position))
|
||||
def run(self, position, diff):
|
||||
#compute motion
|
||||
if diff <= 0.25:
|
||||
self.legR.rotateToX(15 * math.sin(position))
|
||||
self.legL.rotateToX(-15 * math.sin(position))
|
||||
self.footR.rotateToX(-15+ 15 * math.sin(position))
|
||||
self.footL.rotateToX(-15 -15 * math.sin(position))
|
||||
|
||||
self.armL.rotateToZ(280)
|
||||
self.armR.rotateToZ(80)
|
||||
self.armR.rotateToY(25.0 * math.sin(position))
|
||||
self.armL.rotateToY(25.0 * math.sin(position))
|
||||
|
||||
self.body.rotateToY(10.0 * math.sin(position))
|
||||
self.head.rotateToY(-8.0 * math.sin(position))
|
||||
|
||||
else:
|
||||
positionRun = position
|
||||
self.legR.rotateToX(25 * math.sin(positionRun))
|
||||
self.legL.rotateToX(-25 * math.sin(positionRun))
|
||||
self.footR.rotateToX(-20+ 20 * math.sin(positionRun))
|
||||
self.footL.rotateToX(-20 -20 * math.sin(positionRun))
|
||||
|
||||
self.armL.rotateToZ(300)
|
||||
self.armR.rotateToZ(60)
|
||||
self.armR.rotateToY(35.0 * math.sin(positionRun))
|
||||
self.armL.rotateToY(35.0 * math.sin(positionRun))
|
||||
|
||||
self.body.rotateToY(10.0 * math.sin(positionRun))
|
||||
self.body.rotateToX(-15.0)
|
||||
self.head.rotateToY(-8.0 * math.sin(positionRun))
|
||||
self.head.rotateToX(10.0)
|
||||
|
||||
def stand(self):
|
||||
|
||||
self.legR.rotateToX(0)
|
||||
self.legL.rotateToX(0)
|
||||
self.footR.rotateToX(0)
|
||||
self.footL.rotateToX(0)
|
||||
|
||||
self.armL.rotateToZ(280)
|
||||
self.armR.rotateToZ(80)
|
||||
self.armR.rotateToY(0)
|
||||
self.armL.rotateToY(0)
|
||||
|
||||
self.body.rotateToY(0)
|
||||
self.body.rotateToX(0)
|
||||
self.head.rotateToY(0)
|
||||
self.head.rotateToX(0)
|
||||
|
||||
def jump(self, position):
|
||||
pass
|
||||
#compute motion
|
||||
|
||||
class lego(BaseAvatar):
|
||||
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
|
||||
|
||||
self.center = pi3d.Model(file_string="../Blender/lego/Emmet_body.obj")
|
||||
shader = pi3d.Shader("uv_light")
|
||||
self.center.set_shader(shader)
|
||||
|
|
@ -121,7 +160,6 @@ class lego(BaseAvatar):
|
|||
|
||||
def jump(self, position):
|
||||
pass
|
||||
#compute motion
|
||||
|
||||
def stand(self):
|
||||
|
||||
|
|
@ -148,31 +186,37 @@ class roshi(BaseAvatar):
|
|||
shader = pi3d.Shader("uv_flat")
|
||||
self.center.set_shader(shader)
|
||||
self.center.scale(0.3,0.3,0.3)
|
||||
def run(self, position, diff):
|
||||
pass
|
||||
def stand(self):
|
||||
pass
|
||||
|
||||
class goomba(object):
|
||||
class goomba(BaseAvatar):
|
||||
|
||||
def __init__(self):
|
||||
self.body = pi3d.Model(file_string="../Blender/goomba.goomba.obj")
|
||||
super().__init__()
|
||||
self.center = pi3d.Model(file_string="../Blender/goomba/goomba.obj")
|
||||
shader = pi3d.Shader("uv_flat")
|
||||
self.body.set_shader(shader)
|
||||
self.body.scale(0.3,0.3,0.3)
|
||||
self.center.set_shader(shader)
|
||||
self.center.scale(0.1,0.1,0.1)
|
||||
def run(self, position, diff):
|
||||
self.center.rotateToX(8.0 * math.sin(position))
|
||||
self.center.rotateToZ(8.0 * math.sin(position))
|
||||
def stand(self):
|
||||
self.body.rotateToX(0)
|
||||
self.body.rotateToZ(0)
|
||||
|
||||
|
||||
class link(object):
|
||||
class link(BaseAvatar):
|
||||
|
||||
def __init__(self):
|
||||
|
||||
super().__init__()
|
||||
self.center = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_full_butt.obj")
|
||||
shader = pi3d.Shader("uv_flat")
|
||||
self.center.set_shader(shader)
|
||||
|
||||
self.center.scale(0.6, 0.6, 0.6)
|
||||
|
||||
self.body = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_body.obj", cy=-7.4)
|
||||
#body.translate(90.0, -mymap.calcHeight(100.0, 235) + 20.0, 235.0)
|
||||
self.body.set_shader(shader)
|
||||
|
||||
#self.body.rotateToY(90)
|
||||
|
||||
self.head = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_head.obj", cy=-10, cz=-0.5)
|
||||
self.head.set_shader(shader)
|
||||
|
||||
|
|
@ -192,25 +236,21 @@ class link(object):
|
|||
|
||||
self.legL = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_legL.obj", cy = -6)
|
||||
self.legL.set_shader(shader)
|
||||
#self.legL.scale(0.75, 0.75, 0.75)
|
||||
self.footL = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_footL.obj", cy = -3)
|
||||
self.footL.set_shader(shader)
|
||||
#self.footL.scale(1.1, 1.1, 1.1)
|
||||
|
||||
self.legR = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_legR.obj", cy = -6)
|
||||
self.legR.set_shader(shader)
|
||||
#self.legR.scale(0.75, 0.75, 0.75)
|
||||
self.footR = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_footR.obj", cy = -3)
|
||||
self.footR.set_shader(shader)
|
||||
|
||||
#self.footR.scale(1.0, 1.0, 1.0)
|
||||
|
||||
self.center.add_child(self.body)
|
||||
self.body.add_child(self.head)
|
||||
|
||||
self.body.add_child(self.armR)
|
||||
self.armR.add_child(self.forarmR)
|
||||
self.forarmR.add_child(self.handR)
|
||||
self.center.add_child(self.body)
|
||||
#self.body.add_child(self.legs)
|
||||
|
||||
self.body.add_child(self.armL)
|
||||
self.armL.add_child(self.forarmL)
|
||||
self.forarmL.add_child(self.handL)
|
||||
|
|
@ -271,132 +311,171 @@ class link(object):
|
|||
self.head.rotateToX(0)
|
||||
|
||||
def jump(self, position):
|
||||
#compute motion
|
||||
self.armL.rotateToX(20 * math.sin(position))
|
||||
self.armR.rotateToX(-20 * math.sin(position))
|
||||
|
||||
class goku(object):
|
||||
class goku(BaseAvatar):
|
||||
|
||||
def __init__(self):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
shader = pi3d.Shader("uv_light")
|
||||
|
||||
self.body = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_body.obj", name="monument")
|
||||
#body.translate(90.0, -mymap.calcHeight(100.0, 235) + 20.0, 235.0)
|
||||
shader = pi3d.Shader("uv_light")
|
||||
self.body.set_shader(shader)
|
||||
self.body.scale(0.20, 0.20, 0.20)
|
||||
self.center = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_butt.obj")
|
||||
self.center.set_shader(shader)
|
||||
self.center.scale(0.2, 0.2, 0.2)
|
||||
|
||||
self.head = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_head.obj", name="monument", x=0,y=9.2, z=0.8)
|
||||
self.head.set_shader(shader)
|
||||
self.head.scale(1.25, 1.25, 1.25)
|
||||
self.legs = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_legs.obj", name="monument", x=-3,y=-22.5)
|
||||
self.legs.set_shader(shader)
|
||||
self.butt = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_but.obj", name="monument", x=0, y=0.5, z=2.2)
|
||||
self.butt.set_shader(shader)
|
||||
self.butt.scale(1.2, 1.2, 1.2)
|
||||
self.body = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_body.obj", cy=-23)
|
||||
self.body.set_shader(shader)
|
||||
|
||||
self.head = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_head.obj", cy=-33, cz=0.5)
|
||||
self.head.set_shader(shader)
|
||||
self.legs = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_legs.obj")
|
||||
self.legs.set_shader(shader)
|
||||
|
||||
self.armR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_armR.obj", name="monument", x=-4.8, y=4.6, z=1.2)
|
||||
self.armR.set_shader(shader)
|
||||
self.handR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_handR.obj", name="monument", x=-6.1, y=-0, z=+1, rx=270)
|
||||
self.handR.set_shader(shader)
|
||||
self.armR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_armR.obj", cy=-29, cx=4, cz=0.4)
|
||||
self.armR.set_shader(shader)
|
||||
self.handR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_handR.obj", cy=-29, cx=8.5, cz=0)
|
||||
self.handR.set_shader(shader)
|
||||
|
||||
self.armL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_armL.obj", name="monument", x=4, y=4.2, z=0)
|
||||
self.armL.set_shader(shader)
|
||||
#self.armL.scale(3, 3, 3)
|
||||
self.handL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_handL.obj", name="monument", x=5, y=-1, z=0.5, rx=270)
|
||||
self.handL.set_shader(shader)
|
||||
self.armL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_armL.obj", cy=-29, cx=-5, cz=0.4)
|
||||
self.armL.set_shader(shader)
|
||||
self.handL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_handL.obj", cy=-29, cx=-11, cz=0.8)
|
||||
self.handL.set_shader(shader)
|
||||
|
||||
self.legL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_legL.obj", name="monument", x=2.9, y=-3, z=-1)
|
||||
self.legL.set_shader(shader)
|
||||
self.legL.scale(0.75, 0.75, 0.75)
|
||||
self.footL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_foot.obj", name="monument", x=0, y=-24, z=-2.5)
|
||||
self.footL.set_shader(shader)
|
||||
self.footL.scale(1.1, 1.1, 1.1)
|
||||
self.legL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_legL.obj", cy = -21)
|
||||
self.legL.set_shader(shader)
|
||||
self.footL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_footL.obj", cy = -15)
|
||||
self.footL.set_shader(shader)
|
||||
|
||||
self.legR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_legL.obj", name="monument", x=-1.5, y=-3, z=-1)
|
||||
self.legR.set_shader(shader)
|
||||
self.legR.scale(0.75, 0.75, 0.75)
|
||||
self.footR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_foot.obj", name="monument", x=-0, y=-24, z=-2.5)
|
||||
self.footR.set_shader(shader)
|
||||
|
||||
self.footR.scale(1.0, 1.0, 1.0)
|
||||
self.legR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_legR.obj", cy = -21)
|
||||
self.legR.set_shader(shader)
|
||||
self.footR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_footR.obj", cy = -15)
|
||||
self.footR.set_shader(shader)
|
||||
|
||||
self.center.add_child(self.body)
|
||||
self.body.add_child(self.head)
|
||||
|
||||
self.body.add_child(self.armR)
|
||||
self.armR.add_child(self.handR)
|
||||
self.body.add_child(self.armL)
|
||||
self.armL.add_child(self.handL)
|
||||
|
||||
self.center.add_child(self.legL)
|
||||
self.legL.add_child(self.footL)
|
||||
self.center.add_child(self.legR)
|
||||
self.legR.add_child(self.footR)
|
||||
|
||||
def run(self, position, diff):
|
||||
#compute motion
|
||||
if diff <= 0.25:
|
||||
self.legR.rotateToX(15 * math.sin(position))
|
||||
self.legL.rotateToX(-15 * math.sin(position))
|
||||
self.footR.rotateToX(-15+ 15 * math.sin(position))
|
||||
self.footL.rotateToX(-15 -15 * math.sin(position))
|
||||
|
||||
self.armL.rotateToZ(280)
|
||||
self.armR.rotateToZ(80)
|
||||
self.armR.rotateToY(25.0 * math.sin(position))
|
||||
self.armL.rotateToY(25.0 * math.sin(position))
|
||||
|
||||
self.body.rotateToY(10.0 * math.sin(position))
|
||||
self.head.rotateToY(-8.0 * math.sin(position))
|
||||
|
||||
else:
|
||||
positionRun = position
|
||||
self.legR.rotateToX(25 * math.sin(positionRun))
|
||||
self.legL.rotateToX(-25 * math.sin(positionRun))
|
||||
self.footR.rotateToX(-20+ 20 * math.sin(positionRun))
|
||||
self.footL.rotateToX(-20 -20 * math.sin(positionRun))
|
||||
|
||||
self.armL.rotateToZ(300)
|
||||
self.armR.rotateToZ(60)
|
||||
self.armR.rotateToY(35.0 * math.sin(positionRun))
|
||||
self.armL.rotateToY(35.0 * math.sin(positionRun))
|
||||
self.handL.rotateToZ(80)
|
||||
self.handR.rotateToZ(-80)
|
||||
self.handL.rotateToY(80)
|
||||
self.handR.rotateToY(-80)
|
||||
|
||||
self.body.rotateToY(10.0 * math.sin(positionRun))
|
||||
self.body.rotateToX(-15.0)
|
||||
self.head.rotateToY(-8.0 * math.sin(positionRun))
|
||||
self.head.rotateToX(10.0)
|
||||
|
||||
def stand(self):
|
||||
|
||||
self.legR.rotateToX(0)
|
||||
self.legL.rotateToX(0)
|
||||
self.footR.rotateToX(0)
|
||||
self.footL.rotateToX(0)
|
||||
|
||||
self.armL.rotateToZ(300)
|
||||
self.armR.rotateToZ(60)
|
||||
self.armR.rotateToY(0)
|
||||
self.armL.rotateToY(0)
|
||||
self.handL.rotateToY(0)
|
||||
self.handR.rotateToY(0)
|
||||
self.handL.rotateToZ(0)
|
||||
self.handR.rotateToZ(0)
|
||||
|
||||
self.body.rotateToY(0)
|
||||
self.body.rotateToX(0)
|
||||
self.head.rotateToY(0)
|
||||
self.head.rotateToX(0)
|
||||
|
||||
def jump(self, position):
|
||||
self.armL.rotateToX(20 * math.sin(position))
|
||||
self.armR.rotateToX(-20 * math.sin(position))
|
||||
|
||||
class guy(BaseAvatar):
|
||||
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
#Create human
|
||||
#porl = pi3d.Model(file_string="Blender/Porl.obj", name="monument")
|
||||
#porl.translate(90.0, -mymap.calcHeight(100.0, 235) + 12.0, 235.0)
|
||||
#porl.scale(5.0, 5.0, 5.0)
|
||||
|
||||
self.body = pi3d.Model(file_string="../Blender/pi_Porl_Body.obj")
|
||||
#body.translate(90.0, -mymap.calcHeight(100.0, 235) + 20.0, 235.0)
|
||||
self.body.scale(1.0, 1.0, 1.0)
|
||||
|
||||
self.head = pi3d.Model(file_string="../Blender/pi_Porl_Head.obj", y=1.84)
|
||||
self.armR = pi3d.Model(file_string="../Blender/pi_Porl_Arm_Right.obj", x=-0.5, y=1.64, z=0.1)
|
||||
self.handR = pi3d.Model(file_string="../Blender/pi_Porl_Hand_Right.obj", x=-0.75)
|
||||
|
||||
self.legs = pi3d.Model(file_string="../Blender/pi_Porl_Legs.obj", y=-3.7)
|
||||
self.armL = pi3d.Model(file_string="../Blender/pi_Porl_Arm_Left.obj", x=0.5, y=1.64, z=0.1)
|
||||
self.handL = pi3d.Model(file_string="../Blender/pi_Porl_Hand_Left.obj", x=0.75)
|
||||
|
||||
self.body.add_child(self.head)
|
||||
self.body.add_child(self.armR)
|
||||
self.armR.add_child(self.handR)
|
||||
self.body.add_child(self.legs)
|
||||
self.body.add_child(self.armL)
|
||||
self.armL.add_child(self.handL)
|
||||
|
||||
def sitDown(self):
|
||||
#motion sitdown
|
||||
pass
|
||||
|
||||
def play(self, position):
|
||||
#motion sitdown
|
||||
pass
|
||||
|
||||
def jump(self):
|
||||
#motion sitdown
|
||||
pass
|
||||
|
||||
def run(self, position):
|
||||
#compute motion
|
||||
self.armL.rotateToX(25.0 * math.sin(position))
|
||||
self.handL.rotateToX(30)
|
||||
self.armR.rotateToX(-25.0 * math.sin(position))
|
||||
self.handR.rotateToX(30.0)
|
||||
|
||||
|
||||
self.body.add_child(self.head)
|
||||
self.body.add_child(self.armR)
|
||||
self.armR.add_child(self.handR)
|
||||
self.body.add_child(self.butt)
|
||||
#self.body.add_child(self.legs)
|
||||
self.body.add_child(self.armL)
|
||||
self.armL.add_child(self.handL)
|
||||
|
||||
self.butt.add_child(self.legL)
|
||||
self.legL.add_child(self.footL)
|
||||
self.butt.add_child(self.legR)
|
||||
self.legR.add_child(self.footR)
|
||||
|
||||
def run(self, position):
|
||||
#compute motion
|
||||
self.legR.rotateToX(15 * math.sin(position))
|
||||
self.legL.rotateToX(-15 * math.sin(position))
|
||||
self.armL.rotateToZ(305)
|
||||
self.armR.rotateToZ(80)
|
||||
self.armR.rotateToY(25.0 * math.sin(position))
|
||||
self.armL.rotateToY(25.0 * math.sin(position))
|
||||
|
||||
class guy(object):
|
||||
|
||||
def __init__(self):
|
||||
|
||||
#Create human
|
||||
#porl = pi3d.Model(file_string="Blender/Porl.obj", name="monument")
|
||||
#porl.translate(90.0, -mymap.calcHeight(100.0, 235) + 12.0, 235.0)
|
||||
#porl.scale(5.0, 5.0, 5.0)
|
||||
|
||||
self.body = pi3d.Model(file_string="../Blender/pi_Porl_Body.obj", name="monument")
|
||||
#body.translate(90.0, -mymap.calcHeight(100.0, 235) + 20.0, 235.0)
|
||||
self.body.scale(1.0, 1.0, 1.0)
|
||||
|
||||
self.head = pi3d.Model(file_string="../Blender/pi_Porl_Head.obj", name="monument", y=1.84)
|
||||
#head.translate(90.0, -mymap.calcHeight(100.0, 235) + 29.6, 235.0)
|
||||
self.armR = pi3d.Model(file_string="../Blender/pi_Porl_Arm_Right.obj", name="monument", x=-0.5, y=1.64, z=0.1)
|
||||
#arm.translate(87.5, -mymap.calcHeight(100.0, 235) + 28.2, 235.5)
|
||||
self.handR = pi3d.Model(file_string="../Blender/pi_Porl_Hand_Right.obj", name="monument", x=-0.75)
|
||||
#hand.translate(83.5, -mymap.calcHeight(100.0, 235) + 28.2, 235.5)
|
||||
|
||||
self.legs = pi3d.Model(file_string="../Blender/pi_Porl_Legs.obj", name="monument", y=-3.7)
|
||||
self.armL = pi3d.Model(file_string="../Blender/pi_Porl_Arm_Left.obj", name="monument", x=0.5, y=1.64, z=0.1)
|
||||
self.handL = pi3d.Model(file_string="../Blender/pi_Porl_Hand_Left.obj", name="monument", x=0.75)
|
||||
|
||||
|
||||
self.body.add_child(self.head)
|
||||
self.body.add_child(self.armR)
|
||||
self.armR.add_child(self.handR)
|
||||
self.body.add_child(self.legs)
|
||||
self.body.add_child(self.armL)
|
||||
self.armL.add_child(self.handL)
|
||||
|
||||
|
||||
def sitDown(self):
|
||||
#motion sitdown
|
||||
pass
|
||||
|
||||
def play(self, position):
|
||||
#motion sitdown
|
||||
pass
|
||||
|
||||
def jump(self):
|
||||
#motion sitdown
|
||||
pass
|
||||
|
||||
def run(self, position):
|
||||
#compute motion
|
||||
self.armL.rotateToX(25.0 * math.sin(position))
|
||||
self.handL.rotateToX(30)
|
||||
self.armR.rotateToX(-25.0 * math.sin(position))
|
||||
self.handR.rotateToX(30.0)
|
||||
|
||||
|
||||
def test(self, position):
|
||||
#compute motion
|
||||
pass
|
||||
def test(self, position):
|
||||
#compute motion
|
||||
pass
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,45 @@
|
|||
#!/bin/python
|
||||
|
||||
|
||||
import pi3d
|
||||
import math,random
|
||||
|
||||
|
||||
shader_light = pi3d.Shader("uv_light")
|
||||
earth = pi3d.Texture("../textures/rock1.png")
|
||||
flatsh = pi3d.Shader("uv_flat")
|
||||
|
||||
class object(object):
|
||||
|
||||
def __init__(self):
|
||||
global flatsh
|
||||
|
||||
#font = pi3d.Pngfont("../fonts/GillSansMT.png", (221,0,170,255))
|
||||
font = pi3d.Pngfont("../fonts/GillSansMT.png", (255,80,0,255))
|
||||
self.mystring = pi3d.String(font=font, string="NOW NO EXCUSES", size=0.8, x=2, y=2, z=2, is_3d=True)
|
||||
self.mystring2 = pi3d.String(font=font, string="BE YOUR HERO !!!", size=0.8, x=2, y=2, z=2, is_3d=True)
|
||||
#mystring.translate(0.0, 0.0, 1)
|
||||
self.mystring.scale(3, 3, 3)
|
||||
self.mystring.set_shader(flatsh)
|
||||
self.mystring2.scale(3, 3, 3)
|
||||
self.mystring2.set_shader(flatsh)
|
||||
self.myPlane = pi3d.Plane(w=7, h=1.8, name="plane")
|
||||
self.myTriangle = pi3d.Triangle(sx=2, sy=2, sz=2, name="triangle", rz = 180)
|
||||
self.mycone = pi3d.Cone(radius=1, height=2, sides=24, name="Cone", rz=180)
|
||||
#self.myTriangle.set_shader(shader)
|
||||
|
||||
def Position(self, xm, ym, zm):
|
||||
self.mystring.position(-10, ym+2.5, 14.9)
|
||||
self.mystring2.position(-10, ym+1.5, 14.9)
|
||||
self.mycone.position(-10, ym+2, 15)
|
||||
self.myPlane.position(-10, ym+2, 15)
|
||||
|
||||
def Draw(self):
|
||||
global shader_light, earth
|
||||
#self.myPlane.draw(shader_light, [earth])
|
||||
#self.mystring.draw()
|
||||
#self.mystring2.draw()
|
||||
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue