// I2C device class (I2Cdev) demonstration Processing sketch for MPU6050 DMP output // 6/20/2012 by Jeff Rowberg // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: // 2012-06-20 - initial release // 2016-10-28 - Changed to bi-plane 3d model based on tutorial at // https://forum.processing.org/two/discussion/24350/display-obj-file-in-3d // https://opengameart.org/content/low-poly-biplane /* ============================================ I2Cdev device library code is placed under the MIT license Copyright (c) 2012 Jeff Rowberg Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. =============================================== */ import processing.serial.*; //import processing.opengl.*; import toxi.geom.*; import toxi.processing.*; // NOTE: requires ToxicLibs to be installed in order to run properly. // 1. Download from http://toxiclibs.org/downloads // 2. Extract into [userdir]/Processing/libraries // (location may be different on Mac/Linux) // 3. Run and bask in awesomeness ToxiclibsSupport gfx; Serial port; // The serial port char[] teapotPacket = new char[14]; // InvenSense Teapot packet int serialCount = 0; // current packet byte position int synced = 0; int interval = 0; float[] q = new float[4]; Quaternion quat = new Quaternion(1, 0, 0, 0); float[] gravity = new float[3]; float[] euler = new float[3]; float[] ypr = new float[3]; PShape plane; // 3d model void setup() { // 640x480 px square viewport size(640, 480, P3D); gfx = new ToxiclibsSupport(this); // setup lights and antialiasing lights(); smooth(); // display serial port list for debugging/clarity println(Serial.list()); // get a specific serial port String portName = "COM12"; // open the serial port port = new Serial(this, portName, 115200); // send single character to trigger DMP init/start // (expected by MPU6050_DMP6 example Arduino sketch) port.write('r'); // Load Plane object // The file must be in the \data folder // of the current sketch to load successfully plane = loadShape("biplane.obj"); // apply its texture and set orientation PImage img1=loadImage("diffuse_512.png"); plane.setTexture(img1); plane.scale(30); plane.rotateX(PI); plane.rotateY(PI+HALF_PI); } void draw() { if (millis() - interval > 1000) { // resend single character to trigger DMP init/start // in case the MPU is halted/reset while applet is running port.write('r'); interval = millis(); } // black background background(0); // translate everything to the middle of the viewport pushMatrix(); translate(width / 2, height / 2); // toxiclibs direct angle/axis rotation from quaternion (NO gimbal lock!) // (axis order [1, 3, 2] and inversion [-1, +1, +1] is a consequence of // different coordinate system orientation assumptions between Processing // and InvenSense DMP) float[] axis = quat.toAxisAngle(); rotate(axis[0], -axis[1], axis[3], axis[2]); // draw plane shape(plane, 0, 0); popMatrix(); } void serialEvent(Serial port) { interval = millis(); while (port.available() > 0) { int ch = port.read(); if (synced == 0 && ch != '$') return; // initial synchronization - also used to resync/realign if needed synced = 1; print ((char)ch); if ((serialCount == 1 && ch != 2) || (serialCount == 12 && ch != '\r') || (serialCount == 13 && ch != '\n')) { serialCount = 0; synced = 0; return; } if (serialCount > 0 || ch == '$') { teapotPacket[serialCount++] = (char)ch; if (serialCount == 14) { serialCount = 0; // restart packet byte position // get quaternion from data packet q[0] = ((teapotPacket[2] << 8) | teapotPacket[3]) / 16384.0f; q[1] = ((teapotPacket[4] << 8) | teapotPacket[5]) / 16384.0f; q[2] = ((teapotPacket[6] << 8) | teapotPacket[7]) / 16384.0f; q[3] = ((teapotPacket[8] << 8) | teapotPacket[9]) / 16384.0f; for (int i = 0; i < 4; i++) if (q[i] >= 2) q[i] = -4 + q[i]; // set our toxilibs quaternion to new data quat.set(q[0], q[1], q[2], q[3]); // below calculations unnecessary for orientation only using toxilibs // calculate gravity vector gravity[0] = 2 * (q[1]*q[3] - q[0]*q[2]); gravity[1] = 2 * (q[0]*q[1] + q[2]*q[3]); gravity[2] = q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]; // calculate Euler angles euler[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1); euler[1] = -asin(2*q[1]*q[3] + 2*q[0]*q[2]); euler[2] = atan2(2*q[2]*q[3] - 2*q[0]*q[1], 2*q[0]*q[0] + 2*q[3]*q[3] - 1); // calculate yaw/pitch/roll angles ypr[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1); ypr[1] = atan(gravity[0] / sqrt(gravity[1]*gravity[1] + gravity[2]*gravity[2])); ypr[2] = atan(gravity[1] / sqrt(gravity[0]*gravity[0] + gravity[2]*gravity[2])); // output various components for debugging println("q:\t" + round(q[0]*100.0f)/100.0f + "\t" + round(q[1]*100.0f)/100.0f + "\t" + round(q[2]*100.0f)/100.0f + "\t" + round(q[3]*100.0f)/100.0f); println("euler:\t" + euler[0]*180.0f/PI + "\t" + euler[1]*180.0f/PI + "\t" + euler[2]*180.0f/PI); println("ypr:\t" + ypr[0]*180.0f/PI + "\t" + ypr[1]*180.0f/PI + "\t" + ypr[2]*180.0f/PI); } } } }