Revision 8cc46552

View differences:

examples/bunny/bunny.pde
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#include <Wire.h>
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#include <Adafruit_Sensor.h>
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#include <Adafruit_BNO055.h>
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#include <utility/imumaths.h>
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/* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),
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   which provides a common 'type' for sensor data and some helper functions.
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   To use this driver you will also need to download the Adafruit_Sensor
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   library and include it in your libraries folder.
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   You should also assign a unique ID to this sensor for use with
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   the Adafruit Sensor API so that you can identify this particular
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   sensor in any data logs, etc.  To assign a unique ID, simply
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   provide an appropriate value in the constructor below (12345
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   is used by default in this example).
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   Connections
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   ===========
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   Connect SCL to analog 5
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   Connect SDA to analog 4
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   Connect VDD to 3.3V DC
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   Connect GROUND to common ground
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   History
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   =======
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   2015/MAR/03  - First release (KTOWN)
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*/
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/* Set the delay between fresh samples */
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#define BNO055_SAMPLERATE_DELAY_MS (50)
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Adafruit_BNO055 bno = Adafruit_BNO055(55);
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/**************************************************************************/
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/*
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    Displays some basic information on this sensor from the unified
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    sensor API sensor_t type (see Adafruit_Sensor for more information)
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*/
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/**************************************************************************/
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void displaySensorDetails(void)
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{
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  sensor_t sensor;
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  bno.getSensor(&sensor);
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  Serial.println("------------------------------------");
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  Serial.print  ("Sensor:       "); Serial.println(sensor.name);
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  Serial.print  ("Driver Ver:   "); Serial.println(sensor.version);
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  Serial.print  ("Unique ID:    "); Serial.println(sensor.sensor_id);
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  Serial.print  ("Max Value:    "); Serial.print(sensor.max_value); Serial.println(" xxx");
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  Serial.print  ("Min Value:    "); Serial.print(sensor.min_value); Serial.println(" xxx");
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  Serial.print  ("Resolution:   "); Serial.print(sensor.resolution); Serial.println(" xxx");  
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  Serial.println("------------------------------------");
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  Serial.println("");
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  delay(500);
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}
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/**************************************************************************/
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/*
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    Arduino setup function (automatically called at startup)
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*/
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/**************************************************************************/
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void setup(void) 
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{
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  Serial.begin(115200);
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  Serial.println("Orientation Sensor Test"); Serial.println("");
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  /* Initialise the sensor */
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  if(!bno.begin())
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  {
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    /* There was a problem detecting the BNO055 ... check your connections */
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    Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
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    while(1);
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  }
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  delay(1000);
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  /* Display some basic information on this sensor */
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  displaySensorDetails();
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}
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/**************************************************************************/
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/*
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    Arduino loop function, called once 'setup' is complete (your own code
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    should go here)
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*/
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/**************************************************************************/
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void loop(void) 
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{
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  /* Get a new sensor event */ 
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  sensors_event_t event; 
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  bno.getEvent(&event);
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  /* Board layout:
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         +----------+
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         |         *| RST   PITCH  ROLL  HEADING
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     ACR |*        *| SCL
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     INT |*        *| SDA     ^            <-\
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     PS1 |*        *| GND     |              |   
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     PS0 |*        *| 3VO     Y    Z-->   X -/
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         |         *| VIN 
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         +----------+
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  */
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  /* The processing sketch expects data as roll, pitch, heading */
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  Serial.print(F("Orientation: "));
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  Serial.print((float)event.orientation.x);
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  Serial.print(F(" "));
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  Serial.print((float)event.orientation.y);
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  Serial.print(F(" "));
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  Serial.print((float)event.orientation.z);
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  Serial.println(F(""));
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  delay(BNO055_SAMPLERATE_DELAY_MS);
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}
examples/bunny/processing/cuberotate/cuberotate.pde
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import processing.serial.*;
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import java.awt.datatransfer.*;
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import java.awt.Toolkit;
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import processing.opengl.*;
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import saito.objloader.*;
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import g4p_controls.*;
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float roll  = 0.0F;
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float pitch = 0.0F;
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float yaw   = 0.0F;
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float temp  = 0.0F;
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float alt   = 0.0F;
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OBJModel model;
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// Serial port state.
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Serial       port;
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String       buffer = "";
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final String serialConfigFile = "serialconfig.txt";
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boolean      printSerial = false;
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// UI controls.
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GPanel    configPanel;
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GDropList serialList;
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GLabel    serialLabel;
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GCheckbox printSerialCheckbox;
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void setup()
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{
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  size(400, 550, OPENGL);
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  frameRate(30);
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  model = new OBJModel(this);
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  model.load("bunny.obj");
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  model.scale(20);
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  // Serial port setup.
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  // Grab list of serial ports and choose one that was persisted earlier or default to the first port.
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  int selectedPort = 0;
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  String[] availablePorts = Serial.list();
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  if (availablePorts == null) {
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    println("ERROR: No serial ports available!");
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    exit();
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  }
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  String[] serialConfig = loadStrings(serialConfigFile);
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  if (serialConfig != null && serialConfig.length > 0) {
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    String savedPort = serialConfig[0];
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    // Check if saved port is in available ports.
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    for (int i = 0; i < availablePorts.length; ++i) {
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      if (availablePorts[i].equals(savedPort)) {
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        selectedPort = i;
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      } 
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    }
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  }
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  // Build serial config UI.
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  configPanel = new GPanel(this, 10, 10, width-20, 90, "Configuration (click to hide/show)");
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  serialLabel = new GLabel(this,  0, 20, 80, 25, "Serial port:");
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  configPanel.addControl(serialLabel);
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  serialList = new GDropList(this, 90, 20, 200, 200, 6);
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  serialList.setItems(availablePorts, selectedPort);
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  configPanel.addControl(serialList);
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  printSerialCheckbox = new GCheckbox(this, 5, 50, 200, 20, "Print serial data");
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  printSerialCheckbox.setSelected(printSerial);
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  configPanel.addControl(printSerialCheckbox);
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  // Set serial port.
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  setSerialPort(serialList.getSelectedText());
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}
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void draw()
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{
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  background(0,0,0);
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  // Set a new co-ordinate space
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  pushMatrix();
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  // Simple 3 point lighting for dramatic effect.
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  // Slightly red light in upper right, slightly blue light in upper left, and white light from behind.
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  pointLight(255, 200, 200,  400, 400,  500);
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  pointLight(200, 200, 255, -400, 400,  500);
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  pointLight(255, 255, 255,    0,   0, -500);
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  // Displace objects from 0,0
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  translate(200, 300, 0);
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  // Rotate shapes around the X/Y/Z axis (values in radians, 0..Pi*2)
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  rotateZ(radians(roll * -1.0F));
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  rotateX(radians(pitch));
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  pushMatrix();
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  noStroke();
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  model.draw();
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  popMatrix();
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  popMatrix();
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  //print("draw");
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}
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void serialEvent(Serial p) 
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{
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  String incoming = p.readString();
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  if (printSerial) {
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    println(incoming);
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  }
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  if ((incoming.length() > 8))
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  {
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    String[] list = split(incoming, " ");
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    if ( (list.length > 0) && (list[0].equals("Orientation:")) ) 
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    {
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      roll  = float(list[3]); // Roll = Z
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      pitch = float(list[2]); // Pitch = Y 
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      yaw   = float(list[1]); // Yaw/Heading = X
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      buffer = incoming;
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    }
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    if ( (list.length > 0) && (list[0].equals("Alt:")) ) 
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    {
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      alt  = float(list[1]);
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      buffer = incoming;
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    }
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    if ( (list.length > 0) && (list[0].equals("Temp:")) ) 
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    {
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      temp  = float(list[1]);
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      buffer = incoming;
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    }
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  }
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}
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// Set serial port to desired value.
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void setSerialPort(String portName) {
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  // Close the port if it's currently open.
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  if (port != null) {
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    port.stop();
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  }
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  try {
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    // Open port.
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    port = new Serial(this, portName, 115200);
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    port.bufferUntil('\n');
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    // Persist port in configuration.
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    saveStrings(serialConfigFile, new String[] { portName });
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  }
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  catch (RuntimeException ex) {
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    // Swallow error if port can't be opened, keep port closed.
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    port = null; 
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  }
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}
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// UI event handlers
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void handlePanelEvents(GPanel panel, GEvent event) {
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  // Panel events, do nothing.
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}
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void handleDropListEvents(GDropList list, GEvent event) { 
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  // Drop list events, check if new serial port is selected.
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  if (list == serialList) {
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    setSerialPort(serialList.getSelectedText()); 
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  }
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}
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void handleToggleControlEvents(GToggleControl checkbox, GEvent event) { 
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  // Checkbox toggle events, check if print events is toggled.
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  if (checkbox == printSerialCheckbox) {
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    printSerial = printSerialCheckbox.isSelected(); 
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  }
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}
examples/bunny/processing/cuberotate/data/bunny.mtl
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# 3ds Max Wavefront OBJ Exporter v0.94b - (c)2007 guruware
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# File Created: 04.07.2010 10:41:39
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newmtl Body
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Ns 32
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d 1
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Tr 1
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Tf 1 1 1
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illum 2
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Ka 0.0000 0.0000 0.0000
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Kd 0.7412 0.4784 0.4765
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Ks 0.3500 0.3500 0.6500
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examples/bunny/processing/cuberotate/data/bunny.obj
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####
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#
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# OBJ File Generated by Meshlab
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#
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####
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# Object bunny.obj
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#
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#
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####
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v -3.510100 8.760700 -1.624400 0.752941 0.752941 0.752941
1020
vn -2.330814 4.735829 3.330126
1021
v -2.339000 8.218100 0.477600 0.752941 0.752941 0.752941
1022
vn -3.018860 4.825770 2.632581
1023
v -2.416100 8.201700 0.428900 0.752941 0.752941 0.752941
1024
vn -2.337425 4.697275 3.406392
1025
v -2.420400 8.125700 0.546200 0.752941 0.752941 0.752941
1026
vn -1.069623 6.171318 -0.400329
1027
v 0.431500 6.213500 0.853000 0.752941 0.752941 0.752941
1028
vn -1.115299 6.167621 -0.106737
1029
v 0.400700 6.212300 0.934600 0.752941 0.752941 0.752941
1030
vn -0.865496 6.220870 -0.001961
1031
v 0.474400 6.222600 0.961500 0.752941 0.752941 0.752941
1032
vn -1.382379 5.565406 2.320043
1033
v -3.623400 8.736000 -1.572999 0.752941 0.752941 0.752941
1034
vn 0.192808 5.779924 2.426884
1035
v -3.554400 8.729200 -1.549700 0.752941 0.752941 0.752941
1036
vn -0.329553 4.418539 4.449572
1037
v -0.751500 5.344900 2.185500 0.752941 0.752941 0.752941
1038
vn -0.476794 4.582853 4.261805
1039
v -0.813700 5.402600 2.115300 0.752941 0.752941 0.752941
1040
vn -0.373004 4.547907 4.298108
1041
v -0.815600 5.343500 2.184100 0.752941 0.752941 0.752941
1042
vn -0.951000 6.207914 -0.172851
1043
v 0.505100 6.224800 0.880000 0.752941 0.752941 0.752941
1044
vn -2.641499 5.122557 2.497490
1045
v -0.223000 5.864600 1.651900 0.752941 0.752941 0.752941
1046
vn -2.626528 5.081823 2.569586
1047
v 0.035300 5.891200 1.838600 0.752941 0.752941 0.752941
1048
vn -2.405860 5.153976 2.654652
1049
v -0.045600 5.867200 1.809500 0.752941 0.752941 0.752941
1050
vn -2.455029 5.217783 2.474021
1051
v -0.026300 5.827300 1.910200 0.752941 0.752941 0.752941
1052
vn -2.123538 5.376171 2.460649
1053
v -0.109300 5.807100 1.882900 0.752941 0.752941 0.752941
1054
vn -1.527871 5.619881 2.326237
1055
v -0.419000 5.738600 1.773300 0.752941 0.752941 0.752941
1056
vn -2.000392 5.564905 2.119394
1057
v -0.340900 5.754300 1.800400 0.752941 0.752941 0.752941
1058
vn -3.190381 4.770433 2.487734
1059
v -3.722500 8.577000 -1.333300 0.752941 0.752941 0.752941
1060
vn -0.875654 6.057099 -1.396383
1061
v -0.610400 5.872200 0.190900 0.752941 0.752941 0.752941
1062
vn -0.377800 6.050368 -1.590995
1063
v -0.684100 5.860900 0.164000 0.752941 0.752941 0.752941
1064
vn -0.070546 6.139071 -1.066674
1065
v -0.712100 5.872300 0.246800 0.752941 0.752941 0.752941
1066
vn 2.470507 -5.272242 -1.790363
1067
v -3.284400 7.564100 -2.714000 0.752941 0.752941 0.752941
1068
vn 0.937886 -5.612194 -2.635287
1069
v -3.336600 7.570200 -2.751300 0.752941 0.752941 0.752941
1070
vn 3.518961 -4.476092 -1.429587
1071
v -3.222000 7.618100 -2.793100 0.752941 0.752941 0.752941
1072
vn -1.603306 6.011041 0.688019
1073
v -3.648100 7.841500 0.287800 0.752941 0.752941 0.752941
1074
vn -1.349385 6.081548 -0.352827
1075
v -3.687100 7.828800 0.368800 0.752941 0.752941 0.752941
1076
vn -0.896330 6.196472 -0.207897
1077
v -3.606200 7.852300 0.397400 0.752941 0.752941 0.752941
1078
vn -6.236812 -0.187544 -0.075527
1079
v -4.698599 3.730900 1.029500 0.752941 0.752941 0.752941
1080
vn -1.161530 6.138519 -0.623150
1081
v -3.715200 7.835800 0.452800 0.752941 0.752941 0.752941
1082
vn -1.012696 6.175698 -0.545870
1083
v -3.746900 7.836600 0.535500 0.752941 0.752941 0.752941
1084
vn -0.779357 6.219769 -0.397144
1085
v -3.672900 7.848900 0.561700 0.752941 0.752941 0.752941
1086
vn -6.027335 -1.679637 -0.111166
1087
v -4.780399 6.800200 1.270900 0.752941 0.752941 0.752941
1088
vn -6.026032 -1.705417 0.013469
1089
v -4.811800 6.888500 1.270301 0.752941 0.752941 0.752941
1090
vn -5.854475 -1.797325 -0.835373
1091
v -4.810500 6.888300 1.206300 0.752941 0.752941 0.752941
1092
vn -5.914027 -1.685200 -1.115457
1093
v -4.770400 6.797800 1.203100 0.752941 0.752941 0.752941
1094
vn -2.931069 5.465908 -1.001703
1095
v -4.595399 7.620200 0.995900 0.752941 0.752941 0.752941
1096
vn -3.697006 4.618637 -1.726363
1097
v -4.634300 7.588800 0.946700 0.752941 0.752941 0.752941
1098
vn -3.647278 4.803363 -1.223644
1099
v -4.662600 7.587800 1.011101 0.752941 0.752941 0.752941
1100
vn -3.320087 5.267477 0.774009
1101
v -0.826000 9.437700 -0.459599 0.752941 0.752941 0.752941
1102
vn -3.324079 5.271365 0.279587
1103
v -0.917800 9.388200 -0.494499 0.752941 0.752941 0.752941
1104
vn -3.105061 5.230541 1.509421
1105
v -0.883900 9.387800 -0.387699 0.752941 0.752941 0.752941
1106
vn -5.319268 2.757426 1.835154
1107
v -4.443999 4.593600 1.539300 0.752941 0.752941 0.752941
1108
vn -5.316237 2.695595 1.963428
1109
v -4.467800 4.594600 1.475400 0.752941 0.752941 0.752941
1110
vn 1.083865 5.573776 -1.465823
1111
v -3.205400 9.478500 -3.649800 0.752941 0.752941 0.752941
1112
vn 1.992559 5.784443 0.891502
1113
v -3.233600 9.484400 -3.565799 0.752941 0.752941 0.752941
1114
vn 2.663542 5.603086 0.790263
1115
v -3.149200 9.455700 -3.628599 0.752941 0.752941 0.752941
1116
vn -5.707258 -1.859511 1.742959
1117
v -4.447800 3.197500 1.418500 0.752941 0.752941 0.752941
1118
vn -5.922880 -1.222324 1.652559
1119
v -4.451399 3.111700 1.353500 0.752941 0.752941 0.752941
1120
vn 4.849018 3.238511 2.080072
1121
v 4.857500 2.291900 1.361400 0.752941 0.752941 0.752941
1122
vn 4.876318 2.693493 2.858605
1123
v 4.835899 2.254900 1.442800 0.752941 0.752941 0.752941
1124
vn 5.312682 2.023799 2.562887
1125
v 4.893400 2.169100 1.413200 0.752941 0.752941 0.752941
1126
vn -1.223867 1.012411 -6.009521
1127
v -0.710500 4.466300 -1.405500 0.752941 0.752941 0.752941
1128
vn -1.114581 2.171582 -5.730783
1129
v -0.710600 4.557400 -1.380400 0.752941 0.752941 0.752941
1130
vn -0.477301 2.159413 -5.815150
1131
v -0.646500 4.558400 -1.389400 0.752941 0.752941 0.752941
1132
vn -0.878179 0.547779 -6.195850
1133
v -0.645700 4.374800 -1.422000 0.752941 0.752941 0.752941
1134
vn -1.275053 0.487185 -6.127546
1135
v -0.709900 4.373800 -1.411600 0.752941 0.752941 0.752941
1136
vn -0.635670 1.107879 -6.102698
1137
v -0.646200 4.467200 -1.414300 0.752941 0.752941 0.752941
1138
vn -6.098743 1.246819 0.371048
1139
v -4.504300 4.769400 1.023800 0.752941 0.752941 0.752941
1140
vn -6.027996 1.228179 -0.431292
1141
v -4.499800 4.768700 0.959300 0.752941 0.752941 0.752941
1142
vn -4.903353 -1.232629 -3.627010
1143
v -4.680300 7.064600 0.948100 0.752941 0.752941 0.752941
1144
vn -5.509169 -1.457886 -2.364474
1145
v -4.699600 7.152000 0.945400 0.752941 0.752941 0.752941
1146
vn -5.395686 -2.191980 -2.217634
1147
v -4.683000 7.152000 0.882100 0.752941 0.752941 0.752941
1148
vn -6.161082 0.451565 -1.102043
1149
v -4.947400 5.826400 0.953800 0.752941 0.752941 0.752941
1150
vn -6.132945 0.679435 -1.128003
1151
v -4.939600 5.914600 0.953400 0.752941 0.752941 0.752941
1152
vn -6.112847 0.446020 -1.378726
1153
v -4.933199 5.825900 0.889300 0.752941 0.752941 0.752941
1154
vn -0.592364 1.447850 -6.080556
1155
v -1.030400 4.002300 -1.417900 0.752941 0.752941 0.752941
1156
vn -0.583870 1.396683 -6.097220
1157
v -1.094900 4.001600 -1.410400 0.752941 0.752941 0.752941
1158
vn -0.411972 1.583199 -6.057960
1159
v -1.030900 4.093600 -1.395100 0.752941 0.752941 0.752941
1160
vn -0.546902 1.166247 -6.145563
1161
v -1.095000 3.910800 -1.429000 0.752941 0.752941 0.752941
1162
vn -5.643858 2.496168 -1.111374
1163
v -4.549600 4.593700 0.767700 0.752941 0.752941 0.752941
1164
vn -5.703931 2.141636 -1.360212
1165
v -4.573299 4.507400 0.703900 0.752941 0.752941 0.752941
1166
vn -4.695251 2.339378 -3.359381
1167
v -4.487299 7.500100 0.628200 0.752941 0.752941 0.752941
1168
vn -4.934843 2.039917 -3.187142
1169
v -4.442599 7.500700 0.562400 0.752941 0.752941 0.752941
1170
vn 2.174254 5.808003 0.969955
1171
v -2.545700 7.818800 1.058700 0.752941 0.752941 0.752941
1172
vn 1.653932 6.000972 0.742254
1173
v -2.601900 7.842800 1.038100 0.752941 0.752941 0.752941
1174
vn 1.952633 5.949405 0.142656
1175
v -2.575300 7.820800 1.141500 0.752941 0.752941 0.752941
1176
vn -3.220445 5.350130 0.495079
1177
v -1.258300 9.173400 -0.341399 0.752941 0.752941 0.752941
1178
vn -3.335294 5.277921 -0.393816
1179
v -1.358200 9.114300 -0.377499 0.752941 0.752941 0.752941
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