Revision 8cc46552
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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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# Vertices: 34835 |
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# Faces: 69666 |
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# |
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#### |
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