Exemplo n.º 1
0
  public void processSerialData() {
    byte[] inBuf = new byte[20];
    switch (serial.read()) {
      case 'A':
        // wait for all data arrived
        while (serial.available() < 16) {}
        // read all data
        serial.readBytes(inBuf);
        Acc_RAW = (inBuf[1] << 8) + (inBuf[0] & 0xFF);
        Gyro_RAW = (inBuf[3] << 8) + (inBuf[2] & 0xFF);
        // int intbit = 0;
        // intbit = (inBuf[7] << 24) | ((inBuf[6] & 0xFF) << 16) | ((inBuf[5] & 0xFF) << 8) |
        // (inBuf[4] & 0xFF);
        // Angle = Float.intBitsToFloat(intbit);
        int AngleInt = (inBuf[5] << 8) + (inBuf[4] & 0xFF);
        Angle = PApplet.parseFloat(AngleInt) / 10;
        Acc_Angle = (inBuf[7] << 8) + (inBuf[6] & 0xFF);
        Gyro_Rate = (inBuf[9] << 8) + (inBuf[8] & 0xff);
        Drive = (inBuf[11] << 8) + (inBuf[10] & 0xFF);
        statusFlag = (inBuf[13] << 8) + (inBuf[12] & 0xFF);
        int BatLevelInt = (inBuf[15] << 8) + (inBuf[14] & 0xFF);
        Steer = (inBuf[17] << 8) + (inBuf[16] & 0xFF);
        BatLevel = PApplet.parseFloat(BatLevelInt) / 10;
        println(
            "Acc="
                + Acc_RAW
                + "  Gyro="
                + Gyro_RAW
                + "  Angle="
                + Angle
                + "  Acc_Angle="
                + Acc_Angle
                + "  Gyro_Rate="
                + Gyro_Rate
                + "  Drive="
                + Drive
                + "  Status="
                + statusFlag);
        break;

      case 'E':
        // wait for all data arrived
        while (serial.available() < 6) {}
        // read all data
        serial.readBytes(inBuf);
        int P = (inBuf[1] << 8) + (inBuf[0] & 0xFF);
        int I = (inBuf[3] << 8) + (inBuf[2] & 0xFF);
        int D = (inBuf[5] << 8) + (inBuf[4] & 0xFF);
        conf_KP.setValue(P);
        conf_KI.setValue(I);
        conf_KD.setValue(D);
        println("P=" + P + " I=" + I + " D=" + D);
        break;
    }
    serial.clear();
  }
 public void draw() {
   lights();
   background(255);
   noStroke();
   fill(200);
   translate(-width / 2, 0);
   t += 0.001f;
   int offset = 10;
   float shapeSize = 5.0f;
   for (int i = 1; i < 10; i++) {
     // ellipse(noise(t+i*offset*0.01)*width, sin(float(frameCount + i*offset)/100)*height/2,
     // shapeSize*i, shapeSize*i);
     float x = noise(t + i * offset * 0.01f) * width;
     float y = sin(PApplet.parseFloat(frameCount + i * offset) / 100) * height / 2;
     pushMatrix();
     translate(x, y);
     sphere(shapeSize * i);
     popMatrix();
   }
 }
Exemplo n.º 3
0
  public void draw() {
    background(0);
    // Strings composition
    textFont(createFont("Arial bold", 24));
    fill(c_red);
    stroke(255);
    text("OpenWheels GUI V1.0", 20, 30);
    textSize(16);
    // textAlign(CENTER);
    fill(c_azure);
    text("Acc_RAW:  " + Acc_RAW, 150, 65);
    AccSlider.setValue(Acc_RAW);
    text("Gyro_RAW: " + Gyro_RAW, 150, 90);
    GyroSlider.setValue(Gyro_RAW);
    text("Acc_Angle:  " + Acc_Angle + "\u00b0", 150, 115);
    text("Gyro_Rate: " + Gyro_Rate + "\u00b0/sec", 150, 140);
    text("Drive: " + Drive, 150, 165);
    text("Steer: " + Steer, 150, 190);
    text("BatLevel: " + nf(BatLevel, 1, 1) + "V", 150, 215);
    text("Status: " + statusFlag, 150, 240);
    graphGauge();
    graphGrid();

    // call the function that plot the angular of acc, with few screen settings
    graphRoll(PApplet.parseFloat(Acc_Angle), VideoBuffer2, c_red); // xPos, YPos, YSpan
    // call the function that plot the estimate angular, with few screen settings
    graphRoll(Angle, VideoBuffer1, c_yellow); // xPos, YPos, YSpan

    // call arduino for data every timePolling [msec]
    int timePolling = 50; // 50msec=20Hz
    time1 = millis();
    if (init_com == 1) {
      while (serial.available() > 0) processSerialData();
      if ((time1 - time2) > timePolling) {
        if (requestPID == true) {
          serial.write('E');
          requestPID = false;
        } else if (writePID == true) {
          int P = PApplet.parseInt(conf_KP.value());
          int I = PApplet.parseInt(conf_KI.value());
          int D = PApplet.parseInt(conf_KD.value());
          char data[] = {0, 0, 0, 0, 0};
          data[0] = 'W';
          data[1] = PApplet.parseChar(P);
          data[2] = PApplet.parseChar(I);
          data[3] = PApplet.parseChar(D);
          data[4] = ' ';
          String str = new String(data);
          serial.write(str);
          println(str);
          // println(" P=" + P + " I=" + I + " D=" + D);
          writePID = false;
        }
        // else if (RUN==true ) {serial.write('A');}
        else {
          serial.write('A');
        }
        time2 = time1;
      }
    }
  }
Exemplo n.º 4
0
  public void setup() {
    minim = new Minim(this);
    size(winWidth, winHeight, OPENGL);
    background(bGround);
    sm = new SceneManager(minim);
    rulesChecker = new RulesChecker();

    controlP5 = new ControlP5(this);
    // ruleChoiceList = controlP5.addDropdownList("ruleChoiceList",850,100,100,100);
    // customize(ruleChoiceList);
    selectedRule = 0;
    selectedCamera = 0;
    gl = ((PGraphicsOpenGL) g).gl;

    picker = new Picker(this);
    oscP5 = new OscP5(this, port);
    // TODO(sanjeet): Change the address
    interfaceAddr = new NetAddress("127.0.0.1", port);

    noStroke();
    lines = loadStrings("fileFriedrich.txt"); // Hardcoded input file name
    String[] tokens = split(lines[0], " ");
    if (tokens.length != 1) {
      println("Incorrect file format for number of cameras");
      return;
    }
    int numOfCams = PApplet.parseInt(tokens[0]);
    for (int i = 1; i < numOfCams + 1; i++) {

      tokens = split(lines[i], " ");
      float[] matrix = new float[16];
      for (int j = 0; j < tokens.length; j++) {
        matrix[j] = PApplet.parseFloat(tokens[j]);
      }

      cameras.add(new Cam(FloatBuffer.wrap(matrix))); // add all the cameras
    }

    tokens = split(lines[1 + numOfCams], " ");
    if (tokens.length != 1) {
      println("Incorrect file format for number of characters");
      return;
    }
    int numOfChars = PApplet.parseInt(tokens[0]);
    for (int i = 2 + numOfCams; i < lines.length; i++) {
      tokens = split(lines[i], " ");
      float[] matrix = new float[16];
      for (int j = 0; j < tokens.length; j++) {
        matrix[j] = PApplet.parseFloat(tokens[j]);
      }

      characters.add(new Character(FloatBuffer.wrap(matrix))); // add all the characters
    }

    characters.get(0).col = color(255, 255, 0);
    characters.get(1).col = color(255, 0, 255);

    timeline = new Timeline(sm);
    // add initial tick to the begining of the timeline
    timeline.addTick(cameras.get(0));

    debug = new Debug(controlP5);

    // title, start, end, initVal, xpos, ypos, width, height
    // controlP5.addSlider("Timeline", 0,120,0,100,winHeight-50,winWidth-200,30);

  }