Discovering Interface and Application Programming

So the objective of this week is to get introduced to using Code to Create Applications that Interface with input and output devices.

According to Wikipidia, "In computer programming, an application programming interface (API) is a set of subroutine definitions, protocols, and tools for building application software. In general terms, it is a set of clearly defined methods of communication between various software components. A good API makes it easier to develop a computer program by providing all the building blocks, which are then put together by the programmer. An API may be for a web-based system, operating system, database system, computer hardware or software library. An API specification can take many forms, but often includes specifications for routines, data structures, object classes, variables or remote calls. POSIX, Windows API and ASPI are examples of different forms of APIs. Documentation for the API is usually provided to facilitate usage and reimplementation." There are many laguages that could be used to build applications that interface with Input and Output devices. Out of which are C++, JAVA, Python, Arduino, and Processing.

In this section, we will learn on how to collect data from sensors through a microcontroller, and how to use coding to Simulate and Visualize the measurements in Graphical representations.

Assignment

We had a Group Assignment and an Individual Assignment this week.

Group Assignment

Group Assignment

Individual Assignment

Software Used

Blynk
Processing
PyCharm was the IDE used to write code using Python.
Arduino IDE

1- Group Assignment - Compare as many tool options as possible

The assignment this week was to Compare as many tool options as possible.

So our idea was to compare the various options we can use to interface with out inputs and otputs.

Test 1 - Testing Processing

Processing is a Java based platform that allows you, by the help of some libraries, to make some drawings and simulations. You can take advantage of the design process, which is based on X, Y and Z coordinate system, to simulate and visualize data that you are collecting from a certain sensor.

To achieve that, you can simply replace the value of a certain coordinate with the value recieved from the sensor.

An example of what you can do with processing will be described bellow. What we did is mainly measure the distance using an Ultra-Sonic sensor, and converting the collected data into a graphical representation.

We first drew a traingle using 3 coordinate points. Next we changed one of the coordinates value into the value read from the Arduino Serial Monitor, where the measured distance is printed. Next we added a reference text to the left, to work as a legend, and make the visualisation easier.

The code that we used mainly reads the value from the serial monitor and replaces the value with the value of the coordinates system, thus giving a visualization of the collected data.
You can download the Processing code used using the following Link You can download the Arduino code used using the following Link

So the process goes as the following:

Download the Arduino code on your board. In my case, i used the board i produced in the previous week.
Next open the Processing code and launch the code by pressing the play button. A pop-up box will open and start visualizing the measured distance values

Test 2 - Testing Python

Python is another coding language that could also be used to build and application that could send and receive data to a micro-controller, and thus control a system.

To be able to use python on my computer, i first downloaded PyCharm, and then i started testing it.

As a step one, i first tested some things you can do using Python, such as writing a Hello World code that prints "Hello World". Next I edited the code to be able to write some words based on an If condition. Also i tried counting from 1 to 100 and then back from 100 to 0, to make sure I learn most of the capabilities of Python.
You can download the used Python code using the following link

Next i wanted to test how to communicate with my board, mainly sending or recieving data from the board. To do that, i usd a simple code that would open a small window that has a button saying "Read" on it. Once this button is pressed, the code starts collecting data from the serial monitor of my board. The video represents how this code works.
You can download the used Python code using the following link

Test 3 - Testing BLYNK

Out of curiousity, i wanted to test an interface that could connect to a microcontroller wirelessly. The simplest one that was easy to operate was the BLYNK app. I downloaded the app on an IOS operating system (iPhone) and i used it to controll a Micro-controller board that has an on board WIFI ESP 8266 module on board. I used the NodeMCU

To control the board wirelessly, the following procedure was followed:

Download the BLYNK app on the phone.
After that Press on click on New Project and you will get a screen
Enter the name of your project, I have given it as LED
Then Select the Board as ESP8266 then you will see below the authentication token no. Send it to your email
press create and your set with the blynk app
Add a button to the platform and set it to control the D13 pin
Now According to the Pin mapping diagram of Esp8266 board, D7 pin is the 13th pin. So we would program the pin as 13 in the arduino code which we will shortly upload to the board.
Finish the connections. It is pretty simple just connect the Led to D7 pin via 330/220Ohm resistor .
On the Arduino IDE, download the blynk library.
generate the code on the following link and fill in the token number and the wifi details into the code
upload the code the the board after choosing NodeMCU as the baord used
Next press the play button the app and enjoy controlling an LED wirelessly

2- Individual Assignment - Write an Application

In the individual assignment, we had to write an application that interfaces with an input &/or output device that I made. I used the board that was contructed during the Inputs/Outputs weeks. All details could be found on the following link

And because the main gathered information I want using my robot is the Angular location and the Acceleration, i wanted to visualise the data gathered from the MPU-6050.

I performed some research online, and reached a point were i found a Processing code,on the following link, that converts the data collected from the sensor into visual data.

i performed some edits to the code, changing mainly the shape that represents the Robot I had in Mind.

The results are shown below.

Reading Data from the Sensor

To read the data from the MPU-6050, first i downloaded the MPU-6050 library from the following link.

Next find the example code "MPU6050_DMP6" that will read the data from your board.

This code has two different options that we can use. The first option is collecting readable Yaw Pitch Roll data. This is represented in the video. To do that, we have comment the line //#define OUTPUT_TEAPOT and uncomment out the line #define OUTPUT_READABLE_YAWPITCHROLL

The other option is reading the Teapot data by commenting out the line #define OUTPUT_READABLE_YAWPITCHROLL and uncommenting the line //#define OUTPUT_TEAPOT. Using this code, the data gathered is not readable data, which reduces the memory needed to transfer data to other software. The gathered data can only be understood and interpreted by the help of software.

Below is the code used to read data from the MPU-6050

// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) // 6/21/2012 by Jeff Rowberg <jeff@rowberg.net> // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: // 2013-05-08 - added seamless Fastwire support // - added note about gyro calibration // 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error // 2012-06-20 - improved FIFO overflow handling and simplified read process // 2012-06-19 - completely rearranged DMP initialization code and simplification // 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly // 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING // 2012-06-05 - add gravity-compensated initial reference frame acceleration output // - add 3D math helper file to DMP6 example sketch // - add Euler output and Yaw/Pitch/Roll output formats // 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee) // 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250 // 2012-05-30 - basic DMP initialization working /* ============================================ 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. =============================================== */ // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files // for both classes must be in the include path of your project #include "I2Cdev.h" #include "MPU6050_6Axis_MotionApps20.h" //#include "MPU6050.h" // not necessary if using MotionApps include file // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation // is used in I2Cdev.h #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE #include "Wire.h" #endif // class default I2C address is 0x68 // specific I2C addresses may be passed as a parameter here // AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board) // AD0 high = 0x69 MPU6050 mpu; //MPU6050 mpu(0x69); // <-- use for AD0 high /* ========================================================================= NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch depends on the MPU-6050's INT pin being connected to the Arduino's external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is digital I/O pin 2. * ========================================================================= */ /* ========================================================================= NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error when using Serial.write(buf, len). The Teapot output uses this method. The solution requires a modification to the Arduino USBAPI.h file, which is fortunately simple, but annoying. This will be fixed in the next IDE release. For more info, see these links: http://arduino.cc/forum/index.php/topic,109987.0.html http://code.google.com/p/arduino/issues/detail?id=958 * ========================================================================= */ // uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual // quaternion components in a [w, x, y, z] format (not best for parsing // on a remote host such as Processing or something though) //#define OUTPUT_READABLE_QUATERNION // uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles // (in degrees) calculated from the quaternions coming from the FIFO. // Note that Euler angles suffer from gimbal lock (for more info, see // http://en.wikipedia.org/wiki/Gimbal_lock) //#define OUTPUT_READABLE_EULER // uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/ // pitch/roll angles (in degrees) calculated from the quaternions coming // from the FIFO. Note this also requires gravity vector calculations. // Also note that yaw/pitch/roll angles suffer from gimbal lock (for // more info, see: http://en.wikipedia.org/wiki/Gimbal_lock) //#define OUTPUT_READABLE_YAWPITCHROLL // uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration // components with gravity removed. This acceleration reference frame is // not compensated for orientation, so +X is always +X according to the // sensor, just without the effects of gravity. If you want acceleration // compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead. //#define OUTPUT_READABLE_REALACCEL // uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration // components with gravity removed and adjusted for the world frame of // reference (yaw is relative to initial orientation, since no magnetometer // is present in this case). Could be quite handy in some cases. //#define OUTPUT_READABLE_WORLDACCEL // uncomment "OUTPUT_TEAPOT" if you want output that matches the // format used for the InvenSense teapot demo #define OUTPUT_TEAPOT #define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) bool blinkState = false; // MPU control/status vars bool dmpReady = false; // set true if DMP init was successful uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) uint16_t packetSize; // expected DMP packet size (default is 42 bytes) uint16_t fifoCount; // count of all bytes currently in FIFO uint8_t fifoBuffer[64]; // FIFO storage buffer // orientation/motion vars Quaternion q; // [w, x, y, z] quaternion container VectorInt16 aa; // [x, y, z] accel sensor measurements VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements VectorFloat gravity; // [x, y, z] gravity vector float euler[3]; // [psi, theta, phi] Euler angle container float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector // packet structure for InvenSense teapot demo uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; // ================================================================ // === INTERRUPT DETECTION ROUTINE === // ================================================================ volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high void dmpDataReady() { mpuInterrupt = true; } // ================================================================ // === INITIAL SETUP === // ================================================================ void setup() { // join I2C bus (I2Cdev library doesn't do this automatically) #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz) #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(400, true); #endif // initialize serial communication // (115200 chosen because it is required for Teapot Demo output, but it's // really up to you depending on your project) Serial.begin(115200); while (!Serial); // wait for Leonardo enumeration, others continue immediately // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio // Pro Mini running at 3.3v, cannot handle this baud rate reliably due to // the baud timing being too misaligned with processor ticks. You must use // 38400 or slower in these cases, or use some kind of external separate // crystal solution for the UART timer. // initialize device Serial.println(F("Initializing I2C devices...")); mpu.initialize(); // verify connection Serial.println(F("Testing device connections...")); Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); // wait for ready Serial.println(F("\nSend any character to begin DMP programming and demo: ")); while (Serial.available() && Serial.read()); // empty buffer while (!Serial.available()); // wait for data while (Serial.available() && Serial.read()); // empty buffer again // load and configure the DMP Serial.println(F("Initializing DMP...")); devStatus = mpu.dmpInitialize(); // supply your own gyro offsets here, scaled for min sensitivity mpu.setXGyroOffset(220); mpu.setYGyroOffset(76); mpu.setZGyroOffset(-85); mpu.setZAccelOffset(1788); // 1688 factory default for my test chip // make sure it worked (returns 0 if so) if (devStatus == 0) { // turn on the DMP, now that it's ready Serial.println(F("Enabling DMP...")); mpu.setDMPEnabled(true); // enable Arduino interrupt detection Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)...")); attachInterrupt(0, dmpDataReady, RISING); mpuIntStatus = mpu.getIntStatus(); // set our DMP Ready flag so the main loop() function knows it's okay to use it Serial.println(F("DMP ready! Waiting for first interrupt...")); dmpReady = true; // get expected DMP packet size for later comparison packetSize = mpu.dmpGetFIFOPacketSize(); } else { // ERROR! // 1 = initial memory load failed // 2 = DMP configuration updates failed // (if it's going to break, usually the code will be 1) Serial.print(F("DMP Initialization failed (code ")); Serial.print(devStatus); Serial.println(F(")")); } // configure LED for output pinMode(LED_PIN, OUTPUT); } // ================================================================ // === MAIN PROGRAM LOOP === // ================================================================ void loop() { // if programming failed, don't try to do anything if (!dmpReady) return; // wait for MPU interrupt or extra packet(s) available while (!mpuInterrupt && fifoCount < packetSize) { // other program behavior stuff here // . // . // . // if you are really paranoid you can frequently test in between other // stuff to see if mpuInterrupt is true, and if so, "break;" from the // while() loop to immediately process the MPU data // . // . // . } // reset interrupt flag and get INT_STATUS byte mpuInterrupt = false; mpuIntStatus = mpu.getIntStatus(); // get current FIFO count fifoCount = mpu.getFIFOCount(); // check for overflow (this should never happen unless our code is too inefficient) if ((mpuIntStatus & 0x10) || fifoCount == 1024) { // reset so we can continue cleanly mpu.resetFIFO(); Serial.println(F("FIFO overflow!")); // otherwise, check for DMP data ready interrupt (this should happen frequently) } else if (mpuIntStatus & 0x02) { // wait for correct available data length, should be a VERY short wait while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); // read a packet from FIFO mpu.getFIFOBytes(fifoBuffer, packetSize); // track FIFO count here in case there is > 1 packet available // (this lets us immediately read more without waiting for an interrupt) fifoCount -= packetSize; #ifdef OUTPUT_READABLE_QUATERNION // display quaternion values in easy matrix form: w x y z mpu.dmpGetQuaternion(&q, fifoBuffer); Serial.print("quat\t"); Serial.print(q.w); Serial.print("\t"); Serial.print(q.x); Serial.print("\t"); Serial.print(q.y); Serial.print("\t"); Serial.println(q.z); #endif #ifdef OUTPUT_READABLE_EULER // display Euler angles in degrees mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetEuler(euler, &q); Serial.print("euler\t"); Serial.print(euler[0] * 180/M_PI); Serial.print("\t"); Serial.print(euler[1] * 180/M_PI); Serial.print("\t"); Serial.println(euler[2] * 180/M_PI); #endif #ifdef OUTPUT_READABLE_YAWPITCHROLL // display Euler angles in degrees mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); Serial.print("ypr\t"); Serial.print(ypr[0] * 180/M_PI); Serial.print("\t"); Serial.print(ypr[1] * 180/M_PI); Serial.print("\t"); Serial.println(ypr[2] * 180/M_PI); #endif #ifdef OUTPUT_READABLE_REALACCEL // display real acceleration, adjusted to remove gravity mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetAccel(&aa, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); Serial.print("areal\t"); Serial.print(aaReal.x); Serial.print("\t"); Serial.print(aaReal.y); Serial.print("\t"); Serial.println(aaReal.z); #endif #ifdef OUTPUT_READABLE_WORLDACCEL // display initial world-frame acceleration, adjusted to remove gravity // and rotated based on known orientation from quaternion mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetAccel(&aa, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); Serial.print("aworld\t"); Serial.print(aaWorld.x); Serial.print("\t"); Serial.print(aaWorld.y); Serial.print("\t"); Serial.println(aaWorld.z); #endif #ifdef OUTPUT_TEAPOT // display quaternion values in InvenSense Teapot demo format: teapotPacket[2] = fifoBuffer[0]; teapotPacket[3] = fifoBuffer[1]; teapotPacket[4] = fifoBuffer[4]; teapotPacket[5] = fifoBuffer[5]; teapotPacket[6] = fifoBuffer[8]; teapotPacket[7] = fifoBuffer[9]; teapotPacket[8] = fifoBuffer[12]; teapotPacket[9] = fifoBuffer[13]; Serial.write(teapotPacket, 14); teapotPacket[11]++; // packetCount, loops at 0xFF on purpose #endif // blink LED to indicate activity blinkState = !blinkState; digitalWrite(LED_PIN, blinkState); } }

You can download the used Arduino code using the following link

Visualising the Collected Data using Processing

Next what i did is opened the Processing code I got from the link and then I changed the code used to fit the application of my robot.

Note that some edits were made on the code downloaded, mainly the visual looks of the body used. The main code is a bit complicated, so i did not change the basic lines that convert the read data into visual representation.

Below is the code used to read data from the Serial Monitor of the Arduino IDE

// I2C device class (I2Cdev) demonstration Processing sketch for MPU6050 DMP output // 6/20/2012 by Jeff Rowberg <jeff@rowberg.net> // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: // 2012-06-20 - initial release /* ============================================ 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 aligned = 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]; void setup() { // 300px square viewport using OpenGL rendering size(400, 400, OPENGL); gfx = new ToxiclibsSupport(this); // setup lights and antialiasing lights(); smooth(); // display serial port list for debugging/clarity println(Serial.list()); // get the first available port (use EITHER this OR the specific port code below) String portName = "COM11"; // get a specific serial port (use EITHER this OR the first-available code above) //String portName = "COM11"; // 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'); } 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); // 3-step rotation from yaw/pitch/roll angles (gimbal lock!) // ...and other weirdness I haven't figured out yet //rotateY(-ypr[0]); //rotateZ(-ypr[1]); //rotateX(-ypr[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 main body in red fill(255, 0, 0, 200); box(200, 10, 150); // draw Wheels tip in blue fill(0, 0, 255, 200); pushMatrix(); translate(-100, 0, -95); rotateX(PI/2); drawCylinder(60, 60, 20, 100); popMatrix(); // draw Wheels tip in blue fill(0, 0, 255, 200); pushMatrix(); translate(100, 0, -95); rotateX(PI/2); drawCylinder(60, 60, 20, 100); popMatrix(); // draw Wheels tip in blue fill(0, 0, 255, 200); pushMatrix(); translate(100, 0, 75); rotateX(PI/2); drawCylinder(60, 60, 20, 100); popMatrix(); // draw Wheels tip in blue fill(0, 0, 255, 200); pushMatrix(); translate(-100, 0, 75); rotateX(PI/2); drawCylinder(60, 60, 20, 100); popMatrix(); // draw Front fill(0, 255, 0, 200); translate(120,0,0); box(50, 50, 120); endShape(); // draw UltraSonic Sensor right fill(0, 0, 255, 200); pushMatrix(); translate(25,0,20); rotateY(PI/2); rotateX(PI/2); drawCylinder(10, 10, 10, 100); popMatrix(); // draw UltraSonic Sensor left fill(0, 0, 255, 200); pushMatrix(); translate(25,0,-20); rotateY(PI/2); rotateX(PI/2); drawCylinder(10, 10, 10, 100); popMatrix(); translate(-100,0,0); rotateX(PI/2); // draw body in green fill(0, 255, 0, 200); beginShape(TRIANGLES); vertex(-120, 75, 0); vertex(-100, 0, 100); vertex(90, 0, 0); // cover Right vertex(-120, -75, 0); vertex(-100, 0, 100); vertex(90, 0, 0); // cover Left vertex(-120, -75, 0); vertex(-120, 75, 0); vertex(-100, 0, 100); // cover Left endShape(); popMatrix(); } void serialEvent(Serial port) { interval = millis(); while (port.available() > 0) { int ch = port.read(); print((char)ch); if (ch == '$') {serialCount = 0;} // this will help with alignment if (aligned < 4) { // make sure we are properly aligned on a 14-byte packet if (serialCount == 0) { if (ch == '$') aligned++; else aligned = 0; } else if (serialCount == 1) { if (ch == 2) aligned++; else aligned = 0; } else if (serialCount == 12) { if (ch == '\r') aligned++; else aligned = 0; } else if (serialCount == 13) { if (ch == '\n') aligned++; else aligned = 0; } //println(ch + " " + aligned + " " + serialCount); serialCount++; if (serialCount == 14) serialCount = 0; } else { 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); */ } } } } } void drawCylinder(float topRadius, float bottomRadius, float tall, int sides) { float angle = 0; float angleIncrement = TWO_PI / sides; beginShape(QUAD_STRIP); for (int i = 0; i < sides + 1; ++i) { vertex(topRadius*cos(angle), 0, topRadius*sin(angle)); vertex(bottomRadius*cos(angle), tall, bottomRadius*sin(angle)); angle += angleIncrement; } endShape(); // If it is not a cone, draw the circular top cap if (topRadius != 0) { angle = 0; beginShape(TRIANGLE_FAN); // Center point vertex(0, 0, 0); for (int i = 0; i < sides + 1; i++) { vertex(topRadius * cos(angle), 0, topRadius * sin(angle)); angle += angleIncrement; } endShape(); } // If it is not a cone, draw the circular bottom cap if (bottomRadius != 0) { angle = 0; beginShape(TRIANGLE_FAN); // Center point vertex(0, tall, 0); for (int i = 0; i < sides + 1; i++) { vertex(bottomRadius * cos(angle), tall, bottomRadius * sin(angle)); angle += angleIncrement; } endShape(); } }

You can download the edited Processing code used from the following Link

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Interface and Application Programming - Assignment 12