@Sherrie wrote:
Hi,
I’m a freshman here to learn to use OF to control my Arduino nano. And for now, I am working on my project with Arduino nano and Accelerometer MPU6050. I would like to receive MPU6050’s data through Arduino and visualize the sensors’ motion in OF. Before I wrote my code, I found an example connect Arduino, MPU6050 with Processing(https://maker.pro/arduino/tutorial/how-to-interface-arduino-and-the-mpu-6050-sensor[https://maker.pro/arduino/tutorial/how-to-interface-arduino-and-the-mpu-6050-sensor], the effect of which is really near my expectation. So I decided to rewrite it in OF., using ofSerial. Unfortunately, it didn’t work.I can’t set the breakpoint cuz my Arduino needs some time to initialize so the breakpoint always suggests that the value is 0, or null. I used “printf” to check some key values but there is nothing I can see.
This is my code (to prevent missing some unknown stupid mistakes I made, please check of it.) draw a box and hope it can rotate as MPU6050 do.
This is ofApp.h.
#pragma once #include "ofMain.h" #pragma once #include "ofMain.h" class ofApp : public ofBaseApp{ public: void setup(); void update(); void draw(); void keyPressed(int key); void keyReleased(int key); void mouseMoved(int x, int y ); void mouseDragged(int x, int y, int button); void mousePressed(int x, int y, int button); void mouseReleased(int x, int y, int button); void mouseEntered(int x, int y); void mouseExited(int x, int y); void windowResized(int w, int h); void dragEvent(ofDragInfo dragInfo); void gotMessage(ofMessage msg); private: ofQuaternion serialEvent(ofSerial port); ofSerial serial; ofEasyCam cam; ofNode mpuNode };This is ofApp.cpp.
#include "ofApp.h" unsigned char receivedData[14]; ofQuaternion mpuquat; //-------------------------------------------------------------- ofQuaternion ofApp::serialEvent(ofSerial port){ ofQuaternion quat; char teapotPacket[14]; int serialCount = 0; // current packet byte position int aligned = 0; float q[4]; if (port.available() > 0) { port.readBytes(receivedData, 14); char *tmp_data = (char*)receivedData; teapotPacket[0] = tmp_data[0]; teapotPacket[1] = tmp_data[1]; teapotPacket[2] = tmp_data[2]; teapotPacket[3] = tmp_data[3]; teapotPacket[4] = tmp_data[4]; teapotPacket[5] = tmp_data[5]; teapotPacket[6] = tmp_data[6]; teapotPacket[7] = tmp_data[7]; teapotPacket[8] = tmp_data[8]; teapotPacket[9] = tmp_data[9]; teapotPacket[10] = tmp_data[10]; teapotPacket[11] = tmp_data[11]; teapotPacket[12] = tmp_data[12]; teapotPacket[13] = tmp_data[13]; for(int n=0; n < 14; n++){ printf("%d", teapotPacket[n]); if (teapotPacket[n] == '$') {serialCount = 0;} // this will help with alignment if (aligned < 4) { // make sure we are properly aligned on a 14-byte packet if (serialCount == 0) { if (teapotPacket[n] == '$') aligned++; else aligned = 0; } else if (serialCount == 1) { if (teapotPacket[n] == 2) aligned++; else aligned = 0; } else if (serialCount == 12) { if (teapotPacket[n] == '\r') aligned++; else aligned = 0; } else if (serialCount == 13) { if (teapotPacket[n] == '\n') aligned++; else aligned = 0; } //println(ch + " " + aligned + " " + serialCount); serialCount++; if (serialCount == 14) serialCount = 0; } else { if (serialCount > 0 || teapotPacket[n] == '$') { teapotPacket[serialCount++] = teapotPacket[n]; 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]); } } } } } // cout << teapotPacket[0] << teapotPacket[1] << teapotPacket[2] << teapotPacket[3] << endl; return quat; } void ofApp::setup(){ serial.listDevices(); vector <ofSerialDeviceInfo> deviceList = serial.getDeviceList(); int baud = 115200; serial.setup("/dev/cu.usbserial-A100ASV2", baud); ofSetFrameRate(120); ofSetVerticalSync(true); ofSetLogLevel(OF_LOG_VERBOSE); cam.setOrientation(ofPoint(-20, 0, 0)); } //-------------------------------------------------------------- void ofApp::update(){ } //-------------------------------------------------------------- void ofApp::draw(){ ofEnableDepthTest(); cam.begin(); mpuquat = serialEvent(serial); mpuNode.transformGL(); mpuNode.setPosition(0,0,0); mpuNode.setOrientation(mpuquat); // ofRotateX(mpu[1]); // ofRotateY(mpu[0]); // ofRotateZ(mpu[2]); ofNoFill(); ofSetColor(255, 0, 0); ofDrawBox(0, 0, 0, 100,10,100); mpuNode.restoreTransformGL(); cam.end(); } //-------------------------------------------------------------- void ofApp::keyPressed(int key){ } //-------------------------------------------------------------- void ofApp::keyReleased(int key){ } //-------------------------------------------------------------- void ofApp::mouseMoved(int x, int y ){ } //-------------------------------------------------------------- void ofApp::mouseDragged(int x, int y, int button){ } //-------------------------------------------------------------- void ofApp::mousePressed(int x, int y, int button){ } //-------------------------------------------------------------- void ofApp::mouseReleased(int x, int y, int button){ } //-------------------------------------------------------------- void ofApp::mouseEntered(int x, int y){ } //-------------------------------------------------------------- void ofApp::mouseExited(int x, int y){ } //-------------------------------------------------------------- void ofApp::windowResized(int w, int h){ } //-------------------------------------------------------------- void ofApp::gotMessage(ofMessage msg){ } //-------------------------------------------------------------- void ofApp::dragEvent(ofDragInfo dragInfo){ }I built successfully and ran, my box had no rotation and just stayed still. For a lil while, in the console, OF told me something was wrong.I have lil experience in c/c++, thus I can’t know more from my code, yet I can’t fix these errors and receive data correctly.
In the end, this is some clues Xcode showed me after running it.
Thanks!!!(A Deep Bow)
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