Cubic Hand project for EECS 249A course.
Dependencies: MMA8451Q TSI cc3000_hostdriver_mbedsocket NVIC_set_all_priorities mbed Multi_WS2811
DataGlove.cpp@22:0cc5b7e55419, 2014-12-11 (annotated)
- Committer:
- naren
- Date:
- Thu Dec 11 04:07:54 2014 +0000
- Revision:
- 22:0cc5b7e55419
- Parent:
- 19:e751d075e2e6
- Child:
- 23:a8de4f87cada
Added moving average filter; ; correction, corrected are two new structures used for this purpose
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kalbers | 3:5f5d75cba8e1 | 1 | #include "DataGlove.h" |
kalbers | 3:5f5d75cba8e1 | 2 | |
naren | 14:0c4a26dc6873 | 3 | #define STREAM_FINGERS_QUATERNION 1 |
naren | 14:0c4a26dc6873 | 4 | #define STREAM_QUATERNION 2 |
naren | 14:0c4a26dc6873 | 5 | #define STREAM_FINGERS_RAW 3 |
naren | 14:0c4a26dc6873 | 6 | #define STREAM_RAW 4 |
naren | 14:0c4a26dc6873 | 7 | #define STREAM_FINGERS 5 |
naren | 14:0c4a26dc6873 | 8 | |
kalbers | 13:c701f1122797 | 9 | DataGlove::DataGlove() |
kalbers | 3:5f5d75cba8e1 | 10 | { |
kalbers | 13:c701f1122797 | 11 | notConnectedCount = 0; |
naren | 14:0c4a26dc6873 | 12 | gl = new Glove; |
naren | 22:0cc5b7e55419 | 13 | correction = new Glove; |
naren | 22:0cc5b7e55419 | 14 | corrected = new Glove; |
kalbers | 18:6737bf53ccd1 | 15 | ReceiveCount = 0; |
kalbers | 19:e751d075e2e6 | 16 | numReceived = 0; |
naren | 22:0cc5b7e55419 | 17 | //Initialize correction values to 0 |
naren | 22:0cc5b7e55419 | 18 | correction->roll = 0.0; |
naren | 22:0cc5b7e55419 | 19 | correction->pitch = 0.0; |
naren | 22:0cc5b7e55419 | 20 | correction->yaw = 0.0; |
naren | 22:0cc5b7e55419 | 21 | for (int i = 0; i < 5; i++) |
naren | 22:0cc5b7e55419 | 22 | correction->fingers[i] = 0.0; |
kalbers | 3:5f5d75cba8e1 | 23 | } |
kalbers | 3:5f5d75cba8e1 | 24 | |
kalbers | 3:5f5d75cba8e1 | 25 | DataGlove::~DataGlove() |
kalbers | 3:5f5d75cba8e1 | 26 | { |
naren | 14:0c4a26dc6873 | 27 | delete(gl); |
kalbers | 3:5f5d75cba8e1 | 28 | } |
kalbers | 3:5f5d75cba8e1 | 29 | |
kalbers | 3:5f5d75cba8e1 | 30 | void DataGlove::Init() |
kalbers | 3:5f5d75cba8e1 | 31 | { |
naren | 14:0c4a26dc6873 | 32 | GloveSocket.Init(); |
kalbers | 3:5f5d75cba8e1 | 33 | GloveSocket.Connect(); |
naren | 22:0cc5b7e55419 | 34 | StreamData(STREAM_FINGERS_QUATERNION); |
kalbers | 15:b48ac00af0b8 | 35 | } |
kalbers | 15:b48ac00af0b8 | 36 | |
kalbers | 18:6737bf53ccd1 | 37 | void DataGlove::StreamData(uint8_t DataType) |
kalbers | 15:b48ac00af0b8 | 38 | { |
kalbers | 3:5f5d75cba8e1 | 39 | SendBuf[0] = '$'; |
kalbers | 3:5f5d75cba8e1 | 40 | SendBuf[1] = 0x0A; |
kalbers | 3:5f5d75cba8e1 | 41 | SendBuf[2] = 0x03; |
naren | 14:0c4a26dc6873 | 42 | // Streaming quaternion data |
kalbers | 18:6737bf53ccd1 | 43 | SendBuf[3] = DataType; |
kalbers | 3:5f5d75cba8e1 | 44 | SendBuf[4] = (SendBuf[0]+SendBuf[1]+SendBuf[2]+SendBuf[3])%256; |
kalbers | 3:5f5d75cba8e1 | 45 | SendBuf[5] = '#'; |
kalbers | 3:5f5d75cba8e1 | 46 | GloveSocket.SendDataToGlove(SendBuf, 6); |
kalbers | 3:5f5d75cba8e1 | 47 | } |
kalbers | 3:5f5d75cba8e1 | 48 | |
kalbers | 19:e751d075e2e6 | 49 | void DataGlove::StopSampling() |
kalbers | 19:e751d075e2e6 | 50 | { |
kalbers | 19:e751d075e2e6 | 51 | SendBuf[0] = '$'; |
kalbers | 19:e751d075e2e6 | 52 | SendBuf[1] = 0x0B; |
kalbers | 19:e751d075e2e6 | 53 | SendBuf[2] = 0x02; |
kalbers | 19:e751d075e2e6 | 54 | // Streaming quaternion data |
kalbers | 19:e751d075e2e6 | 55 | SendBuf[3] = (SendBuf[0]+SendBuf[1]+SendBuf[2])%256; |
kalbers | 19:e751d075e2e6 | 56 | SendBuf[4] = '#'; |
kalbers | 19:e751d075e2e6 | 57 | GloveSocket.SendDataToGlove(SendBuf, 6); |
kalbers | 19:e751d075e2e6 | 58 | } |
kalbers | 19:e751d075e2e6 | 59 | |
kalbers | 3:5f5d75cba8e1 | 60 | void DataGlove::Receive() |
kalbers | 3:5f5d75cba8e1 | 61 | { |
kalbers | 15:b48ac00af0b8 | 62 | raw = false; |
kalbers | 19:e751d075e2e6 | 63 | numReceived += GloveSocket.GetDataFromBuffer(Buf, 1); |
kalbers | 19:e751d075e2e6 | 64 | //if(ReceiveCount++%25 == 0) printf("%d %c\r\n", ReceiveCount, Buf[0]); |
kalbers | 19:e751d075e2e6 | 65 | if (Buf[0] == '$' && numReceived > 0) |
kalbers | 19:e751d075e2e6 | 66 | { |
naren | 14:0c4a26dc6873 | 67 | bcc = '$'; |
kalbers | 19:e751d075e2e6 | 68 | numReceived += GloveSocket.GetDataFromBuffer((Buf+numReceived), 2); |
kalbers | 19:e751d075e2e6 | 69 | if ((numReceived > 2) && (Buf[1] == 0x0a)) |
kalbers | 19:e751d075e2e6 | 70 | { |
kalbers | 19:e751d075e2e6 | 71 | pkglen = Buf[2]; |
naren | 14:0c4a26dc6873 | 72 | bcc += Buf[1]; |
kalbers | 19:e751d075e2e6 | 73 | bcc += Buf[2]; |
kalbers | 19:e751d075e2e6 | 74 | numReceived += GloveSocket.GetDataFromBuffer((Buf+numReceived), pkglen - numReceived + 3); |
kalbers | 19:e751d075e2e6 | 75 | if ((numReceived - 3 )< pkglen) |
kalbers | 19:e751d075e2e6 | 76 | { |
kalbers | 19:e751d075e2e6 | 77 | if(numReceived == 0) notConnectedCount++; |
kalbers | 19:e751d075e2e6 | 78 | return; |
naren | 14:0c4a26dc6873 | 79 | } |
kalbers | 19:e751d075e2e6 | 80 | for (u = 3; u <= pkglen; u++) |
kalbers | 19:e751d075e2e6 | 81 | { |
naren | 14:0c4a26dc6873 | 82 | bcc += Buf[u]; |
naren | 14:0c4a26dc6873 | 83 | } |
kalbers | 19:e751d075e2e6 | 84 | if ((numReceived - 3 == pkglen) && (bcc == Buf[pkglen+1])) |
kalbers | 19:e751d075e2e6 | 85 | { |
kalbers | 19:e751d075e2e6 | 86 | memcpy(buffer, (Buf + 3), numReceived - 3); |
kalbers | 19:e751d075e2e6 | 87 | /*timeOfArrival = (buffer[3] << 24) + (buffer[4] << 16) + (buffer[5] << 8) + buffer[6]; |
naren | 14:0c4a26dc6873 | 88 | id = (buffer[1] << 8) + buffer[2]; |
kalbers | 19:e751d075e2e6 | 89 | pkgtype = buffer[0];*/ |
kalbers | 19:e751d075e2e6 | 90 | timeOfArrival = (Buf[6] << 24) + (Buf[7] << 16) + (Buf[8] << 8) + Buf[9]; |
kalbers | 19:e751d075e2e6 | 91 | id = (Buf[4] << 8) + Buf[5]; |
kalbers | 19:e751d075e2e6 | 92 | pkgtype = Buf[3]; |
naren | 22:0cc5b7e55419 | 93 | if(ReceiveCount > 501 && ReceiveCount++%25 == 0) {//printf("%d %c\r\n", ReceiveCount, Buf[0]); |
naren | 22:0cc5b7e55419 | 94 | printf("%f %f %f %f %f %f %f %f\r\n", corrected->roll, corrected->pitch, corrected->yaw, |
naren | 22:0cc5b7e55419 | 95 | corrected->fingers[0], corrected->fingers[1], corrected->fingers[2], |
naren | 22:0cc5b7e55419 | 96 | corrected->fingers[3], corrected->fingers[4]); |
naren | 22:0cc5b7e55419 | 97 | } |
naren | 14:0c4a26dc6873 | 98 | switch (pkgtype){ |
naren | 14:0c4a26dc6873 | 99 | case STREAM_FINGERS_QUATERNION: |
naren | 14:0c4a26dc6873 | 100 | { |
kalbers | 18:6737bf53ccd1 | 101 | ExtractFingersQuat(); |
naren | 14:0c4a26dc6873 | 102 | } |
naren | 14:0c4a26dc6873 | 103 | break; |
naren | 14:0c4a26dc6873 | 104 | case STREAM_QUATERNION: |
naren | 14:0c4a26dc6873 | 105 | { |
kalbers | 18:6737bf53ccd1 | 106 | ExtractQuat(); |
naren | 14:0c4a26dc6873 | 107 | } |
naren | 14:0c4a26dc6873 | 108 | break; |
naren | 14:0c4a26dc6873 | 109 | case STREAM_FINGERS_RAW: |
naren | 14:0c4a26dc6873 | 110 | { |
kalbers | 18:6737bf53ccd1 | 111 | ExtractFingersRaw(); |
naren | 14:0c4a26dc6873 | 112 | } |
naren | 14:0c4a26dc6873 | 113 | break; |
naren | 14:0c4a26dc6873 | 114 | case STREAM_RAW: |
naren | 14:0c4a26dc6873 | 115 | { |
kalbers | 18:6737bf53ccd1 | 116 | ExtractRaw(); |
naren | 14:0c4a26dc6873 | 117 | } |
naren | 14:0c4a26dc6873 | 118 | break; |
naren | 14:0c4a26dc6873 | 119 | |
naren | 14:0c4a26dc6873 | 120 | case STREAM_FINGERS: |
naren | 14:0c4a26dc6873 | 121 | { |
kalbers | 18:6737bf53ccd1 | 122 | ExtractFingers(); |
naren | 14:0c4a26dc6873 | 123 | } |
naren | 14:0c4a26dc6873 | 124 | break; |
naren | 14:0c4a26dc6873 | 125 | } |
kalbers | 19:e751d075e2e6 | 126 | Buf[0] = 0; //Clear Token so no repeats. |
naren | 14:0c4a26dc6873 | 127 | notConnectedCount = 0; |
kalbers | 19:e751d075e2e6 | 128 | numReceived = 0; |
naren | 14:0c4a26dc6873 | 129 | } |
kalbers | 19:e751d075e2e6 | 130 | else |
kalbers | 19:e751d075e2e6 | 131 | { |
kalbers | 19:e751d075e2e6 | 132 | if (bcc!=Buf[pkglen+1]) |
naren | 14:0c4a26dc6873 | 133 | notConnectedCount++; |
naren | 14:0c4a26dc6873 | 134 | } |
naren | 14:0c4a26dc6873 | 135 | } |
naren | 22:0cc5b7e55419 | 136 | // Normalize the data for the first 1000 samples |
naren | 22:0cc5b7e55419 | 137 | if (ReceiveCount < 500) { |
naren | 22:0cc5b7e55419 | 138 | correction->roll = (correction->roll*ReceiveCount + gl->roll)/(ReceiveCount+1); |
naren | 22:0cc5b7e55419 | 139 | correction->pitch = (correction->pitch*ReceiveCount + gl->pitch)/(ReceiveCount+1); |
naren | 22:0cc5b7e55419 | 140 | correction->yaw = (correction->yaw*ReceiveCount + gl->yaw)/(ReceiveCount+1); |
naren | 22:0cc5b7e55419 | 141 | for (int iter = 0; iter < 5; iter++) |
naren | 22:0cc5b7e55419 | 142 | correction->fingers[iter] = (correction->fingers[iter]*ReceiveCount + gl->fingers[iter])/(ReceiveCount+1); |
naren | 22:0cc5b7e55419 | 143 | } |
naren | 22:0cc5b7e55419 | 144 | else { |
naren | 22:0cc5b7e55419 | 145 | corrected->roll = gl->roll - correction->roll; |
naren | 22:0cc5b7e55419 | 146 | corrected->pitch = gl->pitch - correction->pitch; |
naren | 22:0cc5b7e55419 | 147 | corrected->yaw = gl->yaw - correction->yaw; |
naren | 22:0cc5b7e55419 | 148 | for (int iter = 0; iter < 5; iter++) |
naren | 22:0cc5b7e55419 | 149 | corrected->fingers[iter] = gl->fingers[iter] - correction->fingers[iter]; |
naren | 22:0cc5b7e55419 | 150 | } |
kalbers | 3:5f5d75cba8e1 | 151 | } |
kalbers | 3:5f5d75cba8e1 | 152 | else { |
kalbers | 15:b48ac00af0b8 | 153 | //printf("couldn't get data %d\r\n", notConnectedCount); |
kalbers | 19:e751d075e2e6 | 154 | // Re-establishing communication in case no data is received for 1s (20 frames per second*1 = 20) |
kalbers | 19:e751d075e2e6 | 155 | if (notConnectedCount > 200) { |
naren | 22:0cc5b7e55419 | 156 | printf("Connection broke! Trying to re-establish... %d %c\r\n",numReceived,Buf[0]); |
kalbers | 19:e751d075e2e6 | 157 | //GloveSocket.Reconnect(); |
kalbers | 19:e751d075e2e6 | 158 | //StreamData(STREAM_QUATERNION); |
kalbers | 19:e751d075e2e6 | 159 | notConnectedCount = 0; |
kalbers | 19:e751d075e2e6 | 160 | } |
kalbers | 19:e751d075e2e6 | 161 | numReceived = 0; |
naren | 14:0c4a26dc6873 | 162 | notConnectedCount++; |
kalbers | 3:5f5d75cba8e1 | 163 | } |
kalbers | 19:e751d075e2e6 | 164 | |
kalbers | 3:5f5d75cba8e1 | 165 | } |
kalbers | 3:5f5d75cba8e1 | 166 | |
kalbers | 18:6737bf53ccd1 | 167 | void DataGlove::ExtractFingersQuat() |
kalbers | 18:6737bf53ccd1 | 168 | { |
kalbers | 18:6737bf53ccd1 | 169 | k = 7; |
kalbers | 18:6737bf53ccd1 | 170 | q0 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
kalbers | 18:6737bf53ccd1 | 171 | k += 4; |
kalbers | 18:6737bf53ccd1 | 172 | q1 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
kalbers | 18:6737bf53ccd1 | 173 | k += 4; |
kalbers | 18:6737bf53ccd1 | 174 | q2 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
kalbers | 18:6737bf53ccd1 | 175 | k += 4; |
kalbers | 18:6737bf53ccd1 | 176 | q3 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
kalbers | 18:6737bf53ccd1 | 177 | k += 4; |
kalbers | 18:6737bf53ccd1 | 178 | for (y = 0; y < 5; y++) |
kalbers | 18:6737bf53ccd1 | 179 | { |
kalbers | 18:6737bf53ccd1 | 180 | gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k + 1]); |
kalbers | 18:6737bf53ccd1 | 181 | k += 2; |
kalbers | 18:6737bf53ccd1 | 182 | } |
kalbers | 18:6737bf53ccd1 | 183 | q00 = q0 / 32768.0; |
kalbers | 18:6737bf53ccd1 | 184 | q11 = q1 / 32768.0; |
kalbers | 18:6737bf53ccd1 | 185 | q22 = q2 / 32768.0; |
kalbers | 18:6737bf53ccd1 | 186 | q33 = q3 / 32768.0; |
kalbers | 18:6737bf53ccd1 | 187 | |
kalbers | 18:6737bf53ccd1 | 188 | norm = sqrt(q00 * q00 + q11 * q11 + q22 * q22 + q33 * q33); |
kalbers | 18:6737bf53ccd1 | 189 | test = q00 * q11 + q22 * q33; |
kalbers | 18:6737bf53ccd1 | 190 | |
kalbers | 18:6737bf53ccd1 | 191 | roll = 180.0 * atan2(2 * (q00 * q11 + q22 * q33), 1 - 2 * (q11 * q11 + q22 * q22)) / 3.1415; |
kalbers | 18:6737bf53ccd1 | 192 | pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415; |
kalbers | 18:6737bf53ccd1 | 193 | yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415; |
kalbers | 18:6737bf53ccd1 | 194 | |
kalbers | 18:6737bf53ccd1 | 195 | gl->roll = roll; |
kalbers | 18:6737bf53ccd1 | 196 | gl->pitch = pitch; |
kalbers | 18:6737bf53ccd1 | 197 | gl->yaw = yaw; |
kalbers | 18:6737bf53ccd1 | 198 | gl->lastPkgTime = timeOfArrival; |
kalbers | 18:6737bf53ccd1 | 199 | |
kalbers | 18:6737bf53ccd1 | 200 | } |
kalbers | 18:6737bf53ccd1 | 201 | void DataGlove::ExtractQuat() |
kalbers | 18:6737bf53ccd1 | 202 | { |
kalbers | 18:6737bf53ccd1 | 203 | k = 7; |
kalbers | 18:6737bf53ccd1 | 204 | q0 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
kalbers | 18:6737bf53ccd1 | 205 | k += 4; |
kalbers | 18:6737bf53ccd1 | 206 | q1 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
kalbers | 18:6737bf53ccd1 | 207 | k += 4; |
kalbers | 18:6737bf53ccd1 | 208 | q2 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
kalbers | 18:6737bf53ccd1 | 209 | k += 4; |
kalbers | 18:6737bf53ccd1 | 210 | q3 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
kalbers | 18:6737bf53ccd1 | 211 | k += 4; |
kalbers | 18:6737bf53ccd1 | 212 | for (y = 0; y < 5; y++) |
kalbers | 18:6737bf53ccd1 | 213 | { |
kalbers | 18:6737bf53ccd1 | 214 | gl->fingers[y] = 0.0; |
kalbers | 18:6737bf53ccd1 | 215 | } |
kalbers | 18:6737bf53ccd1 | 216 | q00 = q0 / 32768.0; |
kalbers | 18:6737bf53ccd1 | 217 | q11 = q1 / 32768.0; |
kalbers | 18:6737bf53ccd1 | 218 | q22 = q2 / 32768.0; |
kalbers | 18:6737bf53ccd1 | 219 | q33 = q3 / 32768.0; |
kalbers | 18:6737bf53ccd1 | 220 | |
kalbers | 18:6737bf53ccd1 | 221 | norm = sqrt(q00 * q00 + q11 * q11 + q22 * q22 + q33 * q33); |
kalbers | 18:6737bf53ccd1 | 222 | test = q00 * q11 + q22 * q33; |
kalbers | 18:6737bf53ccd1 | 223 | roll = 180.0 * atan2(2 * (q00 * q11 + q22 * q33), 1 - 2 * (q11 * q11 + q22 * q22)) / 3.1415; |
kalbers | 18:6737bf53ccd1 | 224 | pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415; |
kalbers | 18:6737bf53ccd1 | 225 | yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415; |
kalbers | 18:6737bf53ccd1 | 226 | |
kalbers | 18:6737bf53ccd1 | 227 | gl->roll = roll; |
kalbers | 18:6737bf53ccd1 | 228 | gl->pitch = pitch; |
kalbers | 18:6737bf53ccd1 | 229 | gl->yaw = yaw; |
kalbers | 18:6737bf53ccd1 | 230 | gl->lastPkgTime = timeOfArrival; |
kalbers | 18:6737bf53ccd1 | 231 | |
kalbers | 18:6737bf53ccd1 | 232 | } |
kalbers | 18:6737bf53ccd1 | 233 | |
kalbers | 18:6737bf53ccd1 | 234 | void DataGlove::ExtractFingersRaw() |
kalbers | 3:5f5d75cba8e1 | 235 | { |
kalbers | 18:6737bf53ccd1 | 236 | k = 7; |
kalbers | 18:6737bf53ccd1 | 237 | for (j = 0; j < 3; j++) |
kalbers | 18:6737bf53ccd1 | 238 | { |
kalbers | 18:6737bf53ccd1 | 239 | gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]); |
kalbers | 18:6737bf53ccd1 | 240 | if (gl->gyro[j] > 0x7fff) |
kalbers | 18:6737bf53ccd1 | 241 | gl->gyro[j] -= 0x10000; |
kalbers | 18:6737bf53ccd1 | 242 | k += 2; |
kalbers | 18:6737bf53ccd1 | 243 | } |
kalbers | 18:6737bf53ccd1 | 244 | for (j = 0; j < 3; j++) |
kalbers | 18:6737bf53ccd1 | 245 | { |
kalbers | 18:6737bf53ccd1 | 246 | gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]); |
kalbers | 18:6737bf53ccd1 | 247 | if (gl->magn[j] > 0x7fff) |
kalbers | 18:6737bf53ccd1 | 248 | gl->magn[j] -= 0x10000; |
kalbers | 18:6737bf53ccd1 | 249 | k += 2; |
kalbers | 18:6737bf53ccd1 | 250 | } |
kalbers | 18:6737bf53ccd1 | 251 | for (j = 0; j < 3; j++) |
kalbers | 18:6737bf53ccd1 | 252 | { |
kalbers | 18:6737bf53ccd1 | 253 | gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]); |
kalbers | 18:6737bf53ccd1 | 254 | if (gl->accel[j]>0x7fff) |
kalbers | 18:6737bf53ccd1 | 255 | gl->accel[j] -= 0x10000; |
kalbers | 18:6737bf53ccd1 | 256 | k += 2; |
kalbers | 18:6737bf53ccd1 | 257 | } |
kalbers | 18:6737bf53ccd1 | 258 | for (y = 0; y < 5; y++) |
kalbers | 18:6737bf53ccd1 | 259 | { |
kalbers | 18:6737bf53ccd1 | 260 | gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]); |
kalbers | 18:6737bf53ccd1 | 261 | k += 2; |
kalbers | 18:6737bf53ccd1 | 262 | } |
kalbers | 18:6737bf53ccd1 | 263 | |
kalbers | 18:6737bf53ccd1 | 264 | gl->roll = 0.0; |
kalbers | 18:6737bf53ccd1 | 265 | gl->pitch = 0.0; |
kalbers | 18:6737bf53ccd1 | 266 | gl->yaw = 0.0; |
kalbers | 18:6737bf53ccd1 | 267 | gl->lastPkgTime = timeOfArrival; |
kalbers | 18:6737bf53ccd1 | 268 | } |
kalbers | 18:6737bf53ccd1 | 269 | |
kalbers | 18:6737bf53ccd1 | 270 | void DataGlove::ExtractRaw() |
kalbers | 18:6737bf53ccd1 | 271 | { |
kalbers | 18:6737bf53ccd1 | 272 | k = 7; |
kalbers | 18:6737bf53ccd1 | 273 | for (j = 0; j < 3; j++){ |
kalbers | 18:6737bf53ccd1 | 274 | gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]); |
kalbers | 18:6737bf53ccd1 | 275 | if (gl->gyro[j] > 0x7fff) |
kalbers | 18:6737bf53ccd1 | 276 | gl->gyro[j] -= 0x10000; |
kalbers | 18:6737bf53ccd1 | 277 | k += 2; |
kalbers | 18:6737bf53ccd1 | 278 | } |
kalbers | 18:6737bf53ccd1 | 279 | for (j = 0; j < 3; j++){ |
kalbers | 18:6737bf53ccd1 | 280 | gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]); |
kalbers | 18:6737bf53ccd1 | 281 | if (gl->magn[j] > 0x7fff) |
kalbers | 18:6737bf53ccd1 | 282 | gl->magn[j] -= 0x10000; |
kalbers | 18:6737bf53ccd1 | 283 | k += 2; |
kalbers | 18:6737bf53ccd1 | 284 | } |
kalbers | 18:6737bf53ccd1 | 285 | for (j = 0; j < 3; j++){ |
kalbers | 18:6737bf53ccd1 | 286 | gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]); |
kalbers | 18:6737bf53ccd1 | 287 | if (gl->accel[j] > 0x7fff) |
kalbers | 18:6737bf53ccd1 | 288 | gl->accel[j] -= 0x10000; |
kalbers | 18:6737bf53ccd1 | 289 | k += 2; |
kalbers | 18:6737bf53ccd1 | 290 | } |
kalbers | 18:6737bf53ccd1 | 291 | int y = 0; |
kalbers | 18:6737bf53ccd1 | 292 | for (y = 0; y < 5; y++){ |
kalbers | 18:6737bf53ccd1 | 293 | gl->fingers[y] = 0.0; |
kalbers | 18:6737bf53ccd1 | 294 | } |
kalbers | 18:6737bf53ccd1 | 295 | |
kalbers | 18:6737bf53ccd1 | 296 | gl->roll = 0.0; |
kalbers | 18:6737bf53ccd1 | 297 | gl->pitch = 0.0; |
kalbers | 18:6737bf53ccd1 | 298 | gl->yaw = 0.0; |
kalbers | 18:6737bf53ccd1 | 299 | gl->lastPkgTime = timeOfArrival; |
kalbers | 18:6737bf53ccd1 | 300 | } |
kalbers | 18:6737bf53ccd1 | 301 | |
kalbers | 18:6737bf53ccd1 | 302 | void DataGlove::ExtractFingers() |
kalbers | 18:6737bf53ccd1 | 303 | { |
kalbers | 18:6737bf53ccd1 | 304 | k = 7; |
kalbers | 18:6737bf53ccd1 | 305 | for (y = 0; y < 5; y++){ |
kalbers | 18:6737bf53ccd1 | 306 | gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]); |
kalbers | 18:6737bf53ccd1 | 307 | k += 2; |
kalbers | 18:6737bf53ccd1 | 308 | } |
kalbers | 18:6737bf53ccd1 | 309 | |
kalbers | 18:6737bf53ccd1 | 310 | gl->roll = 0.0; |
kalbers | 18:6737bf53ccd1 | 311 | gl->pitch = 0.0; |
kalbers | 18:6737bf53ccd1 | 312 | gl->yaw = 0.0; |
kalbers | 18:6737bf53ccd1 | 313 | gl->lastPkgTime = timeOfArrival; |
kalbers | 3:5f5d75cba8e1 | 314 | } |