Robert Bui
/
CubicHand
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Dependencies: MMA8451Q Multi_WS2811 NVIC_set_all_priorities TSI cc3000_hostdriver_mbedsocket mbed
Fork of
CubicHand
by 
Model-Based Team
Diff: DataGlove.cpp
- Revision:
- 18:6737bf53ccd1
- Parent:
- 15:b48ac00af0b8
- Child:
- 19:e751d075e2e6
--- a/DataGlove.cpp Mon Dec 08 03:29:39 2014 +0000
+++ b/DataGlove.cpp Mon Dec 08 18:56:42 2014 +0000
@@ -10,6 +10,7 @@
{
notConnectedCount = 0;
gl = new Glove;
+ ReceiveCount = 0;
}
DataGlove::~DataGlove()
@@ -21,16 +22,16 @@
{
GloveSocket.Init();
GloveSocket.Connect();
- StreamData();
+ StreamData(STREAM_QUATERNION);
}
-void DataGlove::StreamData()
+void DataGlove::StreamData(uint8_t DataType)
{
SendBuf[0] = '$';
SendBuf[1] = 0x0A;
SendBuf[2] = 0x03;
// Streaming quaternion data
- SendBuf[3] = STREAM_QUATERNION;
+ SendBuf[3] = DataType;
SendBuf[4] = (SendBuf[0]+SendBuf[1]+SendBuf[2]+SendBuf[3])%256;
SendBuf[5] = '#';
GloveSocket.SendDataToGlove(SendBuf, 6);
@@ -62,147 +63,31 @@
switch (pkgtype){
case STREAM_FINGERS_QUATERNION:
{
- k = 7;
- q0 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
- k += 4;
- q1 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
- k += 4;
- q2 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
- k += 4;
- q3 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
- k += 4;
- for (y = 0; y < 5; y++) {
- gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k + 1]);
- k += 2;
- }
- q00 = q0 / 32768.0;
- q11 = q1 / 32768.0;
- q22 = q2 / 32768.0;
- q33 = q3 / 32768.0;
-
- norm = sqrt(q00 * q00 + q11 * q11 + q22 * q22 + q33 * q33);
- test = q00 * q11 + q22 * q33;
-
- roll = 180.0 * atan2(2 * (q00 * q11 + q22 * q33), 1 - 2 * (q11 * q11 + q22 * q22)) / 3.1415;
- pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415;
- yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415;
-
- gl->roll = roll;
- gl->pitch = pitch;
- gl->yaw = yaw;
- gl->lastPkgTime = timeOfArrival;
+ ExtractFingersQuat();
}
break;
case STREAM_QUATERNION:
{
- k = 7;
- q0 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
- k += 4;
- q1 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
- k += 4;
- q2 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
- k += 4;
- q3 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
- k += 4;
- for (y = 0; y < 5; y++) {
- gl->fingers[y] = 0.0;
- }
- q00 = q0 / 32768.0;
- q11 = q1 / 32768.0;
- q22 = q2 / 32768.0;
- q33 = q3 / 32768.0;
-
- norm = sqrt(q00 * q00 + q11 * q11 + q22 * q22 + q33 * q33);
- test = q00 * q11 + q22 * q33;
- roll = 180.0 * atan2(2 * (q00 * q11 + q22 * q33), 1 - 2 * (q11 * q11 + q22 * q22)) / 3.1415;
- pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415;
- yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415;
-
- gl->roll = roll;
- gl->pitch = pitch;
- gl->yaw = yaw;
- gl->lastPkgTime = timeOfArrival;
- printf("roll: %f\tpitch: %f\tyaw: %f\r\n", gl->roll, gl->pitch, gl->yaw);
+ ExtractQuat();
+ printf("%d\r\n", ReceiveCount++);
+ //printf("roll: %f\tpitch: %f\tyaw: %f\r\n", gl->roll, gl->pitch, gl->yaw);
}
break;
case STREAM_FINGERS_RAW:
{
- k = 7;
- for (j = 0; j < 3; j++){
- gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]);
- if (gl->gyro[j] > 0x7fff)
- gl->gyro[j] -= 0x10000;
- k += 2;
- }
- for (j = 0; j < 3; j++){
- gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]);
- if (gl->magn[j] > 0x7fff)
- gl->magn[j] -= 0x10000;
- k += 2;
- }
- for (j = 0; j < 3; j++){
- gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]);
- if (gl->accel[j]>0x7fff)
- gl->accel[j] -= 0x10000;
- k += 2;
- }
- for (y = 0; y < 5; y++){
- gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]);
- k += 2;
- }
-
- gl->roll = 0.0;
- gl->pitch = 0.0;
- gl->yaw = 0.0;
- gl->lastPkgTime = timeOfArrival;
+ ExtractFingersRaw();
}
break;
case STREAM_RAW:
{
- k = 7;
- for (j = 0; j < 3; j++){
- gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]);
- if (gl->gyro[j] > 0x7fff)
- gl->gyro[j] -= 0x10000;
- k += 2;
- }
- for (j = 0; j < 3; j++){
- gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]);
- if (gl->magn[j] > 0x7fff)
- gl->magn[j] -= 0x10000;
- k += 2;
- }
- for (j = 0; j < 3; j++){
- gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]);
- if (gl->accel[j] > 0x7fff)
- gl->accel[j] -= 0x10000;
- k += 2;
- }
- int y = 0;
- for (y = 0; y < 5; y++){
- gl->fingers[y] = 0.0;
- }
-
- gl->roll = 0.0;
- gl->pitch = 0.0;
- gl->yaw = 0.0;
- gl->lastPkgTime = timeOfArrival;
+ ExtractRaw();
printf("%f %f %f %f %f %f\r\n", gl->gyro[0], gl->gyro[1], gl->gyro[2], gl->accel[0], gl->accel[1], gl->accel[2]);
}
break;
case STREAM_FINGERS:
{
- k = 7;
- for (y = 0; y < 5; y++){
- gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]);
- k += 2;
- }
-
- gl->roll = 0.0;
- gl->pitch = 0.0;
- gl->yaw = 0.0;
- gl->lastPkgTime = timeOfArrival;
+ ExtractFingers();
}
break;
}
@@ -222,11 +107,156 @@
if (notConnectedCount > 20) {
printf("Connection broke! Trying to re-establish...\r\n");
GloveSocket.Reconnect();
- StreamData();
+ StreamData(STREAM_QUATERNION);
notConnectedCount = 0;
}
}
-void DataGlove::Parse()
+void DataGlove::ExtractFingersQuat()
+{
+ k = 7;
+ q0 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
+ k += 4;
+ q1 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
+ k += 4;
+ q2 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
+ k += 4;
+ q3 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
+ k += 4;
+ for (y = 0; y < 5; y++)
+ {
+ gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k + 1]);
+ k += 2;
+ }
+ q00 = q0 / 32768.0;
+ q11 = q1 / 32768.0;
+ q22 = q2 / 32768.0;
+ q33 = q3 / 32768.0;
+
+ norm = sqrt(q00 * q00 + q11 * q11 + q22 * q22 + q33 * q33);
+ test = q00 * q11 + q22 * q33;
+
+ roll = 180.0 * atan2(2 * (q00 * q11 + q22 * q33), 1 - 2 * (q11 * q11 + q22 * q22)) / 3.1415;
+ pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415;
+ yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415;
+
+ gl->roll = roll;
+ gl->pitch = pitch;
+ gl->yaw = yaw;
+ gl->lastPkgTime = timeOfArrival;
+
+}
+void DataGlove::ExtractQuat()
+{
+ k = 7;
+ q0 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
+ k += 4;
+ q1 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
+ k += 4;
+ q2 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
+ k += 4;
+ q3 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
+ k += 4;
+ for (y = 0; y < 5; y++)
+ {
+ gl->fingers[y] = 0.0;
+ }
+ q00 = q0 / 32768.0;
+ q11 = q1 / 32768.0;
+ q22 = q2 / 32768.0;
+ q33 = q3 / 32768.0;
+
+ norm = sqrt(q00 * q00 + q11 * q11 + q22 * q22 + q33 * q33);
+ test = q00 * q11 + q22 * q33;
+ roll = 180.0 * atan2(2 * (q00 * q11 + q22 * q33), 1 - 2 * (q11 * q11 + q22 * q22)) / 3.1415;
+ pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415;
+ yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415;
+
+ gl->roll = roll;
+ gl->pitch = pitch;
+ gl->yaw = yaw;
+ gl->lastPkgTime = timeOfArrival;
+
+}
+
+void DataGlove::ExtractFingersRaw()
{
+ k = 7;
+ for (j = 0; j < 3; j++)
+ {
+ gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]);
+ if (gl->gyro[j] > 0x7fff)
+ gl->gyro[j] -= 0x10000;
+ k += 2;
+ }
+ for (j = 0; j < 3; j++)
+ {
+ gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]);
+ if (gl->magn[j] > 0x7fff)
+ gl->magn[j] -= 0x10000;
+ k += 2;
+ }
+ for (j = 0; j < 3; j++)
+ {
+ gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]);
+ if (gl->accel[j]>0x7fff)
+ gl->accel[j] -= 0x10000;
+ k += 2;
+ }
+ for (y = 0; y < 5; y++)
+ {
+ gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]);
+ k += 2;
+ }
+
+ gl->roll = 0.0;
+ gl->pitch = 0.0;
+ gl->yaw = 0.0;
+ gl->lastPkgTime = timeOfArrival;
+}
+
+void DataGlove::ExtractRaw()
+{
+ k = 7;
+ for (j = 0; j < 3; j++){
+ gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]);
+ if (gl->gyro[j] > 0x7fff)
+ gl->gyro[j] -= 0x10000;
+ k += 2;
+ }
+ for (j = 0; j < 3; j++){
+ gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]);
+ if (gl->magn[j] > 0x7fff)
+ gl->magn[j] -= 0x10000;
+ k += 2;
+ }
+ for (j = 0; j < 3; j++){
+ gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]);
+ if (gl->accel[j] > 0x7fff)
+ gl->accel[j] -= 0x10000;
+ k += 2;
+ }
+ int y = 0;
+ for (y = 0; y < 5; y++){
+ gl->fingers[y] = 0.0;
+ }
+
+ gl->roll = 0.0;
+ gl->pitch = 0.0;
+ gl->yaw = 0.0;
+ gl->lastPkgTime = timeOfArrival;
+}
+
+void DataGlove::ExtractFingers()
+{
+ k = 7;
+ for (y = 0; y < 5; y++){
+ gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]);
+ k += 2;
+ }
+
+ gl->roll = 0.0;
+ gl->pitch = 0.0;
+ gl->yaw = 0.0;
+ gl->lastPkgTime = timeOfArrival;
}
\ No newline at end of file