Revision 31:bf5f545621aa, committed 2014-12-11

Comitter:

robertbui

Date:

Thu Dec 11 06:08:13 2014 +0000

Parent:

30:3261015fdd17

Commit message:

initial draft of gesture recognition.

Changed in this revision

--- a/DataGlove.cpp	Thu Dec 11 05:57:54 2014 +0000
+++ b/DataGlove.cpp	Thu Dec 11 06:08:13 2014 +0000
@@ -58,14 +58,7 @@
     GloveSocket.SendDataToGlove(SendBuf, 6);
 }
 
-
-Glove DataGlove::ReceiveBlocking()
-{
-	while(Receive() == false);
-	return *gl;
-}
-
-bool DataGlove::Receive()
+void DataGlove::Receive()
 {
     raw = false;
     numReceived += GloveSocket.GetDataFromBuffer(Buf, 1);
@@ -83,7 +76,7 @@
             if ((numReceived  - 3 )< pkglen) 
             {
                 if(numReceived == 0) notConnectedCount++;
-                return false;
+                return;
             }
             for (u = 3; u <= pkglen; u++)
             {
@@ -98,12 +91,11 @@
                 timeOfArrival = (Buf[6] << 24) + (Buf[7] << 16) + (Buf[8] << 8) + Buf[9];
                 id = (Buf[4] << 8) + Buf[5];
                 pkgtype = Buf[3];
-                ReceiveCount++;
-                /*if(ReceiveCount > 501 && ReceiveCount%25 == 0) {//printf("%d %c\r\n", ReceiveCount, Buf[0]);
+                if(ReceiveCount > 501 && ReceiveCount++%25 == 0) {//printf("%d %c\r\n", ReceiveCount, Buf[0]);
                 	printf("%f %f %f %f %f %f %f %f\r\n", corrected->roll, corrected->pitch, corrected->yaw, 
                 	corrected->fingers[0], corrected->fingers[1], corrected->fingers[2], 
                 	corrected->fingers[3], corrected->fingers[4]);
-                }*/
+                }
                 switch (pkgtype){
                     case STREAM_FINGERS_QUATERNION:
                     {
@@ -136,7 +128,6 @@
                 Buf[0] = 0; //Clear Token so no repeats.
                 notConnectedCount = 0;
                 numReceived = 0;
-                return true;
             }
             else
             {
@@ -145,7 +136,7 @@
             }
         }
         // Normalize the data for the first 1000 samples
-        /*if (ReceiveCount < 500) {
+        if (ReceiveCount < 500) {
         	correction->roll = (correction->roll*ReceiveCount + gl->roll)/(ReceiveCount+1);
         	correction->pitch = (correction->pitch*ReceiveCount + gl->pitch)/(ReceiveCount+1);
         	correction->yaw = (correction->yaw*ReceiveCount + gl->yaw)/(ReceiveCount+1);
@@ -158,21 +149,21 @@
         	corrected->yaw = gl->yaw - correction->yaw;
         	for (int iter = 0; iter < 5; iter++)
         		corrected->fingers[iter] = gl->fingers[iter] - correction->fingers[iter];
-        }*/
+        }
     }
-   else {
+    else {
         //printf("couldn't get data %d\r\n", notConnectedCount);
         // Re-establishing communication in case no data is received for 1s (20 frames per second*1 = 20)
-        /*if (notConnectedCount > 200) {
+        if (notConnectedCount > 200) {
             printf("Connection broke! Trying to re-establish... %d %c\r\n",numReceived,Buf[0]);
             //GloveSocket.Reconnect();
             //StreamData(STREAM_QUATERNION);
             notConnectedCount = 0;
-        }*/
+        }
         numReceived = 0;
-        //notConnectedCount++;
+        notConnectedCount++;
     }
-    return false;
+    
 }
 
 void DataGlove::ExtractFingersQuat()
@@ -328,7 +319,6 @@
 {
 	return *gl;
 }
-
 bool DataGlove::CheckForNewValues()
 {
 	if(NewData == true)

--- a/DataGlove.h	Thu Dec 11 05:57:54 2014 +0000
+++ b/DataGlove.h	Thu Dec 11 06:08:13 2014 +0000
@@ -19,8 +19,7 @@
 		DataGlove();
 		~DataGlove();
 		void Init();
-		bool Receive();
-		Glove ReceiveBlocking();
+		void Receive();
 		
 		//Returns the latest glove values in a structure.
 		Glove GetCurrentValues();

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GestureRecognition.h	Thu Dec 11 06:08:13 2014 +0000
@@ -0,0 +1,11 @@
+class GestureRecognition
+{
+    public:
+        GestureRecognition();
+        ~GestureRecognition();
+        
+        
+    private:
+      
+    
+};
\ No newline at end of file

--- a/GloveWifi.cpp	Thu Dec 11 05:57:54 2014 +0000
+++ b/GloveWifi.cpp	Thu Dec 11 06:08:13 2014 +0000
@@ -84,7 +84,7 @@
         wait(1);
     }
     socket->set_blocking(false, 10);
-    //printf("Reconnected!\r\n");
+    printf("Reconnected!\r\n");
 }
 
 int GloveWifi::GetDataFromBuffer(char * buf, int size)
@@ -99,8 +99,9 @@
     {
         DropCount = 0;
     }
-    if(DropCount > 100)
+    if(DropCount > 200)
     {
+        printf("!\r\n");
         Reconnect();
         DropCount = 0;
     }

--- a/ledCube.cpp	Thu Dec 11 05:57:54 2014 +0000
+++ b/ledCube.cpp	Thu Dec 11 06:08:13 2014 +0000
@@ -18,11 +18,11 @@
 #define PANEL1             0
 #define PANEL2             1
 #define PANEL3             2
-#define nLEDs              200//MAX_LEDS_PER_STRIP;
-#define nROWs              10
-#define nCOLs              10  
-#define DATA_OUT_PIN1      2 // PTD2
-#define DATA_OUT_PIN2      3 // PTD3 
+#define nLEDs              200 //MAX_LEDS_PER_STRIP;
+#define nROWs              10  //number of rows per cube panel 
+#define nCOLs              10  //number of columns per cube panel
+#define DATA_OUT_PIN1      2   // PTD2
+#define DATA_OUT_PIN2      3   // PTD3 
 
 
 LedCube::LedCube():X(0),Y(1),Z(2),ledStrip1(nLEDs, DATA_OUT_PIN1),ledStrip2(nLEDs, DATA_OUT_PIN2)
@@ -33,6 +33,7 @@
 {
 }
 
+/*Sets the initial size and position of the lighted cube*/ 
 void LedCube::Init(int x, int y, int z)
 {
     size = 2;
@@ -51,6 +52,19 @@
     ledStrip2.begin();
 }
 
+/*Determines which LED should be lit based on its 
+cartesian coordinate. The origin is the led at
+bottom left of panel 1 when using a three panel cube
+     ________
+    /       /|
+   /   3   / |
+  /_______/ 2|
+  |       |  | 
+  |   1   | /
+  |       |
+  --------        
+*/
+
 int LedCube::getLedIndex(int panel, int x, int y) {
     if (panel == PANEL1) {
         if (y % 2 == 0) {
@@ -222,4 +236,14 @@
     if((pos[X] + newSize) < nCOLs && (pos[Y] + newSize) < nCOLs && (pos[Z] + newSize) < nCOLs) {
         size = newSize;
     }
-}
\ No newline at end of file
+}
+
+void LedCube::UpdateCube(int size, int deltaX, int deltaY, int deltaZ, float hue) {
+     changeSize(size);
+     move(deltaX, deltaY, deltaZ); 
+     changeColor(hue); 
+     cubeUpdate(); 
+}
+
+
+

--- a/ledCube.h	Thu Dec 11 05:57:54 2014 +0000
+++ b/ledCube.h	Thu Dec 11 06:08:13 2014 +0000
@@ -13,6 +13,7 @@
         void updateLEDs(bool on, int size, int x, int y, int z);
         void updateLEDsOld(bool on, int size, int x, int y, int z);
         void cubeUpdate();
+        void UpdateCube(int size, int deltaX, int deltaY, int deltaZ, float hue); 
         int move(int deltaX, int deltaY, int deltaZ);
         void changeColor(float hue);
         void changeSize(int newSize);

--- a/main.cpp	Thu Dec 11 05:57:54 2014 +0000
+++ b/main.cpp	Thu Dec 11 06:08:13 2014 +0000
@@ -9,9 +9,6 @@
 
 int main() 
 {
-    long Counter = 0;
-    DigitalOut StatusLED(LED1);
-    StatusLED = 0;
     Serial pc(USBTX, USBRX);
     pc.baud(115200);
     pc.printf("Connceted to PC \r\n");
@@ -19,12 +16,8 @@
     pc.printf("DataGlove Cube Client\r\n");
     while(true) 
     {
-        MasterGlove.ReceiveBlocking();
+        MasterGlove.Receive();
         //pc.printf("Looping \r\n");
         //wait(0.1);
-        if(Counter++%25 == 0)
-        {
-            StatusLED = !StatusLED;
-        }
      }
 }