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Head improvements

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This commit is contained in:
Philip Rosedale 2013-02-01 18:19:12 -08:00
parent 449786d917
commit 7dcdc6d74a
5 changed files with 28 additions and 20 deletions
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5
Source/Audio.cpp
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@ -28,6 +28,9 @@ const int ECHO_SERVER_TEST = 1;
const int AUDIO_UDP_LISTEN_PORT = 55444;
char WORKCLUB_AUDIO_SERVER[] = "192.168.1.19";
char EC2_WEST_AUDIO_SERVER[] = "54.241.92.53";
pthread_mutex_t jitterMutex;
#define LOG_SAMPLE_DELAY 1
@ -71,7 +74,7 @@ int audioCallback (const void *inputBuffer,
// int16_t *inputRight = ((int16_t **) inputBuffer)[1];
if (inputLeft != NULL) {
data->audioSocket->send((char *) "192.168.1.19", 55443, (void *)inputLeft, BUFFER_LENGTH_BYTES);
data->audioSocket->send((char *) EC2_WEST_AUDIO_SERVER, 55443, (void *)inputLeft, BUFFER_LENGTH_BYTES);
}
int16_t *outputLeft = ((int16_t **) outputBuffer)[0];

14
Source/Head.cpp
View file

@ -69,18 +69,18 @@ void Head::UpdatePos(float frametime, SerialInterface * serialInterface, int hea
float measured_roll_rate = serialInterface->getRelativeValue(ROLL_RATE);
// Update avatar head position based on measured gyro rates
const float HEAD_ROTATION_SCALE = 0.20;
const float HEAD_ROLL_SCALE = 0.50;
const float HEAD_LEAN_SCALE = 0.02;
const float HEAD_ROTATION_SCALE = 0.80;
const float HEAD_ROLL_SCALE = 0.80;
const float HEAD_LEAN_SCALE = 0.01;
if (head_mirror) {
addYaw(measured_yaw_rate * HEAD_ROTATION_SCALE * frametime);
addYaw(-measured_yaw_rate * HEAD_ROTATION_SCALE * frametime);
addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
addRoll(measured_roll_rate * HEAD_ROLL_SCALE * frametime);
addLean(measured_lateral_accel * frametime * HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
addRoll(-measured_roll_rate * HEAD_ROLL_SCALE * frametime);
addLean(-measured_lateral_accel * frametime * HEAD_LEAN_SCALE, -measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
} else {
addYaw(measured_yaw_rate * -HEAD_ROTATION_SCALE * frametime);
addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
addRoll(measured_roll_rate * HEAD_ROLL_SCALE * frametime);
addRoll(-measured_roll_rate * HEAD_ROLL_SCALE * frametime);
addLean(measured_lateral_accel * frametime * -HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
}
}

13
Source/SerialInterface.cpp
View file

@ -22,6 +22,8 @@ char serial_buffer[MAX_BUFFER];
int serial_buffer_pos = 0;
int samples_total = 0;
const int ZERO_OFFSET = 2048;
// Init the serial port to the specified values
int SerialInterface::init(char * portname, int baud)
{
@ -79,6 +81,7 @@ void SerialInterface::renderLevels(int width, int height) {
char val[10];
for(i = 0; i < NUM_CHANNELS; i++)
{
// Actual value
glLineWidth(2.0);
glColor4f(1, 1, 1, 1);
@ -93,12 +96,14 @@ void SerialInterface::renderLevels(int width, int height) {
glVertex2f(disp_x + 2, height*(0.25 + 0.75f*getTrailingValue(i)/4096));
glEnd();
/*
glColor3f(1,0,0);
glBegin(GL_LINES);
glLineWidth(2.0);
glVertex2f(disp_x - 10, height*0.5 - getRelativeValue(i));
glVertex2f(disp_x + 10, height*0.5 - getRelativeValue(i));
glLineWidth(4.0);
glVertex2f(disp_x - 10, height*0.5 - getValue(i)/4096);
glVertex2f(disp_x + 10, height*0.5 - getValue(i)/4096);
glEnd();
*/
sprintf(val, "%d", getValue(i));
drawtext(disp_x-GAP/2, (height*0.95)+2, 0.08, 90, 1.0, 0, val, 0, 1, 0);
@ -120,7 +125,7 @@ void SerialInterface::renderLevels(int width, int height) {
void SerialInterface::readData() {
// This array sets the rate of trailing averaging for each channel.
// If the sensor rate is 100Hz, 0.001 will make the long term average a 10-second average
const float AVG_RATE[] = {0.001, 0.001, 0.001, 0.001, 0.001, 0.001};
const float AVG_RATE[] = {0.01, 0.01, 0.01, 0.01, 0.01, 0.01};
char bufchar[1];
while (read(serial_fd, bufchar, 1) > 0)
{

10
Source/SerialInterface.h
View file

@ -20,13 +20,13 @@
#define NUM_CHANNELS 6
// Acceleration sensors, in screen/world coord system (X = left/right, Y = Up/Down, Z = fwd/back)
#define ACCEL_X 4
#define ACCEL_Y 5
#define ACCEL_Z 3
#define ACCEL_X 3
#define ACCEL_Y 4
#define ACCEL_Z 5
// Gyro sensors, in coodinate system of head/airplane
#define PITCH_RATE 0
#define YAW_RATE 1
#define PITCH_RATE 1
#define YAW_RATE 0
#define ROLL_RATE 2
class SerialInterface {

6
Source/hardware/head_hand/head_hand.pde
View file

@ -5,8 +5,8 @@
//
// PIN WIRING: Connect input sensors to the channels in following manner
//
// AIN 15: Pitch Gyro (nodding your head 'yes')
// AIN 16: Yaw Gyro (shaking your head 'no')
// AIN 10: Yaw Gyro (shaking your head 'no')
// AIN 16: Pitch Gyro (nodding your head 'yes')
// AIN 17: Roll Gyro (looking quizzical, tilting your head)
// AIN 18: Lateral acceleration (moving from side-to-side in front of your monitor)
// AIN 19: Up/Down acceleration (sitting up/ducking in front of your monitor)
@ -17,7 +17,7 @@
#define LED_PIN 12
int inputPins[NUM_CHANNELS] = {15,16,17,18,19,20};
int inputPins[NUM_CHANNELS] = {10,16,17,18,19,20};
int LED = 0;
unsigned int samplesSent = 0;