From ff0cf7e13c2c2195b9506bfc489689ce30771db9 Mon Sep 17 00:00:00 2001 From: Philip Rosedale Date: Thu, 29 Nov 2012 15:52:47 -0800 Subject: [PATCH] Updated maple PDE to have Roll gyro and led latency tester --- hardware/head_hand/head_hand.pde | 25 ++++++++++++++---- .../UserInterfaceState.xcuserstate | Bin 104499 -> 104737 bytes main.cpp | 1 + 3 files changed, 21 insertions(+), 5 deletions(-) diff --git a/hardware/head_hand/head_hand.pde b/hardware/head_hand/head_hand.pde index 2dbdecdb86..16be76ed04 100644 --- a/hardware/head_hand/head_hand.pde +++ b/hardware/head_hand/head_hand.pde @@ -8,10 +8,15 @@ Read a set of analog input lines and echo their readings over the serial port wi // 17,18,19 = Head Accelerometer -#define NUM_CHANNELS 5 +#define NUM_CHANNELS 6 #define MSECS_PER_SAMPLE 10 -int inputPins[NUM_CHANNELS] = {19,20,15,16,17}; +#define LED_PIN 12 + +int inputPins[NUM_CHANNELS] = {19,20,18,15,16,17}; + +int LED_on = 0; +unsigned int total_count = 0; unsigned int time; @@ -29,6 +34,7 @@ void setup() accumulate[i] = measured[i]; } pinMode(BOARD_LED_PIN, OUTPUT); + pinMode(LED_PIN,OUTPUT); time = millis(); } @@ -36,6 +42,13 @@ void loop() { int i; sampleCount++; + total_count++; + if (total_count % 20172 == 0) { + LED_on = !LED_on; + if (LED_on) digitalWrite(LED_PIN, HIGH); + else digitalWrite(LED_PIN, LOW); + } + for (i = 0; i < NUM_CHANNELS; i++) { accumulate[i] += analogRead(inputPins[i]); } @@ -47,10 +60,12 @@ void loop() SerialUSB.print(" "); accumulate[i] = 0; } - //SerialUSB.print("("); - //SerialUSB.print(sampleCount); - //SerialUSB.print(")"); + SerialUSB.print(sampleCount); + SerialUSB.print(" "); + if (LED_on) SerialUSB.print("1"); + else SerialUSB.print("0"); SerialUSB.println(""); + sampleCount = 0; } } diff --git a/interface.xcodeproj/project.xcworkspace/xcuserdata/philip.xcuserdatad/UserInterfaceState.xcuserstate b/interface.xcodeproj/project.xcworkspace/xcuserdata/philip.xcuserdatad/UserInterfaceState.xcuserstate index 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frametime) } // Decrease forward velocity fwd_vel *= (1.f - 4.0*frametime); + // Update forward vector based on pitch and yaw fwd_vec[0] = -sinf(render_yaw*PI/180);