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Merge pull request #210 from PhilipRosedale/master

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Added invensense gyro level indicators
This commit is contained in:
birarda 2013-05-06 17:47:38 -07:00
commit 133e95f116
1 changed files with 53 additions and 17 deletions
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70
interface/src/SerialInterface.cpp
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@ -150,29 +150,65 @@ void SerialInterface::renderLevels(int width, int height) {
int i; int i;
int disp_x = 10; int disp_x = 10;
const int GAP = 16; const int GAP = 16;
char val[10]; char val[40];
for(i = 0; i < NUM_CHANNELS; i++) { if (!USING_INVENSENSE_MPU9150) {
// Actual value for(i = 0; i < NUM_CHANNELS; i++)
{
// Actual value
glLineWidth(2.0);
glColor4f(1, 1, 1, 1);
glBegin(GL_LINES);
glVertex2f(disp_x, height*0.95);
glVertex2f(disp_x, height*(0.25 + 0.75f*getValue(i)/4096));
glColor4f(1, 0, 0, 1);
glVertex2f(disp_x - 3, height*(0.25 + 0.75f*getValue(i)/4096));
glVertex2f(disp_x, height*(0.25 + 0.75f*getValue(i)/4096));
glEnd();
// Trailing Average value
glBegin(GL_LINES);
glColor4f(1, 1, 1, 1);
glVertex2f(disp_x, height*(0.25 + 0.75f*getTrailingValue(i)/4096));
glVertex2f(disp_x + 4, height*(0.25 + 0.75f*getTrailingValue(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);
disp_x += GAP;
}
} else {
const int LEVEL_CORNER_X = 10;
const int LEVEL_CORNER_Y = 200;
// Draw the text values
sprintf(val, "Yaw %d", _lastYaw);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y, 0.10, 0, 1.0, 1, val, 0, 1, 0);
sprintf(val, "Pitch %d", _lastPitch);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 15, 0.10, 0, 1.0, 1, val, 0, 1, 0);
sprintf(val, "Roll %d", _lastRoll);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 30, 0.10, 0, 1.0, 1, val, 0, 1, 0);
// Draw the levels as horizontal lines
const int LEVEL_CENTER = 150;
glLineWidth(2.0); glLineWidth(2.0);
glColor4f(1, 1, 1, 1); glColor4f(1, 1, 1, 1);
glBegin(GL_LINES); glBegin(GL_LINES);
glVertex2f(disp_x, height*0.95); glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 3);
glVertex2f(disp_x, height*(0.25 + 0.75f*getValue(i)/4096)); glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastYaw, LEVEL_CORNER_Y - 3);
glColor4f(1, 0, 0, 1); glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 12);
glVertex2f(disp_x - 3, height*(0.25 + 0.75f*getValue(i)/4096)); glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastPitch, LEVEL_CORNER_Y + 12);
glVertex2f(disp_x, height*(0.25 + 0.75f*getValue(i)/4096)); glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 27);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastRoll, LEVEL_CORNER_Y + 27);
glEnd(); glEnd();
// Trailing Average value // Draw green vertical centerline
glColor4f(0, 1, 0, 0.5);
glBegin(GL_LINES); glBegin(GL_LINES);
glColor4f(1, 1, 1, 1); glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 6);
glVertex2f(disp_x, height*(0.25 + 0.75f*getTrailingValue(i)/4096)); glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 30);
glVertex2f(disp_x + 4, height*(0.25 + 0.75f*getTrailingValue(i)/4096));
glEnd(); 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);
disp_x += GAP;
} }
// Display Serial latency block // Display Serial latency block
if (LED) { if (LED) {
@ -204,7 +240,7 @@ void SerialInterface::readData() {
int initialSamples = totalSamples; int initialSamples = totalSamples;
if (USING_INVENSENSE_MPU9150) { if (USING_INVENSENSE_MPU9150) {
unsigned char gyroBuffer[20]; unsigned char gyroBuffer[20];
// ask the invensense for raw gyro data // ask the invensense for raw gyro data