Head improvements

Source/Audio.cpp

@@ -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];

Source/Head.cpp

@@ -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_ROTATION_SCALE = 0.80;
-    const float HEAD_ROLL_SCALE = 0.50;
+    const float HEAD_ROLL_SCALE = 0.80;
-    const float HEAD_LEAN_SCALE = 0.02;
+    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);
+        addRoll(-measured_roll_rate * HEAD_ROLL_SCALE * frametime);
-        addLean(measured_lateral_accel * frametime * HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
+        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);        
     } 
 }

Source/SerialInterface.cpp

@@ -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);
+        glLineWidth(4.0);
-        glVertex2f(disp_x - 10, height*0.5 - getRelativeValue(i));
+        glVertex2f(disp_x - 10, height*0.5 - getValue(i)/4096);
-        glVertex2f(disp_x + 10, height*0.5 - getRelativeValue(i));
+        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)
     {

Source/SerialInterface.h

@@ -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_X 3 
-#define ACCEL_Y 5 
+#define ACCEL_Y 4 
-#define ACCEL_Z 3 
+#define ACCEL_Z 5 
 
 //  Gyro sensors, in coodinate system of head/airplane
-#define PITCH_RATE 0 
+#define PITCH_RATE 1
-#define YAW_RATE 1 
+#define YAW_RATE 0
 #define ROLL_RATE 2
 
 class SerialInterface {

Source/hardware/head_hand/head_hand.pde

@@ -5,8 +5,8 @@
 //  
 //  PIN WIRING:  Connect input sensors to the channels in following manner
 //
-//  AIN 15:  Pitch Gyro (nodding your head 'yes') 
+//  AIN 10:  Yaw Gyro (shaking your head 'no')
-//  AIN 16:  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;