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[Arduino/Genuino 101 入门教程] Arduino/Genuino 101 入门教程四：processing玩转六轴数据

主要就是用processing对获取的六轴数据进行可视化处理。
先看下效果：软件在电脑桌面虚拟化一个Arduino 101模型，当你转动手中的实体Arduino 101开发板的时候，桌面的模型也会跟着转动。（因为Yaw的数据没有电子罗盘的修正，模型会飘，这里注释掉对Yaw数据的读取会得到一个较好的体验，期待拿到DFRobot集成了电子罗盘的Inter Curie开发板）
Arduino/Genuino 101 入门教程四：processing玩转六轴数据图3

Arduino/Genuino 101 入门教程四：processing玩转六轴数据图3

【产品链接】： Arduino 101

操作步骤：
1.下载必要的软件，Processing （我下载的是Windows64位版本的）
下载地址：https://pan.baidu.com/s/1o6Taziy
官网下载地址（需翻墙）：https://processing.org/

2.下载Arduino IDE 的代码到开发板，这里注释了对Yaw数据的获取：

/*
  ===============================================
  Example sketch for CurieIMU library for Intel(R) Curie(TM) devices.
  Copyright (c) 2015 Intel Corporation.  All rights reserved.

  Based on I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050
  class by Jeff Rowberg: https://github.com/jrowberg/i2cdevlib

  ===============================================
  I2Cdev device library code is placed under the MIT license
  Copyright (c) 2011 Jeff Rowberg

  Permission is hereby granted, free of charge, to any person obtaining a copy
  of this software and associated documentation files (the "Software"), to deal
  in the Software without restriction, including without limitation the rights
  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  copies of the Software, and to permit persons to whom the Software is
  furnished to do so, subject to the following conditions:

  The above copyright notice and this permission notice shall be included in
  all copies or substantial portions of the Software.

  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  THE SOFTWARE.
  ===============================================

  Genuino 101 CurieIMU Orientation Visualiser
  Hardware Required:
  * Arduino/Genuino 101

  Modified Nov 2015
  by Helena Bisby <support@arduino.cc>
  This example code is in the public domain
  https://arduino.cc/en/Tutorial/Genuino101CurieIMUOrientationVisualiser
*/

#include <CurieIMU.h>
#include <MadgwickAHRS.h>

Madgwick filter; // initialise Madgwick object
int ax, ay, az;
int gx, gy, gz;
float yaw = 0.0;
float pitch;
float roll;
int factor = 800; // variable by which to divide gyroscope values, used to control sensitivity
// note that an increased baud rate requires an increase in value of factor

int calibrateOffsets = 1; // int to determine whether calibration takes place or not


void setup() {
  // initialize Serial communication
  Serial.begin(9600);

  // initialize device
  CurieIMU.begin();

  if (calibrateOffsets == 1) {
    // use the code below to calibrate accel/gyro offset values
    Serial.println("Internal sensor offsets BEFORE calibration...");
    Serial.print(CurieIMU.getAccelerometerOffset(X_AXIS)); Serial.print("\t");
    Serial.print(CurieIMU.getAccelerometerOffset(Y_AXIS)); Serial.print("\t");
    Serial.print(CurieIMU.getAccelerometerOffset(Z_AXIS)); Serial.print("\t");
    Serial.print(CurieIMU.getGyroOffset(X_AXIS)); Serial.print("\t");
    Serial.print(CurieIMU.getGyroOffset(Y_AXIS)); Serial.print("\t");
    Serial.print(CurieIMU.getGyroOffset(Z_AXIS)); Serial.print("\t");
    Serial.println("");

    // To manually configure offset compensation values, use the following methods instead of the autoCalibrate...() methods below
    //    CurieIMU.setGyroOffset(X_AXIS, 220);
    //    CurieIMU.setGyroOffset(Y_AXIS, 76);
    //    CurieIMU.setGyroOffset(Z_AXIS, -85);
    //    CurieIMU.setAccelerometerOffset(X_AXIS, -76);
    //    CurieIMU.setAccelerometerOffset(Y_AXIS, -235);
    //    CurieIMU.setAccelerometerOffset(Z_AXIS, 168);

    //IMU device must be resting in a horizontal position for the following calibration procedure to work correctly!

    Serial.print("Starting Gyroscope calibration...");
    CurieIMU.autoCalibrateGyroOffset();
    Serial.println(" Done");
    Serial.print("Starting Acceleration calibration...");
    CurieIMU.autoCalibrateAccelerometerOffset(X_AXIS, 0);
    CurieIMU.autoCalibrateAccelerometerOffset(Y_AXIS, 0);
    CurieIMU.autoCalibrateAccelerometerOffset(Z_AXIS, 1);
    Serial.println(" Done");

    Serial.println("Internal sensor offsets AFTER calibration...");
    Serial.print(CurieIMU.getAccelerometerOffset(X_AXIS)); Serial.print("\t");
    Serial.print(CurieIMU.getAccelerometerOffset(Y_AXIS)); Serial.print("\t");
    Serial.print(CurieIMU.getAccelerometerOffset(Z_AXIS)); Serial.print("\t");
    Serial.print(CurieIMU.getAccelerometerOffset(X_AXIS)); Serial.print("\t");
    Serial.print(CurieIMU.getAccelerometerOffset(Y_AXIS)); Serial.print("\t");
    Serial.print(CurieIMU.getAccelerometerOffset(Z_AXIS)); Serial.print("\t");
    Serial.println("");
  }
}

void loop() {
  // read raw accel/gyro measurements from device
  CurieIMU.readMotionSensor(ax, ay, az, gx, gy, gz); 

  // use function from MagdwickAHRS.h to return quaternions
  filter.updateIMU(gx / factor, gy / factor, gz / factor, ax, ay, az);

  // functions to find yaw roll and pitch from quaternions
  //yaw = filter.getYaw();
  roll = filter.getRoll();
  pitch = filter.getPitch();

  // print gyro and accel values for debugging only, comment out when running Processing
  /*
  Serial.print(ax); Serial.print("\t");
  Serial.print(ay); Serial.print("\t");
  Serial.print(az); Serial.print("\t");
  Serial.print(gx); Serial.print("\t");
  Serial.print(gy); Serial.print("\t");
  Serial.print(gz); Serial.print("\t");
  Serial.println("");
  */

  if (Serial.available() > 0) {
    int val = Serial.read();
    if (val == 's') { // if incoming serial is "s"
      Serial.print(yaw);
      Serial.print(","); // print comma so values can be parsed
      Serial.print(pitch);
      Serial.print(","); // print comma so values can be parsed
      Serial.println(roll);
    }
  }
}
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3.打开Processing软件：解压下载的Processing软件包，里面有个exe文件，双击运行，添加Processing程序：

import processing.serial.*;
Serial myPort;

int newLine = 13; // new line character in ASCII
float yaw;
float pitch;
float roll;
String message;
String [] ypr = new String [3];

void setup()
{
  size(600, 500, P3D);
 
  /*Set my serial port to same as Arduino, baud rate 9600*/
  myPort = new Serial(this, Serial.list()[0], 9600); // if you have only ONE COM port active
  //myPort = new Serial(this, "COM5", 9600);  // if you know the 101 COM port

  textSize(16); // set text size
  textMode(SHAPE); // set text mode to shape
}

void draw()
{
  serialEvent();  // read and parse incoming serial message
  background(255); // set background to white

  translate(width/2, height/2); // set position to centre
 
  pushMatrix(); // begin object
 
  rotateX(pitch); // RotateX pitch value
  rotateY(-yaw); // yaw
  rotateZ(-roll); // roll
 
  drawArduino(); // function to draw rough Arduino shape
 
  popMatrix(); // end of object

  // Print values to console
  print(pitch);
  print("\t");
  print(roll);
  print("\t");
  print(-yaw);  
  println("\t");

  myPort.write("s"); // write an "s" to receive more data from Arduino
}

void serialEvent()
{
  message = myPort.readStringUntil(newLine); // read from port until new line (ASCII code 13)
  if (message != null) {
    ypr = split(message, ","); // split message by commas and store in String array
    yaw = float(ypr[0]); // convert to float yaw
    pitch = float(ypr[1]); // convert to float pitch
    roll = float(ypr[2]); // convert to float roll
  }
}
void drawArduino() {
  /* function contains shape(s) that are rotated with the IMU */
  stroke(0, 90, 90); // set outline colour to darker teal
  fill(0, 130, 130); // set fill colour to lighter teal
  box(300, 10, 200); // draw Arduino board base shape

  stroke(0); // set outline colour to black
  fill(80); // set fill colour to dark grey

  translate(60, -10, 90); // set position to edge of Arduino box
  box(170, 20, 10); // draw pin header as box

  translate(-20, 0, -180); // set position to other edge of Arduino box
  box(210, 20, 10); // draw other pin header as box
}
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