initial commit

GroundStation/Copter.pde

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+public abstract class Copter {
+  public int[] channels;
+  public int[] motors;
+  
+  public Copter(){}
+  public void draw3d(){}
+}

GroundStation/GroundStation.pde

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+import javax.swing.*;
+
+final int backgroundColor = 51;
+Copter copter = new Quad();
+
+JFrame frame = new JFrame( "blah" );
+frame.setResizable( true );
+frame.setDefaultCloseOperation( JFrame.EXIT_ON_CLOSE );
+JButton button = new JButton( "blah" );
+frame.add( button );
+frame.pack();
+frame.setVisible( true );
+
+void setup(){
+  size( 640, 360, P3D );
+  background( backgroundColor );
+}
+
+void draw(){
+  
+  // Begin to draw new image
+  background( backgroundColor );
+  copter.draw3d();
+}

GroundStation/Quad.pde

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+public class Quad extends Copter {
+  public Quad(){
+    this.motors = new int[4];
+  }
+  
+  public void draw3d(){
+  }
+}

GroundStation/sketch.properties

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+mode.id=processing.mode.java.JavaMode
+mode=Java

MPUTeapot/MPUTeapot.pde

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+// I2C device class (I2Cdev) demonstration Processing sketch for MPU6050 DMP output
+// 6/20/2012 by Jeff Rowberg <jeff@rowberg.net>
+// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+//     2012-06-20 - initial release
+
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2012 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.
+===============================================
+*/
+
+import processing.serial.*;
+import processing.opengl.*;
+import toxi.geom.*;
+import toxi.processing.*;
+
+// NOTE: requires ToxicLibs to be installed in order to run properly.
+// 1. Download from http://toxiclibs.org/downloads
+// 2. Extract into [userdir]/Processing/libraries
+//    (location may be different on Mac/Linux)
+// 3. Run and bask in awesomeness
+
+ToxiclibsSupport gfx;
+
+Serial port;                         // The serial port
+char[] teapotPacket = new char[14];  // InvenSense Teapot packet
+int serialCount = 0;                 // current packet byte position
+int synced = 0;
+int interval = 0;
+
+float[] q = new float[4];
+Quaternion quat = new Quaternion(1, 0, 0, 0);
+
+float[] gravity = new float[3];
+float[] euler = new float[3];
+float[] ypr = new float[3];
+
+void setup() {
+    // 300px square viewport using OpenGL rendering
+    size(300, 300, OPENGL);
+    gfx = new ToxiclibsSupport(this);
+
+    // setup lights and antialiasing
+    lights();
+    smooth();
+  
+    // display serial port list for debugging/clarity
+    println(Serial.list());
+
+    // get the first available port (use EITHER this OR the specific port code below)
+    //String portName = Serial.list()[0];
+    
+    // get a specific serial port (use EITHER this OR the first-available code above)
+    String portName = "/dev/tty.wchusbserial410";
+    
+    // open the serial port
+    port = new Serial(this, portName, 115200);
+    
+    // send single character to trigger DMP init/start
+    // (expected by MPU6050_DMP6 example Arduino sketch)
+    port.write('r');
+}
+
+void draw() {
+    if (millis() - interval > 1000) {
+        // resend single character to trigger DMP init/start
+        // in case the MPU is halted/reset while applet is running
+        port.write('r');
+        interval = millis();
+    }
+    
+    // black background
+    background(0);
+    
+    // translate everything to the middle of the viewport
+    pushMatrix();
+    translate(width / 2, height / 2);
+
+    // 3-step rotation from yaw/pitch/roll angles (gimbal lock!)
+    // ...and other weirdness I haven't figured out yet
+    //rotateY(-ypr[0]);
+    //rotateZ(-ypr[1]);
+    //rotateX(-ypr[2]);
+
+    // toxiclibs direct angle/axis rotation from quaternion (NO gimbal lock!)
+    // (axis order [1, 3, 2] and inversion [-1, +1, +1] is a consequence of
+    // different coordinate system orientation assumptions between Processing
+    // and InvenSense DMP)
+    float[] axis = quat.toAxisAngle();
+    rotate(axis[0], -axis[1], axis[3], axis[2]);
+
+    // draw main body in red
+    fill(255, 0, 0, 200);
+    box(10, 10, 200);
+    
+    // draw front-facing tip in blue
+    fill(0, 0, 255, 200);
+    pushMatrix();
+    translate(0, 0, -120);
+    rotateX(PI/2);
+    drawCylinder(0, 20, 20, 8);
+    popMatrix();
+    
+    // draw wings and tail fin in green
+    fill(0, 255, 0, 200);
+    beginShape(TRIANGLES);
+    vertex(-100,  2, 30); vertex(0,  2, -80); vertex(100,  2, 30);  // wing top layer
+    vertex(-100, -2, 30); vertex(0, -2, -80); vertex(100, -2, 30);  // wing bottom layer
+    vertex(-2, 0, 98); vertex(-2, -30, 98); vertex(-2, 0, 70);  // tail left layer
+    vertex( 2, 0, 98); vertex( 2, -30, 98); vertex( 2, 0, 70);  // tail right layer
+    endShape();
+    beginShape(QUADS);
+    vertex(-100, 2, 30); vertex(-100, -2, 30); vertex(  0, -2, -80); vertex(  0, 2, -80);
+    vertex( 100, 2, 30); vertex( 100, -2, 30); vertex(  0, -2, -80); vertex(  0, 2, -80);
+    vertex(-100, 2, 30); vertex(-100, -2, 30); vertex(100, -2,  30); vertex(100, 2,  30);
+    vertex(-2,   0, 98); vertex(2,   0, 98); vertex(2, -30, 98); vertex(-2, -30, 98);
+    vertex(-2,   0, 98); vertex(2,   0, 98); vertex(2,   0, 70); vertex(-2,   0, 70);
+    vertex(-2, -30, 98); vertex(2, -30, 98); vertex(2,   0, 70); vertex(-2,   0, 70);
+    endShape();
+    
+    popMatrix();
+}
+
+void serialEvent(Serial port) {
+    interval = millis();
+    while (port.available() > 0) {
+        int ch = port.read();
+
+        if (synced == 0 && ch != '$') return;   // initial synchronization - also used to resync/realign if needed
+        synced = 1;
+        print ((char)ch);
+
+        if ((serialCount == 1 && ch != 2)
+            || (serialCount == 12 && ch != '\r')
+            || (serialCount == 13 && ch != '\n'))  {
+            serialCount = 0;
+            synced = 0;
+            return;
+        }
+
+        if (serialCount > 0 || ch == '$') {
+            teapotPacket[serialCount++] = (char)ch;
+            if (serialCount == 14) {
+                serialCount = 0; // restart packet byte position
+                
+                // get quaternion from data packet
+                q[0] = ((teapotPacket[2] << 8) | teapotPacket[3]) / 16384.0f;
+                q[1] = ((teapotPacket[4] << 8) | teapotPacket[5]) / 16384.0f;
+                q[2] = ((teapotPacket[6] << 8) | teapotPacket[7]) / 16384.0f;
+                q[3] = ((teapotPacket[8] << 8) | teapotPacket[9]) / 16384.0f;
+                for (int i = 0; i < 4; i++) if (q[i] >= 2) q[i] = -4 + q[i];
+                
+                // set our toxilibs quaternion to new data
+                quat.set(q[0], q[1], q[2], q[3]);
+
+                /*
+                // below calculations unnecessary for orientation only using toxilibs
+                
+                // calculate gravity vector
+                gravity[0] = 2 * (q[1]*q[3] - q[0]*q[2]);
+                gravity[1] = 2 * (q[0]*q[1] + q[2]*q[3]);
+                gravity[2] = q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3];
+    
+                // calculate Euler angles
+                euler[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
+                euler[1] = -asin(2*q[1]*q[3] + 2*q[0]*q[2]);
+                euler[2] = atan2(2*q[2]*q[3] - 2*q[0]*q[1], 2*q[0]*q[0] + 2*q[3]*q[3] - 1);
+    
+                // calculate yaw/pitch/roll angles
+                ypr[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
+                ypr[1] = atan(gravity[0] / sqrt(gravity[1]*gravity[1] + gravity[2]*gravity[2]));
+                ypr[2] = atan(gravity[1] / sqrt(gravity[0]*gravity[0] + gravity[2]*gravity[2]));
+    
+                // output various components for debugging
+                //println("q:\t" + round(q[0]*100.0f)/100.0f + "\t" + round(q[1]*100.0f)/100.0f + "\t" + round(q[2]*100.0f)/100.0f + "\t" + round(q[3]*100.0f)/100.0f);
+                //println("euler:\t" + euler[0]*180.0f/PI + "\t" + euler[1]*180.0f/PI + "\t" + euler[2]*180.0f/PI);
+                //println("ypr:\t" + ypr[0]*180.0f/PI + "\t" + ypr[1]*180.0f/PI + "\t" + ypr[2]*180.0f/PI);
+                */
+            }
+        }
+    }
+}
+
+void drawCylinder(float topRadius, float bottomRadius, float tall, int sides) {
+    float angle = 0;
+    float angleIncrement = TWO_PI / sides;
+    beginShape(QUAD_STRIP);
+    for (int i = 0; i < sides + 1; ++i) {
+        vertex(topRadius*cos(angle), 0, topRadius*sin(angle));
+        vertex(bottomRadius*cos(angle), tall, bottomRadius*sin(angle));
+        angle += angleIncrement;
+    }
+    endShape();
+    
+    // If it is not a cone, draw the circular top cap
+    if (topRadius != 0) {
+        angle = 0;
+        beginShape(TRIANGLE_FAN);
+        
+        // Center point
+        vertex(0, 0, 0);
+        for (int i = 0; i < sides + 1; i++) {
+            vertex(topRadius * cos(angle), 0, topRadius * sin(angle));
+            angle += angleIncrement;
+        }
+        endShape();
+    }
+  
+    // If it is not a cone, draw the circular bottom cap
+    if (bottomRadius != 0) {
+        angle = 0;
+        beginShape(TRIANGLE_FAN);
+    
+        // Center point
+        vertex(0, tall, 0);
+        for (int i = 0; i < sides + 1; i++) {
+            vertex(bottomRadius * cos(angle), tall, bottomRadius * sin(angle));
+            angle += angleIncrement;
+        }
+        endShape();
+    }
+}

working_jframe/sketch.properties

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+mode.id=processing.mode.java.JavaMode
+mode=Java

working_jframe/working_jframe.pde

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+import javax.swing.*;
+
+JFrame frame = new JFrame("Embedded PApplet");
+frame.setResizable(true);
+frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+PApplet embed = new PApplet();
+frame.add(embed);
+embed.init();
+while (embed.defaultSize&&!embed.finished)
+ try {Thread.sleep(5);} catch (Exception e) {}
+frame.pack();
+frame.setVisible(true);