From 19246227e62cee2a4b350f7ceb2d95aac817ed2e Mon Sep 17 00:00:00 2001 From: Paulo Rezeck Date: Thu, 6 Dec 2018 17:48:34 -0200 Subject: [PATCH] Initial commit with the espcopter firmware v1.1 --- Remotecopy/AndroidManifest.xml | 17 + Remotecopy/Data/Design3kart.mtl | 222 + Remotecopy/Data/Design3kart.obj | 482192 +++++++++++++++ Remotecopy/Data/Monospaced.bold-12.vlw | Bin 0 -> 23621 bytes Remotecopy/Data/Standard0757-48.vlw | Bin 0 -> 67611 bytes Remotecopy/Data/Thumbs.db | Bin 0 -> 18432 bytes Remotecopy/Data/Tunga-48.vlw | Bin 0 -> 96243 bytes Remotecopy/Data/camera_para.dat | Bin 0 -> 136 bytes Remotecopy/Data/drone5.jpg | Bin 0 -> 97944 bytes Remotecopy/Data/error.jpg | Bin 0 -> 67469 bytes Remotecopy/Data/espcopter | 17 + Remotecopy/Data/espcopterv1 | 17 + Remotecopy/Data/espcopterv2 | 5 + Remotecopy/Data/hiro.png | Bin 0 -> 1022 bytes Remotecopy/Data/mission.txt | 58 + Remotecopy/Data/mission2.txt | 17 + Remotecopy/Data/mission3.txt | 20 + Remotecopy/Data/missionBase.txt | 20 + Remotecopy/Data/patt.hiro | 196 + Remotecopy/Data/patt.kanji | 196 + Remotecopy/Data/patt.mete | 100 + Remotecopy/Data/picture.jpg | Bin 0 -> 1131122 bytes Remotecopy/Data/quad.mtl | 46 + Remotecopy/Data/quad.obj | 5908 + Remotecopy/Joystick.pde | 136 + Remotecopy/PID.pde | 247 + Remotecopy/Remotecopy.pde | 112 + .../Remotecopy5476843245156947273.autosave | 83 + Remotecopy/UI.pde | 274 + Remotecopy/autonomus.pde | 87 + Remotecopy/code/sketch.properties | 3 + Remotecopy/console.pde | 44 + Remotecopy/espcoopterv1.png | Bin 0 -> 463421 bytes Remotecopy/espcopterv2.png | Bin 0 -> 600295 bytes Remotecopy/getController.pde | 215 + Remotecopy/keyData.pde | 43 + Remotecopy/marker.pde | 1 + Remotecopy/myClientAvailable.pde | 98 + Remotecopy/opencv.pde | 338 + Remotecopy/points.pde | 60 + Remotecopy/positions.txt | 0 Remotecopy/sketch.properties | 2 + Remotecopy/startup.pde | 13 + Remotecopy/surface.pde | 9 + remXY9250/AHRS.cpp | 604 + remXY9250/AHRS.h | 103 + remXY9250/FlightControl.h | 179 + remXY9250/NeoPixel.h | 121 + remXY9250/PID.cpp | 183 + remXY9250/PID.h | 29 + remXY9250/PROCESSING.h | 326 + remXY9250/Parameter.h | 89 + remXY9250/REMOTEXY.h | 122 + remXY9250/VL53L0X.cpp | 1039 + remXY9250/VL53L0X.h | 176 + remXY9250/WEP_APP.h | 588 + remXY9250/desktop.ini | 4 + remXY9250/global.h | 136 + remXY9250/multiRanger.h | 140 + remXY9250/optical.h | 97 + remXY9250/otoMission.h | 121 + remXY9250/remXY9250.ino | 215 + remXY9250/vl5310x.h | 96 + 63 files changed, 495164 insertions(+) create mode 100644 Remotecopy/AndroidManifest.xml create mode 100644 Remotecopy/Data/Design3kart.mtl create mode 100644 Remotecopy/Data/Design3kart.obj create mode 100644 Remotecopy/Data/Monospaced.bold-12.vlw create mode 100644 Remotecopy/Data/Standard0757-48.vlw create mode 100644 Remotecopy/Data/Thumbs.db create mode 100644 Remotecopy/Data/Tunga-48.vlw create mode 100644 Remotecopy/Data/camera_para.dat create mode 100644 Remotecopy/Data/drone5.jpg create mode 100644 Remotecopy/Data/error.jpg create mode 100644 Remotecopy/Data/espcopter create mode 100644 Remotecopy/Data/espcopterv1 create mode 100644 Remotecopy/Data/espcopterv2 create mode 100644 Remotecopy/Data/hiro.png create mode 100644 Remotecopy/Data/mission.txt create mode 100644 Remotecopy/Data/mission2.txt create mode 100644 Remotecopy/Data/mission3.txt create mode 100644 Remotecopy/Data/missionBase.txt create mode 100644 Remotecopy/Data/patt.hiro create mode 100644 Remotecopy/Data/patt.kanji create mode 100644 Remotecopy/Data/patt.mete create mode 100644 Remotecopy/Data/picture.jpg create mode 100644 Remotecopy/Data/quad.mtl create mode 100644 Remotecopy/Data/quad.obj create mode 100644 Remotecopy/Joystick.pde create mode 100644 Remotecopy/PID.pde create mode 100644 Remotecopy/Remotecopy.pde create mode 100644 Remotecopy/Remotecopy5476843245156947273.autosave create mode 100644 Remotecopy/UI.pde create mode 100644 Remotecopy/autonomus.pde create mode 100644 Remotecopy/code/sketch.properties create mode 100644 Remotecopy/console.pde create mode 100644 Remotecopy/espcoopterv1.png create mode 100644 Remotecopy/espcopterv2.png create mode 100644 Remotecopy/getController.pde create mode 100644 Remotecopy/keyData.pde create mode 100644 Remotecopy/marker.pde create mode 100644 Remotecopy/myClientAvailable.pde create mode 100644 Remotecopy/opencv.pde create mode 100644 Remotecopy/points.pde create mode 100644 Remotecopy/positions.txt create mode 100644 Remotecopy/sketch.properties create mode 100644 Remotecopy/startup.pde create mode 100644 Remotecopy/surface.pde create mode 100644 remXY9250/AHRS.cpp create mode 100644 remXY9250/AHRS.h create mode 100644 remXY9250/FlightControl.h create mode 100644 remXY9250/NeoPixel.h create mode 100644 remXY9250/PID.cpp create mode 100644 remXY9250/PID.h create mode 100644 remXY9250/PROCESSING.h create mode 100644 remXY9250/Parameter.h create mode 100644 remXY9250/REMOTEXY.h create mode 100644 remXY9250/VL53L0X.cpp create mode 100644 remXY9250/VL53L0X.h create mode 100644 remXY9250/WEP_APP.h create mode 100644 remXY9250/desktop.ini create mode 100644 remXY9250/global.h create mode 100644 remXY9250/multiRanger.h create mode 100644 remXY9250/optical.h create mode 100644 remXY9250/otoMission.h create mode 100644 remXY9250/remXY9250.ino create mode 100644 remXY9250/vl5310x.h diff --git a/Remotecopy/AndroidManifest.xml b/Remotecopy/AndroidManifest.xml new file mode 100644 index 0000000..a6dc32c --- /dev/null +++ b/Remotecopy/AndroidManifest.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + diff --git a/Remotecopy/Data/Design3kart.mtl b/Remotecopy/Data/Design3kart.mtl new file mode 100644 index 0000000..055c11e --- /dev/null +++ b/Remotecopy/Data/Design3kart.mtl @@ -0,0 +1,222 @@ +# +# Material file +# Created by SpaceClaim +# + +newmtl mtl_0 +Kd 0.5607843 0.6862745 0.5607843 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 +d 0.5 + +newmtl mtl_1 +Kd 0 0 0 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_2 +Kd 1 1 0 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_3 +Kd 0.7529412 0.7529412 0.7529412 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_4 +Kd 0.9568627 0.8313726 0.2196078 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_5 +Kd 0 0.2509804 0.5019608 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_6 +Kd 0.6117647 0.627451 0.6352941 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_7 +Kd 0.5019608 0.5019608 0.5019608 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_8 +Kd 0.682353 0.682353 0.682353 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_9 +Kd 0.1176471 0.1176471 0.1176471 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_10 +Kd 0.6117647 0.6352941 0.6117647 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_11 +Kd 0.6352941 0.627451 0.6117647 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_12 +Kd 0.8823529 0.8823529 0.8823529 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + 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+Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_24 +Kd 0.6509804 0.6509804 0.6509804 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_25 +Kd 0.6862745 0.6588235 0.5607843 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_26 +Kd 0.6117647 0.6313726 0.6352941 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_27 +Kd 0.6078432 0.6078432 0.6078432 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_28 +Kd 0.6862745 0.6039216 0.5607843 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_29 +Kd 0.4196078 0.4156863 0.4156863 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 + +newmtl mtl_30 +Kd 0 0 0.2509804 +Ks 0.8 0.8 0.8 +Ka 0.2 0.2 0.2 +illum 2 +Ns 40 diff --git a/Remotecopy/Data/Design3kart.obj b/Remotecopy/Data/Design3kart.obj new file mode 100644 index 0000000..0576395 --- /dev/null +++ b/Remotecopy/Data/Design3kart.obj @@ -0,0 +1,482192 @@ +# +# Object file +# Created by SpaceClaim +# + +mtllib Design3kart.mtl + +# Design3kart\Surface +v 44.6166531663491 56.1089621380024 0 +v 44.7103204010221 56.3316511970375 0 +v 44.8138541158111 56.5499279428607 0 +v 44.7159875639493 56.329116828391 0 +v 52.8450617378328 49.7812873170453 0 +v 51.9427504704558 49.242832461955 0 +v 50.9532431380961 48.8893151449644 0 +v -13.1327403753858 -15.4054037014665 0 +v -13.4097314875912 -16.1368466277799 0 +v -13.7894808505482 -16.8206033476944 0 +v -13.4685494544138 -16.1095514404315 0 +v -20.0167455698084 48.9787453640611 0 +v -20.5053562233177 49.1720216269867 0 +v -20.9728691896188 49.4118709773582 0 +v -20.4932614260818 49.1987208591703 0 +v 44.9848390286781 -16.5901685196805 0 +v 44.7351282651563 -16.1059776127344 0 +v 44.5354747176912 -15.5990902873703 0 +v 44.7638417811248 -16.0929586310966 0 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vn 0 0 -1 +vt 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-41.7701156149049 -35.5396705739248 -1.21 +v -41.7831870527431 -35.6265439448562 -1.21 +v -41.7911502969699 -35.7140335545566 -1.21 +v -41.7939780324362 -35.8018393002472 -1.21 +v -41.7916605595758 -35.8896599947542 -1.21 +v -40.9640406874818 -35.0620401226601 -1.21 +v -41.0813368181957 -34.9441242576086 -1.21 +v -41.1980099574588 -34.8255919325416 -1.21 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vn 0 0 1 +vt 0.0185810561078372 -0.00149894151810603 +vt 0.018668904361893 -0.00149966906431324 +vt 0.0187566445417535 -0.00149525251563785 +vt 0.0188439756851456 -0.00148570702151915 +vt 0.0189305982328543 -0.00147106532446586 +vt 0.0190162150562563 -0.00145137764774438 +vt 0.019100532476517 -0.00142671152310518 +vt 0.0191832612719539 -0.00139715155913862 +vt 0.0192641176701112 -0.00136279915105448 +vt 0.0193428243211428 -0.00132377213288083 +vt 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22044/22044/22044 22067/22067/22067 +f 22044/22044/22044 22045/22045/22045 22067/22067/22067 +f 22067/22067/22067 22045/22045/22045 22046/22046/22046 +f 22067/22067/22067 22046/22046/22046 22071/22071/22071 +f 22071/22071/22071 22046/22046/22046 22047/22047/22047 +f 22071/22071/22071 22047/22047/22047 22048/22048/22048 +f 22049/22049/22049 22050/22050/22050 22048/22048/22048 +f 22048/22048/22048 22050/22050/22050 22051/22051/22051 +f 22048/22048/22048 22051/22051/22051 22071/22071/22071 +f 22053/22053/22053 22054/22054/22054 22070/22070/22070 +f 22070/22070/22070 22054/22054/22054 22056/22056/22056 +f 22070/22070/22070 22056/22056/22056 22057/22057/22057 +f 22054/22054/22054 22055/22055/22055 22056/22056/22056 +f 22057/22057/22057 22058/22058/22058 22070/22070/22070 +f 22070/22070/22070 22058/22058/22058 22066/22066/22066 +f 22058/22058/22058 22059/22059/22059 22066/22066/22066 +f 22066/22066/22066 22059/22059/22059 22060/22060/22060 +f 22066/22066/22066 22060/22060/22060 22065/22065/22065 + +# face 21 +f 22086/22086/22086 22072/22072/22072 22085/22085/22085 +f 22085/22085/22085 22072/22072/22072 22073/22073/22073 +f 22085/22085/22085 22073/22073/22073 22084/22084/22084 +f 22084/22084/22084 22073/22073/22073 22074/22074/22074 +f 22084/22084/22084 22074/22074/22074 22083/22083/22083 +f 22083/22083/22083 22074/22074/22074 22075/22075/22075 +f 22083/22083/22083 22075/22075/22075 22082/22082/22082 +f 22082/22082/22082 22075/22075/22075 22076/22076/22076 +f 22082/22082/22082 22076/22076/22076 22081/22081/22081 +f 22081/22081/22081 22076/22076/22076 22080/22080/22080 +f 22076/22076/22076 22077/22077/22077 22080/22080/22080 +f 22080/22080/22080 22077/22077/22077 22079/22079/22079 +f 22077/22077/22077 22078/22078/22078 22079/22079/22079 + +# face 22 +f 22087/22087/22087 22088/22088/22088 22101/22101/22101 +f 22101/22101/22101 22088/22088/22088 22100/22100/22100 +f 22088/22088/22088 22089/22089/22089 22100/22100/22100 +f 22100/22100/22100 22089/22089/22089 22099/22099/22099 +f 22089/22089/22089 22090/22090/22090 22099/22099/22099 +f 22099/22099/22099 22090/22090/22090 22091/22091/22091 +f 22099/22099/22099 22091/22091/22091 22098/22098/22098 +f 22098/22098/22098 22091/22091/22091 22092/22092/22092 +f 22098/22098/22098 22092/22092/22092 22097/22097/22097 +f 22097/22097/22097 22092/22092/22092 22093/22093/22093 +f 22097/22097/22097 22093/22093/22093 22096/22096/22096 +f 22096/22096/22096 22093/22093/22093 22094/22094/22094 +f 22096/22096/22096 22094/22094/22094 22095/22095/22095 + +# face 23 +f 22102/22102/22102 22103/22103/22103 22118/22118/22118 +f 22118/22118/22118 22103/22103/22103 22117/22117/22117 +f 22103/22103/22103 22104/22104/22104 22117/22117/22117 +f 22117/22117/22117 22104/22104/22104 22116/22116/22116 +f 22116/22116/22116 22104/22104/22104 22115/22115/22115 +f 22115/22115/22115 22104/22104/22104 22105/22105/22105 +f 22115/22115/22115 22105/22105/22105 22114/22114/22114 +f 22114/22114/22114 22105/22105/22105 22106/22106/22106 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22123/22123/22123 22124/22124/22124 22127/22127/22127 +f 22127/22127/22127 22124/22124/22124 22126/22126/22126 +f 22124/22124/22124 22125/22125/22125 22126/22126/22126 + +# face 25 +f 22134/22134/22134 22135/22135/22135 22150/22150/22150 +f 22150/22150/22150 22135/22135/22135 22149/22149/22149 +f 22135/22135/22135 22136/22136/22136 22149/22149/22149 +f 22149/22149/22149 22136/22136/22136 22148/22148/22148 +f 22148/22148/22148 22136/22136/22136 22147/22147/22147 +f 22147/22147/22147 22136/22136/22136 22137/22137/22137 +f 22147/22147/22147 22137/22137/22137 22146/22146/22146 +f 22146/22146/22146 22137/22137/22137 22138/22138/22138 +f 22146/22146/22146 22138/22138/22138 22145/22145/22145 +f 22145/22145/22145 22138/22138/22138 22144/22144/22144 +f 22138/22138/22138 22139/22139/22139 22144/22144/22144 +f 22144/22144/22144 22139/22139/22139 22143/22143/22143 +f 22143/22143/22143 22139/22139/22139 22142/22142/22142 +f 22142/22142/22142 22139/22139/22139 22140/22140/22140 +f 22142/22142/22142 22140/22140/22140 22141/22141/22141 + +# face 26 +f 22172/22172/22172 22151/22151/22151 22164/22164/22164 +f 22164/22164/22164 22151/22151/22151 22152/22152/22152 +f 22164/22164/22164 22152/22152/22152 22153/22153/22153 +f 22164/22164/22164 22153/22153/22153 22163/22163/22163 +f 22163/22163/22163 22153/22153/22153 22154/22154/22154 +f 22163/22163/22163 22154/22154/22154 22162/22162/22162 +f 22162/22162/22162 22154/22154/22154 22161/22161/22161 +f 22155/22155/22155 22156/22156/22156 22154/22154/22154 +f 22154/22154/22154 22156/22156/22156 22157/22157/22157 +f 22154/22154/22154 22157/22157/22157 22158/22158/22158 +f 22158/22158/22158 22159/22159/22159 22154/22154/22154 +f 22154/22154/22154 22159/22159/22159 22160/22160/22160 +f 22154/22154/22154 22160/22160/22160 22161/22161/22161 +f 22165/22165/22165 22166/22166/22166 22164/22164/22164 +f 22164/22164/22164 22166/22166/22166 22167/22167/22167 +f 22164/22164/22164 22167/22167/22167 22168/22168/22168 +f 22168/22168/22168 22169/22169/22169 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22677/22677/22677 22678/22678/22678 +f 22685/22685/22685 22678/22678/22678 22684/22684/22684 +f 22684/22684/22684 22678/22678/22678 22679/22679/22679 +f 22684/22684/22684 22679/22679/22679 22683/22683/22683 +f 22683/22683/22683 22679/22679/22679 22680/22680/22680 +f 22683/22683/22683 22680/22680/22680 22682/22682/22682 +f 22682/22682/22682 22680/22680/22680 22681/22681/22681 + +# face 17 +f 22689/22689/22689 22690/22690/22690 22703/22703/22703 +f 22703/22703/22703 22690/22690/22690 22702/22702/22702 +f 22690/22690/22690 22691/22691/22691 22702/22702/22702 +f 22702/22702/22702 22691/22691/22691 22701/22701/22701 +f 22701/22701/22701 22691/22691/22691 22700/22700/22700 +f 22700/22700/22700 22691/22691/22691 22692/22692/22692 +f 22700/22700/22700 22692/22692/22692 22699/22699/22699 +f 22699/22699/22699 22692/22692/22692 22693/22693/22693 +f 22699/22699/22699 22693/22693/22693 22698/22698/22698 +f 22698/22698/22698 22693/22693/22693 22694/22694/22694 +f 22698/22698/22698 22694/22694/22694 22697/22697/22697 +f 22697/22697/22697 22694/22694/22694 22696/22696/22696 +f 22694/22694/22694 22695/22695/22695 22696/22696/22696 + +# face 18 +f 22704/22704/22704 22705/22705/22705 22731/22731/22731 +f 22731/22731/22731 22705/22705/22705 22734/22734/22734 +f 22731/22731/22731 22734/22734/22734 22730/22730/22730 +f 22730/22730/22730 22734/22734/22734 22729/22729/22729 +f 22705/22705/22705 22706/22706/22706 22734/22734/22734 +f 22734/22734/22734 22706/22706/22706 22733/22733/22733 +f 22734/22734/22734 22733/22733/22733 22735/22735/22735 +f 22735/22735/22735 22733/22733/22733 22732/22732/22732 +f 22735/22735/22735 22732/22732/22732 22739/22739/22739 +f 22739/22739/22739 22732/22732/22732 22738/22738/22738 +f 22739/22739/22739 22738/22738/22738 22722/22722/22722 +f 22722/22722/22722 22738/22738/22738 22721/22721/22721 +f 22706/22706/22706 22707/22707/22707 22733/22733/22733 +f 22733/22733/22733 22707/22707/22707 22737/22737/22737 +f 22733/22733/22733 22737/22737/22737 22732/22732/22732 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22719/22719/22719 22717/22717/22717 +f 22717/22717/22717 22719/22719/22719 22720/22720/22720 +f 22717/22717/22717 22720/22720/22720 22740/22740/22740 +f 22722/22722/22722 22723/22723/22723 22739/22739/22739 +f 22739/22739/22739 22723/22723/22723 22725/22725/22725 +f 22739/22739/22739 22725/22725/22725 22726/22726/22726 +f 22723/22723/22723 22724/22724/22724 22725/22725/22725 +f 22726/22726/22726 22727/22727/22727 22739/22739/22739 +f 22739/22739/22739 22727/22727/22727 22735/22735/22735 +f 22727/22727/22727 22728/22728/22728 22735/22735/22735 +f 22735/22735/22735 22728/22728/22728 22729/22729/22729 +f 22735/22735/22735 22729/22729/22729 22734/22734/22734 + +# face 19 +f 22754/22754/22754 22741/22741/22741 22753/22753/22753 +f 22753/22753/22753 22741/22741/22741 22742/22742/22742 +f 22753/22753/22753 22742/22742/22742 22743/22743/22743 +f 22753/22753/22753 22743/22743/22743 22752/22752/22752 +f 22752/22752/22752 22743/22743/22743 22744/22744/22744 +f 22752/22752/22752 22744/22744/22744 22751/22751/22751 +f 22751/22751/22751 22744/22744/22744 22750/22750/22750 +f 22744/22744/22744 22745/22745/22745 22750/22750/22750 +f 22750/22750/22750 22745/22745/22745 22749/22749/22749 +f 22745/22745/22745 22746/22746/22746 22749/22749/22749 +f 22749/22749/22749 22746/22746/22746 22748/22748/22748 +f 22746/22746/22746 22747/22747/22747 22748/22748/22748 + +# face 20 +f 22755/22755/22755 22756/22756/22756 22782/22782/22782 +f 22782/22782/22782 22756/22756/22756 22785/22785/22785 +f 22782/22782/22782 22785/22785/22785 22781/22781/22781 +f 22781/22781/22781 22785/22785/22785 22780/22780/22780 +f 22756/22756/22756 22757/22757/22757 22785/22785/22785 +f 22785/22785/22785 22757/22757/22757 22784/22784/22784 +f 22785/22785/22785 22784/22784/22784 22786/22786/22786 +f 22786/22786/22786 22784/22784/22784 22783/22783/22783 +f 22786/22786/22786 22783/22783/22783 22790/22790/22790 +f 22790/22790/22790 22783/22783/22783 22789/22789/22789 +f 22790/22790/22790 22789/22789/22789 22773/22773/22773 +f 22773/22773/22773 22789/22789/22789 22772/22772/22772 +f 22757/22757/22757 22758/22758/22758 22784/22784/22784 +f 22784/22784/22784 22758/22758/22758 22788/22788/22788 +f 22784/22784/22784 22788/22788/22788 22783/22783/22783 +f 22783/22783/22783 22788/22788/22788 22787/22787/22787 +f 22783/22783/22783 22787/22787/22787 22789/22789/22789 +f 22789/22789/22789 22787/22787/22787 22791/22791/22791 +f 22789/22789/22789 22791/22791/22791 22772/22772/22772 +f 22772/22772/22772 22791/22791/22791 22771/22771/22771 +f 22758/22758/22758 22759/22759/22759 22788/22788/22788 +f 22788/22788/22788 22759/22759/22759 22762/22762/22762 +f 22788/22788/22788 22762/22762/22762 22763/22763/22763 +f 22759/22759/22759 22760/22760/22760 22762/22762/22762 +f 22762/22762/22762 22760/22760/22760 22761/22761/22761 +f 22763/22763/22763 22764/22764/22764 22788/22788/22788 +f 22788/22788/22788 22764/22764/22764 22787/22787/22787 +f 22764/22764/22764 22765/22765/22765 22787/22787/22787 +f 22787/22787/22787 22765/22765/22765 22766/22766/22766 +f 22787/22787/22787 22766/22766/22766 22791/22791/22791 +f 22791/22791/22791 22766/22766/22766 22767/22767/22767 +f 22791/22791/22791 22767/22767/22767 22768/22768/22768 +f 22769/22769/22769 22770/22770/22770 22768/22768/22768 +f 22768/22768/22768 22770/22770/22770 22771/22771/22771 +f 22768/22768/22768 22771/22771/22771 22791/22791/22791 +f 22773/22773/22773 22774/22774/22774 22790/22790/22790 +f 22790/22790/22790 22774/22774/22774 22776/22776/22776 +f 22790/22790/22790 22776/22776/22776 22777/22777/22777 +f 22774/22774/22774 22775/22775/22775 22776/22776/22776 +f 22777/22777/22777 22778/22778/22778 22790/22790/22790 +f 22790/22790/22790 22778/22778/22778 22786/22786/22786 +f 22778/22778/22778 22779/22779/22779 22786/22786/22786 +f 22786/22786/22786 22779/22779/22779 22780/22780/22780 +f 22786/22786/22786 22780/22780/22780 22785/22785/22785 + +# face 21 +f 22806/22806/22806 22792/22792/22792 22805/22805/22805 +f 22805/22805/22805 22792/22792/22792 22793/22793/22793 +f 22805/22805/22805 22793/22793/22793 22804/22804/22804 +f 22804/22804/22804 22793/22793/22793 22794/22794/22794 +f 22804/22804/22804 22794/22794/22794 22803/22803/22803 +f 22803/22803/22803 22794/22794/22794 22795/22795/22795 +f 22803/22803/22803 22795/22795/22795 22802/22802/22802 +f 22802/22802/22802 22795/22795/22795 22796/22796/22796 +f 22802/22802/22802 22796/22796/22796 22801/22801/22801 +f 22801/22801/22801 22796/22796/22796 22800/22800/22800 +f 22796/22796/22796 22797/22797/22797 22800/22800/22800 +f 22800/22800/22800 22797/22797/22797 22799/22799/22799 +f 22797/22797/22797 22798/22798/22798 22799/22799/22799 + +# face 22 +f 22807/22807/22807 22808/22808/22808 22821/22821/22821 +f 22821/22821/22821 22808/22808/22808 22820/22820/22820 +f 22808/22808/22808 22809/22809/22809 22820/22820/22820 +f 22820/22820/22820 22809/22809/22809 22819/22819/22819 +f 22809/22809/22809 22810/22810/22810 22819/22819/22819 +f 22819/22819/22819 22810/22810/22810 22811/22811/22811 +f 22819/22819/22819 22811/22811/22811 22818/22818/22818 +f 22818/22818/22818 22811/22811/22811 22812/22812/22812 +f 22818/22818/22818 22812/22812/22812 22817/22817/22817 +f 22817/22817/22817 22812/22812/22812 22813/22813/22813 +f 22817/22817/22817 22813/22813/22813 22816/22816/22816 +f 22816/22816/22816 22813/22813/22813 22814/22814/22814 +f 22816/22816/22816 22814/22814/22814 22815/22815/22815 + +# face 23 +f 22822/22822/22822 22823/22823/22823 22838/22838/22838 +f 22838/22838/22838 22823/22823/22823 22837/22837/22837 +f 22823/22823/22823 22824/22824/22824 22837/22837/22837 +f 22837/22837/22837 22824/22824/22824 22836/22836/22836 +f 22836/22836/22836 22824/22824/22824 22835/22835/22835 +f 22835/22835/22835 22824/22824/22824 22825/22825/22825 +f 22835/22835/22835 22825/22825/22825 22834/22834/22834 +f 22834/22834/22834 22825/22825/22825 22826/22826/22826 +f 22834/22834/22834 22826/22826/22826 22833/22833/22833 +f 22833/22833/22833 22826/22826/22826 22832/22832/22832 +f 22826/22826/22826 22827/22827/22827 22832/22832/22832 +f 22832/22832/22832 22827/22827/22827 22831/22831/22831 +f 22831/22831/22831 22827/22827/22827 22830/22830/22830 +f 22830/22830/22830 22827/22827/22827 22828/22828/22828 +f 22830/22830/22830 22828/22828/22828 22829/22829/22829 + +# face 24 +f 22853/22853/22853 22839/22839/22839 22852/22852/22852 +f 22852/22852/22852 22839/22839/22839 22840/22840/22840 +f 22852/22852/22852 22840/22840/22840 22851/22851/22851 +f 22851/22851/22851 22840/22840/22840 22841/22841/22841 +f 22851/22851/22851 22841/22841/22841 22850/22850/22850 +f 22850/22850/22850 22841/22841/22841 22842/22842/22842 +f 22850/22850/22850 22842/22842/22842 22849/22849/22849 +f 22849/22849/22849 22842/22842/22842 22843/22843/22843 +f 22849/22849/22849 22843/22843/22843 22848/22848/22848 +f 22848/22848/22848 22843/22843/22843 22847/22847/22847 +f 22843/22843/22843 22844/22844/22844 22847/22847/22847 +f 22847/22847/22847 22844/22844/22844 22846/22846/22846 +f 22844/22844/22844 22845/22845/22845 22846/22846/22846 + +# face 25 +f 22854/22854/22854 22855/22855/22855 22870/22870/22870 +f 22870/22870/22870 22855/22855/22855 22869/22869/22869 +f 22855/22855/22855 22856/22856/22856 22869/22869/22869 +f 22869/22869/22869 22856/22856/22856 22868/22868/22868 +f 22868/22868/22868 22856/22856/22856 22867/22867/22867 +f 22867/22867/22867 22856/22856/22856 22857/22857/22857 +f 22867/22867/22867 22857/22857/22857 22866/22866/22866 +f 22866/22866/22866 22857/22857/22857 22858/22858/22858 +f 22866/22866/22866 22858/22858/22858 22865/22865/22865 +f 22865/22865/22865 22858/22858/22858 22864/22864/22864 +f 22858/22858/22858 22859/22859/22859 22864/22864/22864 +f 22864/22864/22864 22859/22859/22859 22863/22863/22863 +f 22863/22863/22863 22859/22859/22859 22862/22862/22862 +f 22862/22862/22862 22859/22859/22859 22860/22860/22860 +f 22862/22862/22862 22860/22860/22860 22861/22861/22861 + +# face 26 +f 22892/22892/22892 22871/22871/22871 22884/22884/22884 +f 22884/22884/22884 22871/22871/22871 22872/22872/22872 +f 22884/22884/22884 22872/22872/22872 22873/22873/22873 +f 22884/22884/22884 22873/22873/22873 22883/22883/22883 +f 22883/22883/22883 22873/22873/22873 22874/22874/22874 +f 22883/22883/22883 22874/22874/22874 22882/22882/22882 +f 22882/22882/22882 22874/22874/22874 22881/22881/22881 +f 22875/22875/22875 22876/22876/22876 22874/22874/22874 +f 22874/22874/22874 22876/22876/22876 22877/22877/22877 +f 22874/22874/22874 22877/22877/22877 22878/22878/22878 +f 22878/22878/22878 22879/22879/22879 22874/22874/22874 +f 22874/22874/22874 22879/22879/22879 22880/22880/22880 +f 22874/22874/22874 22880/22880/22880 22881/22881/22881 +f 22885/22885/22885 22886/22886/22886 22884/22884/22884 +f 22884/22884/22884 22886/22886/22886 22887/22887/22887 +f 22884/22884/22884 22887/22887/22887 22888/22888/22888 +f 22888/22888/22888 22889/22889/22889 22884/22884/22884 +f 22884/22884/22884 22889/22889/22889 22890/22890/22890 +f 22884/22884/22884 22890/22890/22890 22891/22891/22891 +f 22891/22891/22891 22892/22892/22892 22884/22884/22884 + +# face 27 +f 22893/22893/22893 22894/22894/22894 22904/22904/22904 +f 22904/22904/22904 22894/22894/22894 22895/22895/22895 +f 22904/22904/22904 22895/22895/22895 22896/22896/22896 +f 22904/22904/22904 22896/22896/22896 22903/22903/22903 +f 22903/22903/22903 22896/22896/22896 22897/22897/22897 +f 22903/22903/22903 22897/22897/22897 22902/22902/22902 +f 22902/22902/22902 22897/22897/22897 22898/22898/22898 +f 22902/22902/22902 22898/22898/22898 22901/22901/22901 +f 22901/22901/22901 22898/22898/22898 22900/22900/22900 +f 22898/22898/22898 22899/22899/22899 22900/22900/22900 + +# face 28 +f 22905/22905/22905 22906/22906/22906 22916/22916/22916 +f 22916/22916/22916 22906/22906/22906 22907/22907/22907 +f 22916/22916/22916 22907/22907/22907 22908/22908/22908 +f 22916/22916/22916 22908/22908/22908 22915/22915/22915 +f 22915/22915/22915 22908/22908/22908 22909/22909/22909 +f 22915/22915/22915 22909/22909/22909 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101214/101214/101214 101215/101215/101215 101217/101217/101217 +f 101217/101217/101217 101215/101215/101215 101216/101216/101216 + +# face 2632 +f 101218/101218/101218 101219/101219/101219 101221/101221/101221 +f 101221/101221/101221 101219/101219/101219 101220/101220/101220 + +# face 2633 +f 101222/101222/101222 101223/101223/101223 101225/101225/101225 +f 101225/101225/101225 101223/101223/101223 101224/101224/101224 + +# face 2634 +f 101226/101226/101226 101227/101227/101227 101229/101229/101229 +f 101229/101229/101229 101227/101227/101227 101228/101228/101228 + +# face 2635 +f 101230/101230/101230 101231/101231/101231 101236/101236/101236 +f 101236/101236/101236 101231/101231/101231 101232/101232/101232 +f 101236/101236/101236 101232/101232/101232 101235/101235/101235 +f 101235/101235/101235 101232/101232/101232 101234/101234/101234 +f 101232/101232/101232 101233/101233/101233 101234/101234/101234 + +# face 2636 +f 101241/101241/101241 101237/101237/101237 101240/101240/101240 +f 101240/101240/101240 101237/101237/101237 101238/101238/101238 +f 101240/101240/101240 101238/101238/101238 101239/101239/101239 + +# face 2637 +f 101242/101242/101242 101243/101243/101243 101247/101247/101247 +f 101247/101247/101247 101243/101243/101243 101246/101246/101246 +f 101243/101243/101243 101244/101244/101244 101246/101246/101246 +f 101246/101246/101246 101244/101244/101244 101245/101245/101245 + +# face 2638 +f 101248/101248/101248 101249/101249/101249 101252/101252/101252 +f 101252/101252/101252 101249/101249/101249 101251/101251/101251 +f 101249/101249/101249 101250/101250/101250 101251/101251/101251 + +# face 2639 +f 101253/101253/101253 101254/101254/101254 101256/101256/101256 +f 101256/101256/101256 101254/101254/101254 101255/101255/101255 + +# face 2640 +f 101261/101261/101261 101257/101257/101257 101260/101260/101260 +f 101260/101260/101260 101257/101257/101257 101258/101258/101258 +f 101260/101260/101260 101258/101258/101258 101259/101259/101259 + +# face 2641 +f 101262/101262/101262 101263/101263/101263 101267/101267/101267 +f 101267/101267/101267 101263/101263/101263 101266/101266/101266 +f 101263/101263/101263 101264/101264/101264 101266/101266/101266 +f 101266/101266/101266 101264/101264/101264 101265/101265/101265 + +# face 2642 +f 101268/101268/101268 101269/101269/101269 101272/101272/101272 +f 101272/101272/101272 101269/101269/101269 101271/101271/101271 +f 101269/101269/101269 101270/101270/101270 101271/101271/101271 + +# face 2643 +f 101273/101273/101273 101274/101274/101274 101276/101276/101276 +f 101276/101276/101276 101274/101274/101274 101275/101275/101275 + +# face 2644 +f 101277/101277/101277 101278/101278/101278 101280/101280/101280 +f 101280/101280/101280 101278/101278/101278 101279/101279/101279 + +# face 2645 +f 101281/101281/101281 101282/101282/101282 101284/101284/101284 +f 101284/101284/101284 101282/101282/101282 101283/101283/101283 + +# face 2646 +f 101285/101285/101285 101286/101286/101286 101288/101288/101288 +f 101288/101288/101288 101286/101286/101286 101287/101287/101287 + +# face 2647 +f 101289/101289/101289 101290/101290/101290 101292/101292/101292 +f 101292/101292/101292 101290/101290/101290 101291/101291/101291 + +# face 2648 +f 101293/101293/101293 101294/101294/101294 101296/101296/101296 +f 101296/101296/101296 101294/101294/101294 101295/101295/101295 + +# face 2649 +f 101297/101297/101297 101298/101298/101298 101300/101300/101300 +f 101300/101300/101300 101298/101298/101298 101299/101299/101299 + +# face 2650 +f 101301/101301/101301 101302/101302/101302 101304/101304/101304 +f 101304/101304/101304 101302/101302/101302 101303/101303/101303 + +# face 2651 +f 101305/101305/101305 101306/101306/101306 101308/101308/101308 +f 101308/101308/101308 101306/101306/101306 101307/101307/101307 + +# face 2652 +f 101309/101309/101309 101310/101310/101310 101312/101312/101312 +f 101312/101312/101312 101310/101310/101310 101311/101311/101311 + +# face 2653 +f 101313/101313/101313 101314/101314/101314 101316/101316/101316 +f 101316/101316/101316 101314/101314/101314 101315/101315/101315 + +# face 2654 +f 101317/101317/101317 101318/101318/101318 101320/101320/101320 +f 101320/101320/101320 101318/101318/101318 101319/101319/101319 + +# face 2655 +f 101321/101321/101321 101322/101322/101322 101324/101324/101324 +f 101324/101324/101324 101322/101322/101322 101323/101323/101323 + +# face 2656 +f 101325/101325/101325 101326/101326/101326 101328/101328/101328 +f 101328/101328/101328 101326/101326/101326 101327/101327/101327 + +# face 2657 +f 101329/101329/101329 101330/101330/101330 101332/101332/101332 +f 101332/101332/101332 101330/101330/101330 101331/101331/101331 + +# face 2658 +f 101338/101338/101338 101333/101333/101333 101336/101336/101336 +f 101336/101336/101336 101333/101333/101333 101334/101334/101334 +f 101336/101336/101336 101334/101334/101334 101335/101335/101335 +f 101336/101336/101336 101337/101337/101337 101338/101338/101338 + +# face 2659 +f 101339/101339/101339 101340/101340/101340 101344/101344/101344 +f 101344/101344/101344 101340/101340/101340 101343/101343/101343 +f 101340/101340/101340 101341/101341/101341 101343/101343/101343 +f 101343/101343/101343 101341/101341/101341 101342/101342/101342 + +# face 2660 +f 101345/101345/101345 101346/101346/101346 101349/101349/101349 +f 101349/101349/101349 101346/101346/101346 101348/101348/101348 +f 101346/101346/101346 101347/101347/101347 101348/101348/101348 + +# face 2661 +f 101350/101350/101350 101351/101351/101351 101353/101353/101353 +f 101353/101353/101353 101351/101351/101351 101352/101352/101352 + +# face 2662 +f 101354/101354/101354 101355/101355/101355 101357/101357/101357 +f 101357/101357/101357 101355/101355/101355 101356/101356/101356 + +# face 2663 +f 101358/101358/101358 101359/101359/101359 101361/101361/101361 +f 101361/101361/101361 101359/101359/101359 101360/101360/101360 + +# face 2664 +f 101362/101362/101362 101363/101363/101363 101365/101365/101365 +f 101365/101365/101365 101363/101363/101363 101364/101364/101364 + +# face 2665 +f 101366/101366/101366 101367/101367/101367 101369/101369/101369 +f 101369/101369/101369 101367/101367/101367 101368/101368/101368 + +# face 2666 +f 101370/101370/101370 101371/101371/101371 101373/101373/101373 +f 101373/101373/101373 101371/101371/101371 101372/101372/101372 + +# face 2667 +f 101374/101374/101374 101375/101375/101375 101377/101377/101377 +f 101377/101377/101377 101375/101375/101375 101376/101376/101376 + +# face 2668 +f 101378/101378/101378 101379/101379/101379 101381/101381/101381 +f 101381/101381/101381 101379/101379/101379 101380/101380/101380 + +# face 2669 +f 101382/101382/101382 101383/101383/101383 101385/101385/101385 +f 101385/101385/101385 101383/101383/101383 101384/101384/101384 + +# face 2670 +f 101386/101386/101386 101387/101387/101387 101390/101390/101390 +f 101390/101390/101390 101387/101387/101387 101388/101388/101388 +f 101390/101390/101390 101388/101388/101388 101389/101389/101389 + +# face 2671 +f 101395/101395/101395 101391/101391/101391 101394/101394/101394 +f 101394/101394/101394 101391/101391/101391 101392/101392/101392 +f 101394/101394/101394 101392/101392/101392 101393/101393/101393 + +# face 2672 +f 101396/101396/101396 101397/101397/101397 101401/101401/101401 +f 101401/101401/101401 101397/101397/101397 101400/101400/101400 +f 101397/101397/101397 101398/101398/101398 101400/101400/101400 +f 101400/101400/101400 101398/101398/101398 101399/101399/101399 + +# face 2673 +f 101402/101402/101402 101403/101403/101403 101406/101406/101406 +f 101406/101406/101406 101403/101403/101403 101405/101405/101405 +f 101403/101403/101403 101404/101404/101404 101405/101405/101405 + +# face 2674 +f 101407/101407/101407 101408/101408/101408 101410/101410/101410 +f 101410/101410/101410 101408/101408/101408 101409/101409/101409 + +# face 2675 +f 101411/101411/101411 101412/101412/101412 101414/101414/101414 +f 101414/101414/101414 101412/101412/101412 101413/101413/101413 + +# face 2676 +f 101415/101415/101415 101416/101416/101416 101418/101418/101418 +f 101418/101418/101418 101416/101416/101416 101417/101417/101417 + +# face 2677 +f 101419/101419/101419 101420/101420/101420 101422/101422/101422 +f 101422/101422/101422 101420/101420/101420 101421/101421/101421 + +# face 2678 +f 101423/101423/101423 101424/101424/101424 101426/101426/101426 +f 101426/101426/101426 101424/101424/101424 101425/101425/101425 + +# face 2679 +f 101427/101427/101427 101428/101428/101428 101430/101430/101430 +f 101430/101430/101430 101428/101428/101428 101429/101429/101429 + +# face 2680 +f 101431/101431/101431 101432/101432/101432 101434/101434/101434 +f 101434/101434/101434 101432/101432/101432 101433/101433/101433 + +# face 2681 +f 101435/101435/101435 101436/101436/101436 101438/101438/101438 +f 101438/101438/101438 101436/101436/101436 101437/101437/101437 + +# face 2682 +f 101439/101439/101439 101440/101440/101440 101442/101442/101442 +f 101442/101442/101442 101440/101440/101440 101441/101441/101441 + +# face 2683 +f 101443/101443/101443 101444/101444/101444 101446/101446/101446 +f 101446/101446/101446 101444/101444/101444 101445/101445/101445 + +# face 2684 +f 101447/101447/101447 101448/101448/101448 101450/101450/101450 +f 101450/101450/101450 101448/101448/101448 101449/101449/101449 + +# face 2685 +f 101451/101451/101451 101452/101452/101452 101454/101454/101454 +f 101454/101454/101454 101452/101452/101452 101453/101453/101453 + +# face 2686 +f 101459/101459/101459 101455/101455/101455 101458/101458/101458 +f 101458/101458/101458 101455/101455/101455 101456/101456/101456 +f 101458/101458/101458 101456/101456/101456 101457/101457/101457 + +# face 2687 +f 101460/101460/101460 101461/101461/101461 101465/101465/101465 +f 101465/101465/101465 101461/101461/101461 101464/101464/101464 +f 101461/101461/101461 101462/101462/101462 101464/101464/101464 +f 101464/101464/101464 101462/101462/101462 101463/101463/101463 + +# face 2688 +f 101466/101466/101466 101467/101467/101467 101470/101470/101470 +f 101470/101470/101470 101467/101467/101467 101469/101469/101469 +f 101467/101467/101467 101468/101468/101468 101469/101469/101469 + +# face 2689 +f 101471/101471/101471 101472/101472/101472 101474/101474/101474 +f 101474/101474/101474 101472/101472/101472 101473/101473/101473 + +# face 2690 +f 101475/101475/101475 101476/101476/101476 101478/101478/101478 +f 101478/101478/101478 101476/101476/101476 101477/101477/101477 + +# face 2691 +f 101479/101479/101479 101480/101480/101480 101483/101483/101483 +f 101483/101483/101483 101480/101480/101480 101482/101482/101482 +f 101480/101480/101480 101481/101481/101481 101482/101482/101482 + +# face 2692 +f 101484/101484/101484 101485/101485/101485 101487/101487/101487 +f 101487/101487/101487 101485/101485/101485 101486/101486/101486 + +# face 2693 +f 101488/101488/101488 101489/101489/101489 101491/101491/101491 +f 101491/101491/101491 101489/101489/101489 101490/101490/101490 + +# face 2694 +f 101492/101492/101492 101493/101493/101493 101495/101495/101495 +f 101495/101495/101495 101493/101493/101493 101494/101494/101494 + +# face 2695 +f 101496/101496/101496 101497/101497/101497 101499/101499/101499 +f 101499/101499/101499 101497/101497/101497 101498/101498/101498 + +# face 2696 +f 101500/101500/101500 101501/101501/101501 101503/101503/101503 +f 101503/101503/101503 101501/101501/101501 101502/101502/101502 + +# face 2697 +f 101504/101504/101504 101505/101505/101505 101507/101507/101507 +f 101507/101507/101507 101505/101505/101505 101506/101506/101506 + +# face 2698 +f 101508/101508/101508 101509/101509/101509 101511/101511/101511 +f 101511/101511/101511 101509/101509/101509 101510/101510/101510 + +# face 2699 +f 101512/101512/101512 101513/101513/101513 101515/101515/101515 +f 101515/101515/101515 101513/101513/101513 101514/101514/101514 + +# face 2700 +f 101516/101516/101516 101517/101517/101517 101519/101519/101519 +f 101519/101519/101519 101517/101517/101517 101518/101518/101518 + +# face 2701 +f 101520/101520/101520 101521/101521/101521 101523/101523/101523 +f 101523/101523/101523 101521/101521/101521 101522/101522/101522 + +# face 2702 +f 101524/101524/101524 101525/101525/101525 101527/101527/101527 +f 101527/101527/101527 101525/101525/101525 101526/101526/101526 + +# face 2703 +f 101528/101528/101528 101529/101529/101529 101531/101531/101531 +f 101531/101531/101531 101529/101529/101529 101530/101530/101530 + +# face 2704 +f 101532/101532/101532 101533/101533/101533 101535/101535/101535 +f 101535/101535/101535 101533/101533/101533 101534/101534/101534 + +# face 2705 +f 101536/101536/101536 101537/101537/101537 101539/101539/101539 +f 101539/101539/101539 101537/101537/101537 101538/101538/101538 + +# face 2706 +f 101540/101540/101540 101541/101541/101541 101543/101543/101543 +f 101543/101543/101543 101541/101541/101541 101542/101542/101542 + +# face 2707 +f 101544/101544/101544 101545/101545/101545 101547/101547/101547 +f 101547/101547/101547 101545/101545/101545 101546/101546/101546 + +# face 2708 +f 101548/101548/101548 101549/101549/101549 101551/101551/101551 +f 101551/101551/101551 101549/101549/101549 101550/101550/101550 + +# face 2709 +f 101552/101552/101552 101553/101553/101553 101555/101555/101555 +f 101555/101555/101555 101553/101553/101553 101554/101554/101554 + +# face 2710 +f 101556/101556/101556 101557/101557/101557 101559/101559/101559 +f 101559/101559/101559 101557/101557/101557 101558/101558/101558 + +# face 2711 +f 101564/101564/101564 101560/101560/101560 101563/101563/101563 +f 101563/101563/101563 101560/101560/101560 101561/101561/101561 +f 101563/101563/101563 101561/101561/101561 101562/101562/101562 + +# face 2712 +f 101565/101565/101565 101566/101566/101566 101570/101570/101570 +f 101570/101570/101570 101566/101566/101566 101569/101569/101569 +f 101566/101566/101566 101567/101567/101567 101569/101569/101569 +f 101569/101569/101569 101567/101567/101567 101568/101568/101568 + +# face 2713 +f 101571/101571/101571 101572/101572/101572 101575/101575/101575 +f 101575/101575/101575 101572/101572/101572 101574/101574/101574 +f 101572/101572/101572 101573/101573/101573 101574/101574/101574 + +# face 2714 +f 101576/101576/101576 101577/101577/101577 101579/101579/101579 +f 101579/101579/101579 101577/101577/101577 101578/101578/101578 + +# face 2715 +f 101580/101580/101580 101581/101581/101581 101583/101583/101583 +f 101583/101583/101583 101581/101581/101581 101582/101582/101582 + +# face 2716 +f 101584/101584/101584 101585/101585/101585 101587/101587/101587 +f 101587/101587/101587 101585/101585/101585 101586/101586/101586 + +# face 2717 +f 101588/101588/101588 101589/101589/101589 101591/101591/101591 +f 101591/101591/101591 101589/101589/101589 101590/101590/101590 + +# face 2718 +f 101592/101592/101592 101593/101593/101593 101595/101595/101595 +f 101595/101595/101595 101593/101593/101593 101594/101594/101594 + +# face 2719 +f 101596/101596/101596 101597/101597/101597 101599/101599/101599 +f 101599/101599/101599 101597/101597/101597 101598/101598/101598 + +# face 2720 +f 101600/101600/101600 101601/101601/101601 101603/101603/101603 +f 101603/101603/101603 101601/101601/101601 101602/101602/101602 + +# face 2721 +f 101604/101604/101604 101605/101605/101605 101607/101607/101607 +f 101607/101607/101607 101605/101605/101605 101606/101606/101606 + +# face 2722 +f 101608/101608/101608 101609/101609/101609 101611/101611/101611 +f 101611/101611/101611 101609/101609/101609 101610/101610/101610 + +# face 2723 +f 101612/101612/101612 101613/101613/101613 101615/101615/101615 +f 101615/101615/101615 101613/101613/101613 101614/101614/101614 + +# face 2724 +f 101616/101616/101616 101617/101617/101617 101619/101619/101619 +f 101619/101619/101619 101617/101617/101617 101618/101618/101618 + +# face 2725 +f 101620/101620/101620 101621/101621/101621 101623/101623/101623 +f 101623/101623/101623 101621/101621/101621 101622/101622/101622 + +# face 2726 +f 101624/101624/101624 101625/101625/101625 101627/101627/101627 +f 101627/101627/101627 101625/101625/101625 101626/101626/101626 + +# face 2727 +f 101628/101628/101628 101629/101629/101629 101631/101631/101631 +f 101631/101631/101631 101629/101629/101629 101630/101630/101630 + +# face 2728 +f 101632/101632/101632 101633/101633/101633 101635/101635/101635 +f 101635/101635/101635 101633/101633/101633 101634/101634/101634 + +# face 2729 +f 101636/101636/101636 101637/101637/101637 101639/101639/101639 +f 101639/101639/101639 101637/101637/101637 101638/101638/101638 + +# face 2730 +f 101640/101640/101640 101641/101641/101641 101643/101643/101643 +f 101643/101643/101643 101641/101641/101641 101642/101642/101642 + +# face 2731 +f 101644/101644/101644 101645/101645/101645 101647/101647/101647 +f 101647/101647/101647 101645/101645/101645 101646/101646/101646 + +# face 2732 +f 101652/101652/101652 101648/101648/101648 101651/101651/101651 +f 101651/101651/101651 101648/101648/101648 101649/101649/101649 +f 101651/101651/101651 101649/101649/101649 101650/101650/101650 + +# face 2733 +f 101653/101653/101653 101654/101654/101654 101658/101658/101658 +f 101658/101658/101658 101654/101654/101654 101657/101657/101657 +f 101654/101654/101654 101655/101655/101655 101657/101657/101657 +f 101657/101657/101657 101655/101655/101655 101656/101656/101656 + +# face 2734 +f 101659/101659/101659 101660/101660/101660 101662/101662/101662 +f 101662/101662/101662 101660/101660/101660 101661/101661/101661 + +# face 2735 +f 101663/101663/101663 101664/101664/101664 101666/101666/101666 +f 101666/101666/101666 101664/101664/101664 101665/101665/101665 + +# face 2736 +f 101667/101667/101667 101668/101668/101668 101670/101670/101670 +f 101670/101670/101670 101668/101668/101668 101669/101669/101669 + +# face 2737 +f 101671/101671/101671 101672/101672/101672 101674/101674/101674 +f 101674/101674/101674 101672/101672/101672 101673/101673/101673 + +# 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107997/107997/107997 + +# face 4244 +f 107999/107999/107999 108000/108000/108000 108002/108002/108002 +f 108002/108002/108002 108000/108000/108000 108001/108001/108001 + +# face 4245 +f 108003/108003/108003 108004/108004/108004 108006/108006/108006 +f 108006/108006/108006 108004/108004/108004 108005/108005/108005 + +# face 4246 +f 108007/108007/108007 108008/108008/108008 108010/108010/108010 +f 108010/108010/108010 108008/108008/108008 108009/108009/108009 + +# face 4247 +f 108011/108011/108011 108012/108012/108012 108014/108014/108014 +f 108014/108014/108014 108012/108012/108012 108013/108013/108013 + +# face 4248 +f 108015/108015/108015 108016/108016/108016 108018/108018/108018 +f 108018/108018/108018 108016/108016/108016 108017/108017/108017 + +# face 4249 +f 108019/108019/108019 108020/108020/108020 108022/108022/108022 +f 108022/108022/108022 108020/108020/108020 108021/108021/108021 + +# face 4250 +f 108023/108023/108023 108024/108024/108024 108026/108026/108026 +f 108026/108026/108026 108024/108024/108024 108025/108025/108025 + +# face 4251 +f 108027/108027/108027 108028/108028/108028 108030/108030/108030 +f 108030/108030/108030 108028/108028/108028 108029/108029/108029 + +# face 4252 +f 108031/108031/108031 108032/108032/108032 108034/108034/108034 +f 108034/108034/108034 108032/108032/108032 108033/108033/108033 + +# face 4253 +f 108035/108035/108035 108036/108036/108036 108038/108038/108038 +f 108038/108038/108038 108036/108036/108036 108037/108037/108037 + +# face 4254 +f 108043/108043/108043 108039/108039/108039 108042/108042/108042 +f 108042/108042/108042 108039/108039/108039 108040/108040/108040 +f 108042/108042/108042 108040/108040/108040 108041/108041/108041 + +# face 4255 +f 108044/108044/108044 108045/108045/108045 108049/108049/108049 +f 108049/108049/108049 108045/108045/108045 108048/108048/108048 +f 108045/108045/108045 108046/108046/108046 108048/108048/108048 +f 108048/108048/108048 108046/108046/108046 108047/108047/108047 + +# face 4256 +f 108050/108050/108050 108051/108051/108051 108054/108054/108054 +f 108054/108054/108054 108051/108051/108051 108053/108053/108053 +f 108051/108051/108051 108052/108052/108052 108053/108053/108053 + +# face 4257 +f 108055/108055/108055 108056/108056/108056 108058/108058/108058 +f 108058/108058/108058 108056/108056/108056 108057/108057/108057 + +# face 4258 +f 108059/108059/108059 108060/108060/108060 108062/108062/108062 +f 108062/108062/108062 108060/108060/108060 108061/108061/108061 + +# face 4259 +f 108063/108063/108063 108064/108064/108064 108066/108066/108066 +f 108066/108066/108066 108064/108064/108064 108065/108065/108065 + +# face 4260 +f 108067/108067/108067 108068/108068/108068 108070/108070/108070 +f 108070/108070/108070 108068/108068/108068 108069/108069/108069 + +# face 4261 +f 108071/108071/108071 108072/108072/108072 108074/108074/108074 +f 108074/108074/108074 108072/108072/108072 108073/108073/108073 + +# face 4262 +f 108075/108075/108075 108076/108076/108076 108078/108078/108078 +f 108078/108078/108078 108076/108076/108076 108077/108077/108077 + +# face 4263 +f 108083/108083/108083 108079/108079/108079 108082/108082/108082 +f 108082/108082/108082 108079/108079/108079 108080/108080/108080 +f 108082/108082/108082 108080/108080/108080 108081/108081/108081 + +# face 4264 +f 108084/108084/108084 108085/108085/108085 108089/108089/108089 +f 108089/108089/108089 108085/108085/108085 108088/108088/108088 +f 108085/108085/108085 108086/108086/108086 108088/108088/108088 +f 108088/108088/108088 108086/108086/108086 108087/108087/108087 + +# face 4265 +f 108090/108090/108090 108091/108091/108091 108094/108094/108094 +f 108094/108094/108094 108091/108091/108091 108093/108093/108093 +f 108091/108091/108091 108092/108092/108092 108093/108093/108093 + +# face 4266 +f 108095/108095/108095 108096/108096/108096 108098/108098/108098 +f 108098/108098/108098 108096/108096/108096 108097/108097/108097 + +# face 4267 +f 108099/108099/108099 108100/108100/108100 108102/108102/108102 +f 108102/108102/108102 108100/108100/108100 108101/108101/108101 + +# face 4268 +f 108103/108103/108103 108104/108104/108104 108106/108106/108106 +f 108106/108106/108106 108104/108104/108104 108105/108105/108105 + +# face 4269 +f 108107/108107/108107 108108/108108/108108 108110/108110/108110 +f 108110/108110/108110 108108/108108/108108 108109/108109/108109 + +# face 4270 +f 108111/108111/108111 108112/108112/108112 108114/108114/108114 +f 108114/108114/108114 108112/108112/108112 108113/108113/108113 + +# face 4271 +f 108115/108115/108115 108116/108116/108116 108118/108118/108118 +f 108118/108118/108118 108116/108116/108116 108117/108117/108117 + +# face 4272 +f 108119/108119/108119 108120/108120/108120 108122/108122/108122 +f 108122/108122/108122 108120/108120/108120 108121/108121/108121 + +# face 4273 +f 108123/108123/108123 108124/108124/108124 108126/108126/108126 +f 108126/108126/108126 108124/108124/108124 108125/108125/108125 + +# face 4274 +f 108127/108127/108127 108128/108128/108128 108130/108130/108130 +f 108130/108130/108130 108128/108128/108128 108129/108129/108129 + +# face 4275 +f 108131/108131/108131 108132/108132/108132 108134/108134/108134 +f 108134/108134/108134 108132/108132/108132 108133/108133/108133 + +# face 4276 +f 108135/108135/108135 108136/108136/108136 108138/108138/108138 +f 108138/108138/108138 108136/108136/108136 108137/108137/108137 + +# face 4277 +f 108139/108139/108139 108140/108140/108140 108142/108142/108142 +f 108142/108142/108142 108140/108140/108140 108141/108141/108141 + +# face 4278 +f 108143/108143/108143 108144/108144/108144 108146/108146/108146 +f 108146/108146/108146 108144/108144/108144 108145/108145/108145 + +# face 4279 +f 108147/108147/108147 108148/108148/108148 108150/108150/108150 +f 108150/108150/108150 108148/108148/108148 108149/108149/108149 + +# face 4280 +f 108151/108151/108151 108152/108152/108152 108154/108154/108154 +f 108154/108154/108154 108152/108152/108152 108153/108153/108153 + +# face 4281 +f 108155/108155/108155 108156/108156/108156 108158/108158/108158 +f 108158/108158/108158 108156/108156/108156 108157/108157/108157 + +# face 4282 +f 108159/108159/108159 108160/108160/108160 108163/108163/108163 +f 108163/108163/108163 108160/108160/108160 108161/108161/108161 +f 108163/108163/108163 108161/108161/108161 108162/108162/108162 + +# face 4283 +f 108164/108164/108164 108165/108165/108165 108167/108167/108167 +f 108167/108167/108167 108165/108165/108165 108166/108166/108166 + +# face 4284 +f 108168/108168/108168 108169/108169/108169 108171/108171/108171 +f 108171/108171/108171 108169/108169/108169 108170/108170/108170 + +# face 4285 +f 108172/108172/108172 108173/108173/108173 108175/108175/108175 +f 108175/108175/108175 108173/108173/108173 108174/108174/108174 + +# face 4286 +f 108176/108176/108176 108177/108177/108177 108179/108179/108179 +f 108179/108179/108179 108177/108177/108177 108178/108178/108178 + +# face 4287 +f 108180/108180/108180 108181/108181/108181 108183/108183/108183 +f 108183/108183/108183 108181/108181/108181 108182/108182/108182 + +# face 4288 +f 108184/108184/108184 108185/108185/108185 108187/108187/108187 +f 108187/108187/108187 108185/108185/108185 108186/108186/108186 + +# face 4289 +f 108188/108188/108188 108189/108189/108189 108192/108192/108192 +f 108192/108192/108192 108189/108189/108189 108190/108190/108190 +f 108192/108192/108192 108190/108190/108190 108191/108191/108191 + +# face 4290 +f 108193/108193/108193 108194/108194/108194 108196/108196/108196 +f 108196/108196/108196 108194/108194/108194 108195/108195/108195 + +# face 4291 +f 108197/108197/108197 108198/108198/108198 108200/108200/108200 +f 108200/108200/108200 108198/108198/108198 108199/108199/108199 + +# face 4292 +f 108201/108201/108201 108202/108202/108202 108204/108204/108204 +f 108204/108204/108204 108202/108202/108202 108203/108203/108203 + +# face 4293 +f 108205/108205/108205 108206/108206/108206 108208/108208/108208 +f 108208/108208/108208 108206/108206/108206 108207/108207/108207 + +# face 4294 +f 108213/108213/108213 108209/108209/108209 108212/108212/108212 +f 108212/108212/108212 108209/108209/108209 108210/108210/108210 +f 108212/108212/108212 108210/108210/108210 108211/108211/108211 + +# face 4295 +f 108214/108214/108214 108215/108215/108215 108219/108219/108219 +f 108219/108219/108219 108215/108215/108215 108218/108218/108218 +f 108215/108215/108215 108216/108216/108216 108218/108218/108218 +f 108218/108218/108218 108216/108216/108216 108217/108217/108217 + +# face 4296 +f 108220/108220/108220 108221/108221/108221 108224/108224/108224 +f 108224/108224/108224 108221/108221/108221 108223/108223/108223 +f 108221/108221/108221 108222/108222/108222 108223/108223/108223 + +# face 4297 +f 108225/108225/108225 108226/108226/108226 108228/108228/108228 +f 108228/108228/108228 108226/108226/108226 108227/108227/108227 + +# face 4298 +f 108229/108229/108229 108230/108230/108230 108232/108232/108232 +f 108232/108232/108232 108230/108230/108230 108231/108231/108231 + +# face 4299 +f 108233/108233/108233 108234/108234/108234 108236/108236/108236 +f 108236/108236/108236 108234/108234/108234 108235/108235/108235 + +# face 4300 +f 108237/108237/108237 108238/108238/108238 108240/108240/108240 +f 108240/108240/108240 108238/108238/108238 108239/108239/108239 + +# face 4301 +f 108241/108241/108241 108242/108242/108242 108244/108244/108244 +f 108244/108244/108244 108242/108242/108242 108243/108243/108243 + +# face 4302 +f 108245/108245/108245 108246/108246/108246 108249/108249/108249 +f 108249/108249/108249 108246/108246/108246 108247/108247/108247 +f 108249/108249/108249 108247/108247/108247 108248/108248/108248 + +# face 4303 +f 108250/108250/108250 108251/108251/108251 108253/108253/108253 +f 108253/108253/108253 108251/108251/108251 108252/108252/108252 + +# face 4304 +f 108254/108254/108254 108255/108255/108255 108257/108257/108257 +f 108257/108257/108257 108255/108255/108255 108256/108256/108256 + +# face 4305 +f 108258/108258/108258 108259/108259/108259 108261/108261/108261 +f 108261/108261/108261 108259/108259/108259 108260/108260/108260 + +# face 4306 +f 108262/108262/108262 108263/108263/108263 108265/108265/108265 +f 108265/108265/108265 108263/108263/108263 108264/108264/108264 + +# face 4307 +f 108266/108266/108266 108267/108267/108267 108269/108269/108269 +f 108269/108269/108269 108267/108267/108267 108268/108268/108268 + +# face 4308 +f 108270/108270/108270 108271/108271/108271 108273/108273/108273 +f 108273/108273/108273 108271/108271/108271 108272/108272/108272 + +# face 4309 +f 108274/108274/108274 108275/108275/108275 108277/108277/108277 +f 108277/108277/108277 108275/108275/108275 108276/108276/108276 + +# face 4310 +f 108278/108278/108278 108279/108279/108279 108281/108281/108281 +f 108281/108281/108281 108279/108279/108279 108280/108280/108280 + +# face 4311 +f 108282/108282/108282 108283/108283/108283 108285/108285/108285 +f 108285/108285/108285 108283/108283/108283 108284/108284/108284 + +# face 4312 +f 108286/108286/108286 108287/108287/108287 108289/108289/108289 +f 108289/108289/108289 108287/108287/108287 108288/108288/108288 + +# face 4313 +f 108294/108294/108294 108290/108290/108290 108293/108293/108293 +f 108293/108293/108293 108290/108290/108290 108291/108291/108291 +f 108293/108293/108293 108291/108291/108291 108292/108292/108292 + +# face 4314 +f 108295/108295/108295 108296/108296/108296 108300/108300/108300 +f 108300/108300/108300 108296/108296/108296 108299/108299/108299 +f 108296/108296/108296 108297/108297/108297 108299/108299/108299 +f 108299/108299/108299 108297/108297/108297 108298/108298/108298 + +# face 4315 +f 108301/108301/108301 108302/108302/108302 108305/108305/108305 +f 108305/108305/108305 108302/108302/108302 108304/108304/108304 +f 108302/108302/108302 108303/108303/108303 108304/108304/108304 + +# face 4316 +f 108306/108306/108306 108307/108307/108307 108309/108309/108309 +f 108309/108309/108309 108307/108307/108307 108308/108308/108308 + +# face 4317 +f 108310/108310/108310 108311/108311/108311 108314/108314/108314 +f 108314/108314/108314 108311/108311/108311 108312/108312/108312 +f 108314/108314/108314 108312/108312/108312 108313/108313/108313 + +# face 4318 +f 108315/108315/108315 108316/108316/108316 108318/108318/108318 +f 108318/108318/108318 108316/108316/108316 108317/108317/108317 + +# face 4319 +f 108323/108323/108323 108319/108319/108319 108322/108322/108322 +f 108322/108322/108322 108319/108319/108319 108320/108320/108320 +f 108322/108322/108322 108320/108320/108320 108321/108321/108321 + +# face 4320 +f 108324/108324/108324 108325/108325/108325 108329/108329/108329 +f 108329/108329/108329 108325/108325/108325 108328/108328/108328 +f 108325/108325/108325 108326/108326/108326 108328/108328/108328 +f 108328/108328/108328 108326/108326/108326 108327/108327/108327 + +# face 4321 +f 108330/108330/108330 108331/108331/108331 108334/108334/108334 +f 108334/108334/108334 108331/108331/108331 108333/108333/108333 +f 108331/108331/108331 108332/108332/108332 108333/108333/108333 + +# face 4322 +f 108335/108335/108335 108336/108336/108336 108338/108338/108338 +f 108338/108338/108338 108336/108336/108336 108337/108337/108337 + +# face 4323 +f 108339/108339/108339 108340/108340/108340 108342/108342/108342 +f 108342/108342/108342 108340/108340/108340 108341/108341/108341 + +# face 4324 +f 108343/108343/108343 108344/108344/108344 108346/108346/108346 +f 108346/108346/108346 108344/108344/108344 108345/108345/108345 + +# face 4325 +f 108347/108347/108347 108348/108348/108348 108350/108350/108350 +f 108350/108350/108350 108348/108348/108348 108349/108349/108349 + +# face 4326 +f 108351/108351/108351 108352/108352/108352 108354/108354/108354 +f 108354/108354/108354 108352/108352/108352 108353/108353/108353 + +# face 4327 +f 108355/108355/108355 108356/108356/108356 108358/108358/108358 +f 108358/108358/108358 108356/108356/108356 108357/108357/108357 + +# face 4328 +f 108359/108359/108359 108360/108360/108360 108362/108362/108362 +f 108362/108362/108362 108360/108360/108360 108361/108361/108361 + +# face 4329 +f 108363/108363/108363 108364/108364/108364 108366/108366/108366 +f 108366/108366/108366 108364/108364/108364 108365/108365/108365 + +# face 4330 +f 108367/108367/108367 108368/108368/108368 108370/108370/108370 +f 108370/108370/108370 108368/108368/108368 108369/108369/108369 + +# face 4331 +f 108371/108371/108371 108372/108372/108372 108374/108374/108374 +f 108374/108374/108374 108372/108372/108372 108373/108373/108373 + +# face 4332 +f 108375/108375/108375 108376/108376/108376 108378/108378/108378 +f 108378/108378/108378 108376/108376/108376 108377/108377/108377 + +# face 4333 +f 108379/108379/108379 108380/108380/108380 108382/108382/108382 +f 108382/108382/108382 108380/108380/108380 108381/108381/108381 + +# face 4334 +f 108383/108383/108383 108384/108384/108384 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+float joyDisplayCenterY; //Joystick displayed Center Y + +Textlabel joystickLabel; + +int windowX, windowY; + +int getCenterLocation; +int getCenterX; +int getCenterY; + +int isMouseTrackingFirst =1; +void setupJoystick(int centerx, int centery) +{ + joyDisplayCenterX = centerx; + joyDisplayCenterY = centery; + curJoyDisplayWidth = maxJoyRange * .85; + curJoyDisplayHeight = curJoyDisplayWidth; + maxJoyRange = curJoyDisplayWidth / 2; + + joystickLabel = cp5.addTextlabel("label") + .setText("Joystick") + .setPosition(joyDisplayCenterX - 25, joyDisplayCenterY + maxJoyRange + 5) + .setFont(font) + ; +} + +void joystickDraw() +{ + + float dx = mouseX - joyDisplayCenterX; + float dy = mouseY - joyDisplayCenterY; + + if ((mouseButton == LEFT) && dist(mouseX, mouseY, joyDisplayCenterX, joyDisplayCenterY) <= 50 ) { + isMouseTracking = true; + x_axis = 0; + y_axis = 0; + } + else { + if ((mouseButton == RIGHT)) + isMouseTracking = false; + } + + if (isMouseTracking == true) + { + curJoyAngle = atan2(dy, dx); + curJoyRange = dist(mouseX, mouseY, joyDisplayCenterX, joyDisplayCenterY); + + MouseInfo.getPointerInfo(); + Point pt = MouseInfo.getPointerInfo().getLocation(); + int absMouseX = (int)pt.getX(); + int absMouseY = (int)pt.getY(); + + // println("absMouseX = " + absMouseX ); + if(getCenterLocation == 1){ + getCenterX= absMouseX; + getCenterY= absMouseY; + getCenterLocation =0; + } + //absMouseX = constrain(absMouseX ,round(getCenterX)-100,round(getCenterX)+100); + // absMouseY = constrain(absMouseY ,round(getCenterY)-100,round(getCenterY)+100); + + absMouseX = constrain(absMouseX ,820-100,820+100); + absMouseY = constrain(absMouseY ,730-100,730+100); + + + if(isMouseTrackingFirst < 10){ + absMouseX = 820; + absMouseY =730; + isMouseTrackingFirst++; + } + + rbt.mouseMove(absMouseX, absMouseY); + + + + + }else { + getCenterLocation =1; + curJoyRange = 0; + isMouseTrackingFirst=1; + } + + noStroke(); + fill(2, 52, 77); + ellipse(joyDisplayCenterX, joyDisplayCenterY, curJoyDisplayHeight, curJoyDisplayWidth); + + joystickButton(joyDisplayCenterX, joyDisplayCenterY, curJoyAngle); + y = (joyOutputRange*(cos(curJoyAngle) * curJoyRange)/ maxJoyRange); + x = (joyOutputRange*(-(sin(curJoyAngle) * curJoyRange)/maxJoyRange)); + +} + +void joystickButton(float x, float y, float a) +{ + + pushMatrix(); + translate(x-x_axis, y+y_axis); + rotate(a); + + if (curJoyRange > maxJoyRange) + curJoyRange = maxJoyRange; + + if (isMouseTracking) { + fill(0, 180, 234); + } + else { + fill(1, 108, 158); + } + ellipse(curJoyRange * 0.5, 0, maxJoyRange * 1.5, maxJoyRange * 1.5); + + popMatrix(); +} +void mouseWheel(MouseEvent event) { + int e = event.getCount(); + if(e == 1 && throttleValue > 0 ){ + knobTurretRotation.setValue(throttleValue = throttleValue - 5); + }if(e == -1 && throttleValue < 100) { + knobTurretRotation.setValue(throttleValue = throttleValue + 5); + } + + +} \ No newline at end of file diff --git a/Remotecopy/PID.pde b/Remotecopy/PID.pde new file mode 100644 index 0000000..804a0d5 --- /dev/null +++ b/Remotecopy/PID.pde @@ -0,0 +1,247 @@ + +long previousMillis = 0; +long interval = 200; + + +float[] output={0.0,0.0}; +float[] output_={0.0,0.0}; +boolean autoFly= false; +boolean autoOff = false; +float dt1; + +float timenow; +float timeprev; + +float[] P ={0.0,0.0}; +float[] I ={0.0,0.0}; +float[] D ={0.0,0.0}; + +float KPO = 0.1; +float KIO = 0.06; +float KDO = 0.08; + +float KIO_; + +int whichis; +/* + +float KPO = 0.1; +float KIO = 0.05; +float KDO = 0.12; + +float KPO = 0.1; +float KIO = 0.08;//100 +float KDO = 0.1; + +float KPO = 0.12; +float KIO = 0.012; +float KDO = 0.08; +*/ +int limitUp = 30; +int limitDown = -30; +float[] motionFactor ={0.0,0.0}; +float[] error ={0.0,0.0}; +float[] error_ ={0.0,0.0}; +float[] delta ={0.0,0.0}; +float[] delta_ ={0.0,0.0}; +float[] ITERM ={0.0,0.0}; +float[] cordinate ={50,50}; + +int missionPoint = 1; +int rangeDrone =6; +long previousMillisDrone = 0; + +int controlPid =0; +int missionPointCount=0; + +int timerPID=0; + +void pid(float xAxis_1, float yAxis_1, int whichis){ + + text((int)round(output[1]) +","+ (int)round(output[0]), 770, 125+whichis*10); + + text((int)round(cordinate[1]) +","+ (int)round(cordinate[0]), 770, 175+whichis*10); + + + if(autoFly==true ){ + long currentMillis = millis(); + float[] Axis_={yAxis_1 , xAxis_1}; + + if( points.size() > missionPoint){ + cordinate[1] = map(points.get(missionPoint).getX(),0,640,0,100); + cordinate[0] = map(points.get(missionPoint).getY(),0,480,0,100); + } + if(Axis_[0] - cordinate[0] < rangeDrone && Axis_[0] - cordinate[0] > -rangeDrone && Axis_[1] - cordinate[1] < rangeDrone && Axis_[1] - cordinate[1] > -rangeDrone ){ + + }else{ + previousMillisDrone = currentMillis; + } + + + // println("currentMillis " + currentMillis ); + + + if( points.size() > missionPoint){ + + points.get(missionPoint).setCollor(1); + if( (currentMillis - previousMillisDrone) > points.get(missionPoint).getTiming() && missionPoint < points.size() ){ + if(missionPointCount ==0){ + points.get(missionPoint).setCollor(2); + missionPoint++; + missionPointCount =1; + } + }else{ + missionPointCount =0; + } + } + +// print("missionPoint " + missionPoint ); + // print(" xaxis " + (Axis_[0] - cordinate[0]) ); + //println(" yaxis " + (Axis_[1] - cordinate[1]) ); + + + if(currentMillis - previousMillis >= interval && autoFly==true ){ + previousMillis = currentMillis; + + + + timenow = millis(); + dt1 = (timenow - timeprev)/1000; + timeprev = timenow; + + for(int i = 0 ; i < 2 ; i++ ){ + + error[i] = 10*(Axis_[i] - cordinate[i]); + + // error[i] = constrain(error[i],-400,400); + + P[i] = error[i] * KPO; + + ITERM[i] += error[i] * (float)dt1; + + ITERM[i] = constrain(ITERM[i], -10000, 10000); + + + if(KIO != KIO_){ + ITERM[0] = (ITERM[0]*KIO_)/KIO; + ITERM[1] = (ITERM[1]*KIO_)/KIO; + } + KIO_ = KIO; + + + I[i] = ITERM[i] * KIO; + + + + delta[i] = (error[i] - error_[i]) / (float)dt1; + error_[i] = error[i]; + + //delta[i] = 0.6 * (float)delta[i] + (1. - 0.6) * (float)delta_[i]; + + //delta_[i] = delta[i]; + + D[i] = KDO * delta[i]; + + + + output[i] = P[i] + I[i]+ D[i]; + + //output[i] = 0.75 * (float)output[i] + (1 - 0.75) * (float)output_[i]; + // output_[i] = output[i]; + + /* + if(controlPid == 0){ + output[i] = 0; + P[i] =0; + D[i] =0; + I[i] =0; + if(i ==1){ + controlPid = 1; + } + } + */ + /* + if(controlPid == 1){ + output[i] = 0.95 * (float)output[i] + (1 - 0.95) * (float)output_[i]; + output_[i] = output[i]; + }*/ + + if( i == 0){ + timerPID = timerPID+1; + print("mission " + missionPoint ); + println(" I = " + I[i] +" D = " + D[i] +" P = " + P[i] + " dt " + dt1); + } + + } + /* + if(timerPID > 150 ){ + if(Axis_[0] - cordinate[0] < rangeDrone && Axis_[0] - cordinate[0] > -rangeDrone && Axis_[1] - cordinate[1] < rangeDrone && Axis_[1] - cordinate[1] > -rangeDrone ){ + + }else{ + controlPid = 1; + /// KPO = 0.08; + // KIO = 0.02; + // KDO = 0.06; + print("NEW PID..............." ); + } + }*/ + + + + + + command = (200+ (int)round(output[1])) + "," + (200 - (int)output[0] ) + "," + qx +","+ int((8*throttle)+round(Ticks3Value) )+ "." ; + // println("from client: " + command); + myClient.write(command); + autoOff = true; + } + }else { + for(int i = 0 ; i < 2 ; i++ ){ + motionFactor[i] = 0; + error[i]= 0; + error_[i]= 0; + delta[i]= 0; + ITERM[i]=0; + output[i] = 0; + } + timerPID =0; + controlPid =0; + if(autoOff == true){ + command = 200+ "," + 200 + "," + qx +","+ int((8*throttle)+round(Ticks3Value) )+ "." ; + println("from client: " + command); + myClient.write(command); + autoOff = false; + } + } + + +} + +/* + + + + + for(int i = 0 ; i < 2 ; i++ ){ + timenow[i] = millis(); + dt1[i] = (timenow[i] - timeprev[i])/1000; + timeprev[i] = timenow[i]; + + error[i] = 10*(Axis_[i]-50); + + ITERM[i] += error[i] * dt1[i]; + //text(ITERM[1], 770, 150); + // Calculate I-term + ITERM[i] = constrain(ITERM[i], -900, 900); + + timenow2[i] = millis(); + dt2[i] = (float)(timenow2[i] - timeprev2[i])/1000; + timeprev2[i] = timenow2[i]; + + delta[i] = ((error[i] - error_[i])/dt2[i]); + error_[i] = error[i]; + + output[i] = error[i] * kp[i] + ki[i] * ITERM[i] - delta[i]*kd[i]; // Calculate P-term + output[i] = constrain(output[i], -1000, 1000); + } + */ \ No newline at end of file diff --git a/Remotecopy/Remotecopy.pde b/Remotecopy/Remotecopy.pde new file mode 100644 index 0000000..7f55c3c --- /dev/null +++ b/Remotecopy/Remotecopy.pde @@ -0,0 +1,112 @@ +import controlP5.*; +import processing.net.*; +import java.awt.Robot; +import java.awt.Point; +import java.awt.MouseInfo; + +Robot rbt; + +Client myClient; +Client myClient_1; +Client myClient_2; +Client myClient_3; + +int XAxisBase; +int YAxisBase; +int qxBase; +int sxBase; +int Ticks2ValueBase; +int Ticks1ValueBase; +int Ticks4ValueBase; +int boundRateBase; +int bn = 1; +String textValue = ""; +boolean isMoving = false; +int throttleValue = 0; +boolean ifConsole= false; +boolean ifVideo= false; +boolean ifMission= true; +String missionName= "missionBase.txt"; + +int droneNum = 1; + +PrintWriter outputPs; + + + void settings() { + size(1700, 800,P3D); + } + + +void setup() { + background(0); + + connectDrone(); + + + if(ifConsole)consoleinit(); + if(ifVideo)opencCvinit(); + setupUI(); + setupJoystick(220+xDegree, 575+yDegree); + + + try { + rbt = new Robot(); + } catch(Exception e) { + e.printStackTrace(); + } + + +} +// Default Response +String lastCommand = "M,0,0"; +String response = ""; +boolean start = false; + void draw() { +getSurface().setLocation(100,100); + startup(); + surface(); + if(ifConsole)getUserInput(); + if(ifVideo)openCvvideo(); + autonomus(); + if( (boundRateBase != boundRate) ){ + boundRateBase = boundRate; + command = 0 + "!" + 0 + "!"+ boundRate + "&"; + println("from client: " + command); + myClient.write(command); + } + int errorControl=5; + if( (XAxisBase-errorControl > XAxis) || (XAxisBase+errorControl < XAxis) || (YAxisBase-errorControl > YAxis) || (YAxisBase+errorControl < YAxis) || (qxBase != qx) || (throttle != sxBase) ){ //&& autoFly==false + println("from client: " + command); + myClient.write(command); + XAxisBase = XAxis; + YAxisBase = YAxis; + qxBase = qx; + sxBase = throttle ; + } + + if( (Ticks1ValueBase != Ticks1Value) || (Ticks2ValueBase != Ticks2Value) ||(Ticks4ValueBase != Ticks4Value)){ + Ticks2ValueBase = Ticks2Value; + Ticks1ValueBase = Ticks1Value; + Ticks4ValueBase = Ticks4Value; + command = Ticks1ValueBase + "+" + Ticks2ValueBase + "+"+ Ticks4ValueBase + "-"; + println("from client: " + command); + myClient.write(command); + } + + + if(keyPressed){ + keyData(); + } + joystickDraw(); + myClientAvaible(); + getController(); + } + + void connectDrone(){ + + myClient = new Client(this, "192.168.4.1", 80); + println(myClient.ip()); + } + + \ No newline at end of file diff --git a/Remotecopy/Remotecopy5476843245156947273.autosave b/Remotecopy/Remotecopy5476843245156947273.autosave new file mode 100644 index 0000000..53b1740 --- /dev/null +++ b/Remotecopy/Remotecopy5476843245156947273.autosave @@ -0,0 +1,83 @@ +import controlP5.*; +import processing.net.*; + +Client myClient; +Client myClient_1; +Client myClient_2; +Client myClient_3; + +int XAxisBase; +int YAxisBase; +int qxBase; +int sxBase; +int Ticks2ValueBase; +int Ticks1ValueBase; +int Ticks4ValueBase; +int boundRateBase; +int bn = 1; +String textValue = ""; +boolean isMoving = false; +int throttleValue = 0; +boolean ifConsole= false; +boolean ifVideo= true; +boolean ifMission= true; +String missionName= "mission2.txt"; + +PrintWriter outputPs; + +void setup() { + background(0); + size(1700, 800,P3D); + //orientation(LANDSCAPE);8 + //outputPs = createWriter("positions.txt"); + if(ifConsole)consoleinit(); + if(ifVideo)opencCvinit(); + setupUI(); + setupJoystick(220+xDegree, 575+yDegree); + myClient = new Client(this, "192.168.4.1", 80); + println(myClient.ip()); +} +// Default Response +String lastCommand = "M,0,0"; +String response = ""; +boolean start = false; + void draw() { + startup(); + surface(); + if(ifConsole)getUserInput(); + if(ifVideo)openCvvideo(); + autonomus(); + if( (boundRateBase != boundRate) ){ + boundRateBase = boundRate; + command = 0 + "!" + 0 + "!"+ boundRate + "&"; + println("from client: " + command); + myClient.write(command); + } + + if( ((XAxisBase != XAxis) || (YAxisBase != YAxis) || (qxBase != qx) || (throttle != sxBase) ) ){ //&& autoFly==false + println("from client: " + command); + myClient.write(command); + XAxisBase = XAxis; + YAxisBase = YAxis; + qxBase = qx; + sxBase = throttle ; + } + + if( (Ticks1ValueBase != Ticks1Value) || (Ticks2ValueBase != Ticks2Value) ||(Ticks4ValueBase != Ticks4Value)){ + Ticks2ValueBase = Ticks2Value; + Ticks1ValueBase = Ticks1Value; + Ticks4ValueBase = Ticks4Value; + command = Ticks1ValueBase + "+" + Ticks2ValueBase + "+"+ Ticks4ValueBase + "-"; + println("from client: " + command); + myClient.write(command); + } + + + if(keyPressed){ + keyData(); + } + joystickDraw(); + myClientAvaible(); + getController(); + } + \ No newline at end of file diff --git a/Remotecopy/UI.pde b/Remotecopy/UI.pde new file mode 100644 index 0000000..17dd28c --- /dev/null +++ b/Remotecopy/UI.pde @@ -0,0 +1,274 @@ + +ControlP5 cp5; + +CheckBox chkStatus; + +Toggle tgl1, tgl2, tgl3, tgl4, tgl12, tgl20, tgl21, tgl22,tgl23, tgl5; +Slider rudder,aileronTrim, elevatorTrim; +Textlabel lblConsole; +Textarea txtConsole; +Println console; +Chart myChart; +Slider2D sslider; +Knob knobTurretRotation; +DropdownList d1; + PFont pfont; + ControlFont font; + +int clorWheelweight = 30; +int clorWheelheight = 525;//525 + +int xDegree = 500; +int yDegree = 30; + +PImage img; +PShape quad; + +void setupUI() { + + pfont = loadFont("Standard0757-48.vlw"); // use true/false for smooth/no-smooth + font = new ControlFont(pfont, 10); + img = loadImage("drone5.jpg"); + quad = loadShape("Design3kart.obj"); + smooth(); + noStroke(); + + + // TODO, agregar area de radar, toggle de on off, joistick, toggle autonomo, toggle de sonido, toggle para luz frontal + cp5 = new ControlP5(this); + +sslider = cp5.addSlider2D("wave") + .setPosition(980+xDegree,490+yDegree) + .setSize(200,200) + .setMinMax(0,0,100,100) + .setValue(0,0) + //.disableCrosshair() + ; + + d1 = cp5.addDropdownList("myList-d1") + .setPosition(1550, 270) + .setSize(150,200) + ; + d1.setBackgroundColor(color(190)); + d1.setItemHeight(20); + d1.setBarHeight(15); + d1.getCaptionLabel().set("dropdown"); + // customize(d1); + + cp5.addButton("TakeCoordinat") + .setValue(0) + .setPosition(980+xDegree,715+yDegree) + .setSize(200,19) + ; + + cp5.addSlider("Time") + .setSize(20,245) + .setPosition(930+xDegree,475+yDegree) + .setRange(1000,10000) // values can range from big to small as well + .setNumberOfTickMarks(10) + .setSliderMode(Slider.FLEXIBLE) + .setValue(4) + ; + + cp5.addSlider("Atitute") + .setSize(20,245) + .setPosition(855+xDegree,475+yDegree) + .setRange(0,30) // values can range from big to small as well + .setNumberOfTickMarks(31) + .setSliderMode(Slider.FLEXIBLE) + .setValue(4) + ; + // On/Off + + tgl1 = cp5.addToggle("joystick") + .setPosition(770+xDegree,500+yDegree) + .setSize(50,20) + .setValue(true) + .setMode(ControlP5.SWITCH) + ; + + // Autonomous + tgl2 = cp5.addToggle("tglAuto") + .setCaptionLabel("AUTONOMOUS") + .setPosition(770+xDegree, 600+yDegree) + .setSize(60, 30) + .setValue(false); + + // Light + tgl5 = cp5.addToggle("tglLight") + .setCaptionLabel("LIGHT") + .setPosition(770+xDegree, 700+yDegree) + .setSize(60, 30) + .setValue(false); + + tgl3 = cp5.addToggle("Connect") + .setCaptionLabel("Connect") + .setPosition(220+xDegree, yDegree) + .setSize(60, 30) + .setValue(false); + + + knobTurretRotation = cp5.addKnob("Motor Power") + .setRange(0, 100) + .setValue(0) + .setPosition(450+xDegree, 490+yDegree) + .setRadius(60) + .setNumberOfTickMarks(50) + .setTickMarkLength(7) + .snapToTickMarks(true) + // .setColorForeground(color(255)) + // .setColorBackground(color(0, 160, 100)) + // .setColorActive(color(255,255,0)) + .setDragDirection(Knob.HORIZONTAL); + + + //ColorWheel + cp5.addColorWheel("colorWheel", clorWheelweight , clorWheelheight , 225 ).setRGB(color(128,0,255)); + noStroke(); + + + rudder= cp5.addSlider("slider") + .setPosition(415+xDegree,640+yDegree) + .setSize(200,20) + .setRange(-30,30) + .setValue(0) + .setSliderMode(Slider.FLEXIBLE) + ; + + + aileronTrim = cp5.addSlider("sliderTicks1") + .setSize(20,200) + .setPosition(60+xDegree,475+yDegree) + .setRange(-50,50) // values can range from big to small as well + .setNumberOfTickMarks(101) + .setSliderMode(Slider.FLEXIBLE) + .setValue(-4) + ; + + + elevatorTrim= cp5.addSlider("sliderTicks2") + .setSize(200,22) + .setPosition(117+xDegree,700+yDegree) + .setRange(-50,50) // values can range from big to small as well + .setNumberOfTickMarks(101) + .setSliderMode(Slider.FLEXIBLE) + .setValue(10) + ; + + elevatorTrim= cp5.addSlider("BoundRate") + .setSize(200,22) + .setPosition(200,440) + .setRange(500,0) // values can range from big to small as well + .setValue(500) + .setNumberOfTickMarks(11) + .setSliderMode(Slider.FLEXIBLE) + ; + tgl12 = cp5.addToggle("Take__Data") + .setPosition(40,440) + .setSize(50,20) + .setValue(true) + .setMode(ControlP5.SWITCH) + ; + + tgl20 = cp5.addToggle("ARM__DISARM") + .setPosition(850,525) + .setSize(50,20) + .setValue(false) + .setMode(ControlP5.SWITCH) + ; + + tgl21 = cp5.addToggle("Mode_1") + .setPosition(850,575) + .setSize(50,20) + .setValue(false) + .setMode(ControlP5.SWITCH) + ; + + tgl22 = cp5.addToggle("Mode_2") + .setPosition(850,625) + .setSize(50,20) + .setValue(false) + .setMode(ControlP5.SWITCH) + ; + + tgl23 = cp5.addToggle("Mode_3") + .setPosition(850,675) + .setSize(50,20) + .setValue(false) + .setMode(ControlP5.SWITCH) + ; + + /* + cp5.addSlider("mode") + .setSize(15,100) + .setPosition(367+xDegree,540+yDegree) + .setRange(0,5) // values can range from big to small as well + .setNumberOfTickMarks(6) + //.setSliderMode(Slider.FLEXIBLE) + .setValue(0) + ; */ + + + cp5.addSlider("sliderTicks3") + .setSize(20,200) + .setPosition(680+xDegree,475+yDegree) + .setRange(-30,30) // values can range from big to small as well + .setNumberOfTickMarks(31) + .setSliderMode(Slider.FLEXIBLE) + .setValue(4) + ; + + + cp5.addSlider("sliderTicks4") + .setSize(200,22) + .setPosition(415+xDegree,700+yDegree) + .setRange(-30,30) // values can range from big to small as well + .setValue(2) + .setNumberOfTickMarks(31) + .setSliderMode(Slider.FLEXIBLE) + ; + + myChart = cp5.addChart("dataflow") + .setPosition(-200+xDegree, yDegree+500) + .setSize(200, 100) + .setRange(-20, 20) + .setView(Chart.LINE) // use Chart.LINE, Chart.PIE, Chart.AREA, Chart.BAR_CENTERED + .setStrokeWeight(1.5) + .setColorCaptionLabel(color(40)) + ; + + cp5.addTextfield("textValue") + .setPosition(-200+xDegree,630+yDegree) + .setSize(200,40) + .setFont(createFont("arial",20)) + .setAutoClear(false) + ; + + cp5.addBang("clear") + .setPosition(-200+xDegree,700+yDegree) + .setSize(200,30) + .getCaptionLabel().align(ControlP5.CENTER, ControlP5.CENTER) + ; + + myChart.addDataSet("incoming"); + myChart.setData("incoming", new float[100]); + + + knobTurretRotation.getCaptionLabel(); + knobTurretRotation.getValueLabel(); + + +} +public void clear() { + cp5.get(Textfield.class,"textValue").clear(); +} +void controlEvent(ControlEvent theEvent) { + if(theEvent.isAssignableFrom(Textfield.class)) { + println(theEvent.getStringValue()); + myClient.write(theEvent.getStringValue()); + } +} +void colorWheel(int theValue) { + println("from client: " + command); + myClient.write(command); +} \ No newline at end of file diff --git a/Remotecopy/autonomus.pde b/Remotecopy/autonomus.pde new file mode 100644 index 0000000..0cdde1b --- /dev/null +++ b/Remotecopy/autonomus.pde @@ -0,0 +1,87 @@ + + + + +int pointerweight = 740; +int pointerHeight = 0; + +int[][] PointArray = new int[50][2]; +int pointerCounter = -1; + +int rangeOto = 5; + +ArrayList points = new ArrayList(); + + +void customize(DropdownList ddl) { // dropdownlist + // a convenience function to customize a DropdownList + pointerCounter = pointerCounter +1 ; + + + + + + if(pointerCounter == 1){ + points b; + PointArray[0+pointerCounter][0] = round(sslider.getArrayValue()[0]); + PointArray[0+pointerCounter][1] = round(sslider.getArrayValue()[1]); + b = new points(round(sslider.getArrayValue()[0]),round(sslider.getArrayValue()[1]), timing, pointerCounter,0); + points.add(b); + }else{ + points b; + int xAxis= constrain(round(sslider.getArrayValue()[0])-round(map(points.get(pointerCounter-2).getX(), 0, 640, 0,100)),-rangeOto,rangeOto) + round(map(points.get(pointerCounter-2).getX(), 0, 640, 0,100)); + int yAxis= constrain(round(sslider.getArrayValue()[1])-round(map(points.get(pointerCounter-2).getY(), 0, 480, 0,100)),-rangeOto,rangeOto) + round(map(points.get(pointerCounter-2).getY(), 0, 480, 0,100)); + PointArray[0+pointerCounter][0] = xAxis; + PointArray[0+pointerCounter][1] = yAxis; + b = new points(xAxis,yAxis, timing, pointerCounter,0); + points.add(b); + + } + + //println(round(sslider.getArrayValue()[0]) + " count " + pointerCounter + " point " + points.get(pointerCounter-1).getX() + " MAP " +round(map(points.get(pointerCounter-1).getX(), 0, 640, 0,100))); + + round(map(x, 0, 100, 0,640)); + + ddl.addItem("Point " +pointerCounter, pointerCounter); + ddl.setColorBackground(color(60)); + ddl.setColorActive(color(255, 128)); + +} +void autonomus(){ + + textSize(15); + fill(255, 0, 0); + rect(pointerweight+6.4*round(sslider.getArrayValue()[0]), 4.8*round(sslider.getArrayValue()[1])+pointerHeight, 40, 4, 10); + rect(pointerweight+18+6.4*round(sslider.getArrayValue()[0]), 4.8*round(sslider.getArrayValue()[1])+pointerHeight-18, 4, 40, 10); + text(sslider.getArrayValue()[0]+","+ sslider.getArrayValue()[1], (int) pointerweight+25 + round(6.4*round(sslider.getArrayValue()[0])), pointerHeight+25 + round(4.8*round(sslider.getArrayValue()[1]))); + + if(ifMission){ + String[] lines = loadStrings("missionBase.txt"); + println("there are " + lines.length + " lines"); + for (int i = 0 ; i < lines.length; i++) { + println(lines[i]); + int[] XYcor = int(split(lines[i], ' ')); + + points b; + b = new points(XYcor[0],XYcor[1], XYcor[2], XYcor[3], 0); + points.add(b); + + } + ifMission = false; +} + + + for (int i = 0; i1wOuPfI7%)$%8=EiMW?m=)l+59%@FOAP|Yy?H}-hJ)<88bn`}CN#4NE zd@C2zlda-oYudmAlRrK@7itc`WO?A)trC{8MQjzuUG?BbPz;4UQLb`c(G&)(e zjXRSXrSfx;rpK{&hGhbyt$cha(>KCTj+$iigiE!oCI_w;&j^|=oJV)um5wP1>*HpuqZqsZ=o-hsL4xz2&n(YbHm=5RucUz=oQ8yUl9I=^+Ig&3O{ zi#pmlLF5V;Bws7)cvf)K)4tk_x;CT`HJF*p+Hg|Q*ha${-*GH}%&Q^?=f+0|x;w|a zbJU`-obJ2WJIgyMsC$c2=m|j9Eg#4gl$WEc;fvI|>efXki%huSTon4?Yk62IDBwRF zRukRav?62kF7pte`1*BKi8LYH@PYlgE={K1^GUUu)(GMe63qZ7JQqvPX~lcVTX`uh5+ii)cGq~FdrHYA;$B`Ydsv&CG>-zw_J+`BhFSkdUb z5wJmX?!0lXyYQ|8g3kMdh4+cg6MCeQ>XgBw;g@g9^IFSW!!iq!qpIURmS?`t{G6Nl 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/dev/null +++ b/Remotecopy/getController.pde @@ -0,0 +1,215 @@ + +int throttle =0; +int Ticks2Value = 0; +int Ticks2ValueX = 0; +float Ticks3Value = 0; +int Ticks3ValueX = 0; +int Ticks4Value = 0; +int Ticks4ValueX = 0; +int Ticks1Value = 0; +int Ticks1ValueX = 0; +float q = 0; +int qx = 0; + +int motorPower; +String command; +int XAxis; +int YAxis; +int boundRate; + +int timing; + +void getController(){ + boundRate = round(cp5.getController("BoundRate").getValue()); + + throttle = round(cp5.getController("Motor Power").getValue()); + + Ticks4Value = round(cp5.getController("sliderTicks4").getValue()); + Ticks3Value = cp5.getController("sliderTicks3").getValue(); + + Ticks2Value = round(cp5.getController("sliderTicks1").getValue()); + Ticks1Value = round(cp5.getController("sliderTicks2").getValue()); + + Ticks1Value = round(map(Ticks1Value,-100,100, 0,200)); + Ticks2Value = round(map(Ticks2Value,-100,100, 0,200)); + Ticks4Value = round(map(Ticks4Value,-100,100, 0,200)); + + q = cp5.getController("slider").getValue(); +qx = round(q) +200 +12*rudder_jstc; + + /* + XAxis = int(y- (x_axis*2)); + YAxis = int(x- (y_axis*2) ); + */ + XAxis = int((20*round(x)) - (x_axis*2)); + YAxis = int((20*round(y))- (y_axis*2) ); + + // XAxis = XAxis - 2*round(Ticks2Value) ; + // YAxis = YAxis + 2*round(Ticks1Value) ; + + + XAxis= round(map(XAxis, -200, 200, 100,300)) - 10*elevator_jstc; + YAxis= round(map(YAxis, -200, 200, 100,300)) + 10*aileron_jstc; + //qx= 200+12*rudder_jstc ; + + + if(ifConsole){ + if(throttle_jstc != throttle_jstc_old){ + knobTurretRotation.setValue(throttle_jstc); + } + if(R2On && motorPower < 100 ){ + motorPower = motorPower+ 3; + knobTurretRotation.setValue(motorPower); + } + + if(R1On && motorPower > 0){ + motorPower = motorPower- 3; + knobTurretRotation.setValue(motorPower); + } + if(L1On && motorPower < 30 ){ + rudder.setValue(rudder_value = rudder_value + 2); + } + + if(L2On && motorPower > -30){ + rudder.setValue(rudder_value = rudder_value - 2); + } + + + + + } + + + + + command = YAxis + "," + XAxis + "," + qx +","+ int((7.5*throttle)+round(Ticks3Value) )+ "." ; + if ((mouseButton == LEFT) && clorWheelweight < mouseX && clorWheelweight+201 > mouseX && clorWheelheight < mouseY && clorWheelheight+201 > mouseY ){ // wheelclor + command = cp5.get(ColorWheel.class,"colorWheel").b()*4 + "*" + cp5.get(ColorWheel.class,"colorWheel").g()*4 + "*" +cp5.get(ColorWheel.class,"colorWheel").r()*4 + "?" ; + } + +} +/* +void mode(boolean theFlag) { + + if( 0 == cp5.getController("mode").getValue()) { + command = "a"; + + }else if( 1 == cp5.getController("mode").getValue()){ + command = "b"; + + }else if( 2 == cp5.getController("mode").getValue()){ + command = "c"; + + }else if( 3 == cp5.getController("mode").getValue()){ + command = "d"; + + }else if( 4 == cp5.getController("mode").getValue()){ + command = "e"; + + }else if( 5 == cp5.getController("mode").getValue()){ + command = "f"; + + } + + myClient.write(command); + println("from client: " + command); + delay(100); +}*/ + + +void Calibration(boolean theFlag) { + command = "C"; + myClient.write(command); + println("from client: " + command); +} + +void ARM__DISARM(boolean theFlag) { + if(theFlag==true) { + command = "Q"; + } else { + command = "q"; + } + delay(250); + myClient.write(command); + println("a Data event." + command); +} + +void Mode_1(boolean theFlag) { + if(theFlag==true) { + command = "A"; + } else { + command = "a"; + } + delay(250); + myClient.write(command); + println("a Data event." + command); +} +void Mode_2(boolean theFlag) { + if(theFlag==true) { + command = "B"; + } else { + command = "b"; + } + delay(250); + myClient.write(command); + println("a Data event." + command); +} +void Mode_3(boolean theFlag) { + if(theFlag==true) { + command = "C"; + } else { + command = "c"; + } + delay(250); + myClient.write(command); + println("a Data event." + command); +} + + + +void Take__Data(boolean theFlag) { + if(theFlag==true) { + command = "W"; + } else { + command = "w"; + } + myClient.write(command); + println("a Data event." + command); +} +void tglAuto(boolean theFlag) { + if(theFlag==true) { + command = "q"; + myClient.write(command); + delay(100); + command = "c"; + myClient.write(command); + delay(100); + command = "Q"; + myClient.write(command); + delay(100); + println("a Data event." + command); + autoFly = true; + } else { + command = "q"; + autoFly = false; + myClient.write(command); + println("a Data event." + command); + myClient.write("200,200,200,0."); + } +} +void Time(int theFlag) { + timing = theFlag; + println("Time " + theFlag); +} + + + +void Connect(boolean theFlag) { + + if(theFlag==true) { + connectDrone(); + } else { + + + } + } \ No newline at end of file diff --git a/Remotecopy/keyData.pde b/Remotecopy/keyData.pde new file mode 100644 index 0000000..5aff093 --- /dev/null +++ b/Remotecopy/keyData.pde @@ -0,0 +1,43 @@ + + int rudder_value = 0; + //int x_axis = int(y); + //int y_axis = int(-x); + int action = 5; +int y_axis, x_axis; +void keyData() { + + println(tgl20.getValue()); + switch(key) { + case('f'):throttleValue=0; y_axis = 0;x_axis = 0;rudder.setValue(0);rudder_value=0;break; + case('9'):knobTurretRotation.setValue(0);throttleValue=0;break; // y_axis = 0;x_axis = 0;rudder.setValue(0); + case('8'):if(throttleValue < 100){knobTurretRotation.setValue(throttleValue = throttleValue + 5);}break; + case('5'):if(throttleValue > 0){knobTurretRotation.setValue(throttleValue = throttleValue - 5);}break; + case'q':rudder.setValue(rudder_value = rudder_value - 2) ;break; + case'e':rudder.setValue(rudder_value = rudder_value + 2) ;break; + case'a': x_axis = x_axis + action ;break; + case'd': x_axis = x_axis - action ;break; + case'w':y_axis = y_axis - action ;break; + case's': y_axis = y_axis + action ;break; + case'm': tgl20.setValue(false); isMouseTracking = false;break; + case'n': tgl20.setValue(true); isMouseTracking = true;break; + default: + //println("Wrong key"); // Prints "Zulu" + break; + + + //case('2'):myKnobB.setConstrained(false).hideTickMarks().snapToTickMarks(false);break; + //case('3'):myKnobA.shuffle();myKnobB.shuffle();break; + } + if(y_axis > 88){ + y_axis = 89; + } + if(y_axis < -88){ + y_axis = -89; + } + if(x_axis > 88){ + x_axis = 89; + } + if(x_axis < -88){ + x_axis = -89; + } +} \ No newline at end of file diff --git a/Remotecopy/marker.pde b/Remotecopy/marker.pde new file mode 100644 index 0000000..d3f5a12 --- /dev/null +++ b/Remotecopy/marker.pde @@ -0,0 +1 @@ + diff --git a/Remotecopy/myClientAvailable.pde b/Remotecopy/myClientAvailable.pde new file mode 100644 index 0000000..b82740b --- /dev/null +++ b/Remotecopy/myClientAvailable.pde @@ -0,0 +1,98 @@ + +String inString; +int datain; + float dt; + float x_gyr; //Gyroscope data +float y_gyr; +float z_gyr; +float x_acc; //Accelerometer data +float y_acc; +float z_acc; +float x_fil; //Filtered data +float y_fil; +float z_fil; +float w_fil; + void myClientAvaible(){ + + pushMatrix(); + translate(430, 5, 350); + rotateX(radians(x_gyr)); + rotateY(radians(y_gyr)); + + shape(quad, 200, 300); + popMatrix(); + fill(50, 50, 50); + + rect(0, 0, 745, 480, 7); + + + int satir= 70; + textSize(20); + String accStr = "x_acc = " + (int) x_acc; + String accStr2 ="y_acc = " + (int) y_acc; + String accStr3 ="z_acc = " + (int) z_acc; + + String gyrStr = "x_gyr = " + (int) x_gyr; + String gyrStr2 ="y_gyr = " + (int) y_gyr; + String gyrStr3 ="z_gyr = " + (int) z_gyr; + + String filStr = "Degree = " + (int) x_fil; + String filStr2 ="Z Sensor = " + (int) y_fil; + String filStr3 ="Altitude = " + (float) z_fil; + + + fill(249, 250, 50); + text("Gyroscope:", (int) 30, satir); + text(gyrStr, (int) 30, satir+25); + text(gyrStr2, (int) 30, satir+50); + text(gyrStr3, (int) 30, satir+75); + + fill(56, 140, 206); + text("Accelerometre:", (int) 30, satir+125); + text(accStr, (int) 30, satir+150); + text(accStr2, (int) 30, satir+175); + text(accStr3, (int) 30, satir+200); + + fill(83, 175, 93); + text("Other Sensors:", (int) 30, satir+250); + text(filStr, (int) 30, satir+275); + text(filStr2, (int) 30, satir+300); + text(filStr3, (int) 30, satir+325); + + + if (myClient.available() > 0) { + inString = (myClient.readString()); + println("calculation from string: " + inString); + + + try { + // Parse the data + String[] dataStrings = split(inString, '#'); + for (int i = 0; i < dataStrings.length; i++) { + String type = dataStrings[i].substring(0, 4); + String dataval = dataStrings[i].substring(4); + if (type.equals("DEL:")) { + dt = float(dataval); + } else if (type.equals("ACC:")) { + String data[] = split(dataval, ','); + x_acc = float(data[0]); + y_acc = float(data[1]); + z_acc = float(data[2]); + } else if (type.equals("GYR:")) { + String data[] = split(dataval, ','); + x_gyr = float(data[0]); + y_gyr = float(data[1]); + } else if (type.equals("FIL:")) { + String data[] = split(dataval, ','); + x_fil = float(data[0]); + y_fil = float(data[1]); + z_fil = float(data[2]); + } + } + } catch (Exception e) { + //println("Caught Exception"); + } + } + } + + \ No newline at end of file diff --git a/Remotecopy/opencv.pde b/Remotecopy/opencv.pde new file mode 100644 index 0000000..b9e4957 --- /dev/null +++ b/Remotecopy/opencv.pde @@ -0,0 +1,338 @@ +import gab.opencv.*; +import processing.video.*; +import java.awt.Rectangle; + +Capture video; +OpenCV opencv; +PImage src, colorFilteredImage; +ArrayList contours; +ArrayList contours_1; +ArrayList contours_2; +ArrayList contours_3; + +// <1> Set the range of Hue values for our filter +int rangeLow = 20; +int rangeHigh = 35; +int weightVideo= 760; + +int maxColors = 4; +int[] hues; +int[] colors; +int rangeWidth = 10; + +PImage[] outputs; +int colorToChange = -1; + +void opencCvinit(){ +String[] cameras = Capture.list(); + + if (cameras.length == 0) { + println("There are no cameras available for capture."); + exit(); + } else { + println("Available cameras:"); + for (int i = 0; i < cameras.length; i++) { + println(cameras[i]); + } + } + + video = new Capture(this, 640, 480,cameras[14]); //,cameras[14]) + opencv = new OpenCV(this,video.width, video.height); + + contours = new ArrayList(); + contours_1 = new ArrayList(); + contours_2 = new ArrayList(); + contours_3 = new ArrayList(); + + colors = new int[maxColors]; + hues = new int[maxColors]; + outputs = new PImage[maxColors]; + video.start(); + +} +void openCvvideo(){ + + + if (video.available()) { + video.read(); + } + + // <2> Load the new frame of our movie in to OpenCV + opencv.loadImage(video); + + // Tell OpenCV to use color information + opencv.useColor(); + src = opencv.getSnapshot(); + + // <3> Tell OpenCV to work in HSV color space. + opencv.useColor(HSB); + + detectColors(); + + // Show images + image(src, 760, 0); + for (int i=0; i -1) { + text("click to change color " + colorToChange, 770, 25); + } else { + text("press key [1-4] to select color", 770, 25); + } + + displayContoursBoundingBoxes(); +} + +////////////////////// +// Detect Functions/// +////////////////////// + +void detectColors() { + + for (int i=0; i Copy the Hue channel of our image into + // the gray channel, which we process. + opencv.setGray(opencv.getH().clone()); + + int hueToDetect = hues[i]; + //println("index " + i + " - hue to detect: " + hueToDetect); + + // <5> Filter the image based on the range of + // hue values that match the object we want to track. + opencv.inRange(hueToDetect-rangeWidth/2, hueToDetect+rangeWidth/2); + + //opencv.dilate(); + opencv.erode(); + + // TO DO: + // Add here some image filtering to detect blobs better + + // <6> Save the processed image for reference. + outputs[i] = opencv.getSnapshot(); + } + + // <7> Find contours in our range image. + // Passing 'true' sorts them by descending area. + if (outputs[0] != null) { + + opencv.loadImage(outputs[0]); + contours = opencv.findContours(true,true); + } + if (outputs[1] != null) { + opencv.loadImage(outputs[1]); + contours_1 = opencv.findContours(true,true); + } + if (outputs[2] != null) { + opencv.loadImage(outputs[2]); + contours_2 = opencv.findContours(true,true); + } + if (outputs[3] != null) { + opencv.loadImage(outputs[3]); + contours_3 = opencv.findContours(true,true); + } + + +} + +void displayContoursBoundingBoxes() { + + if (contours.size() > 0.8) { + // <9> Get the first contour, which will be the largest one + Contour biggestContour = contours.get(0); + + // <10> Find the bounding box of the largest contour, + // and hence our object. + Rectangle r = biggestContour.getBoundingBox(); + + // <11> Draw the bounding box of our object + noFill(); + strokeWeight(2); + stroke(255, 0, 0); + rect(r.x+weightVideo, r.y, r.width, r.height); + + // <12> Draw a dot in the middle of the bounding box, on the object. + + fill(255, 0, 0); + ellipse(r.x + r.width/2+weightVideo, r.y + r.height/2, 30, 30); + fill(255, 255, 0); + textSize(20); + text( r.x + r.width/2 +","+ r.y + r.height/2, (int) r.x + r.width/2+weightVideo, r.y + r.height/2-20); + + float xAxis_ = r.x + r.width/2; + float yAxis_ = r.y + r.height/2; + yAxis_ =round(map(yAxis_, 0, 480, 0,100)); + xAxis_ =round(map(xAxis_, 0, 640, 0,100)); + + + pid(xAxis_, yAxis_ , 0); + + text( (int)xAxis_ +","+ (int)yAxis_, 1100, 25); +} + + if (contours_1.size() > 0.5) { + // <9> Get the first contour, which will be the largest one + Contour biggestContour = contours_1.get(0); + + // <10> Find the bounding box of the largest contour, + // and hence our object. + Rectangle r = biggestContour.getBoundingBox(); + + // <11> Draw the bounding box of our object + noFill(); + strokeWeight(2); + stroke(0, 255, 0); + rect(r.x+weightVideo, r.y, r.width, r.height); + + // <12> Draw a dot in the middle of the bounding box, on the object. + noStroke(); + fill(0, 255, 0); + ellipse(r.x + r.width/2+weightVideo, r.y + r.height/2, 30, 30); + + fill(0, 255, 0); + textSize(20); + text( r.x + r.width/2 +","+ r.y + r.height/2, (int) r.x + r.width/2+weightVideo, r.y + r.height/2-20); + + float xAxis_ = r.x + r.width/2; + float yAxis_ = r.y + r.height/2; + yAxis_ =round(map(yAxis_, 0, 480, 0,100)); + xAxis_ =round(map(xAxis_, 0, 640, 0,100)); + + + // pid(xAxis_, yAxis_,1); + + text( (int)xAxis_ +","+ (int)yAxis_, 1100+75, 25); + +} +/* + if (contours_2.size() > 10) { + // <9> Get the first contour, which will be the largest one + Contour biggestContour = contours_2.get(0); + + // <10> Find the bounding box of the largest contour, + // and hence our object. + Rectangle r = biggestContour.getBoundingBox(); + + // <11> Draw the bounding box of our object + noFill(); + strokeWeight(2); + stroke(0, 0, 255); + rect(r.x+weightVideo, r.y, r.width, r.height); + + // <12> Draw a dot in the middle of the bounding box, on the object. + noStroke(); + fill(0, 0, 255); + ellipse(r.x + r.width/2+weightVideo, r.y + r.height/2, 30, 30); + + fill(0, 0, 255); + textSize(20); + text( r.x + r.width/2 +","+ r.y + r.height/2, (int) r.x + r.width/2+weightVideo, r.y + r.height/2-20); + + float xAxis_ = r.x + r.width/2; + float yAxis_ = r.y + r.height/2; + yAxis_ =round(map(yAxis_, 0, 480, 0,100)); + xAxis_ =round(map(xAxis_, 0, 640, 0,100)); + + + pid(xAxis_, yAxis_,2); + + text( (int)xAxis_ +","+ (int)yAxis_, 1100+150, 25); + + fill(0, 255, 255); + ellipse(weightVideo+320, 240, 30, 30); +} + if (contours_3.size() > 10) { + // <9> Get the first contour, which will be the largest one + Contour biggestContour = contours_3.get(0); + + // <10> Find the bounding box of the largest contour, + // and hence our object. + Rectangle r = biggestContour.getBoundingBox(); + + // <11> Draw the bounding box of our object + noFill(); + strokeWeight(2); + stroke(255, 255, 255); + rect(r.x+weightVideo, r.y, r.width, r.height); + + // <12> Draw a dot in the middle of the bounding box, on the object. + noStroke(); + fill(255, 255, 255); + ellipse(r.x + r.width/2+weightVideo, r.y + r.height/2, 30, 30); + + fill(255, 255, 255); + textSize(20); + text( r.x + r.width/2 +","+ r.y + r.height/2, (int) r.x + r.width/2+weightVideo, r.y + r.height/2-20); + + float xAxis_ = r.x + r.width/2; + float yAxis_ = r.y + r.height/2; + yAxis_ =round(map(yAxis_, 0, 480, 0,100)); + xAxis_ =round(map(xAxis_, 0, 640, 0,100)); + + + pid(xAxis_, yAxis_,3); + + text( (int)xAxis_ +","+ (int)yAxis_, 1100+225, 25); + + fill(0, 255, 255); + ellipse(weightVideo+320, 240, 30, 30); +} +*/ +} + +////////////////////// +// Keyboard / Mouse +////////////////////// + +void mousePressed() { + + if (colorToChange > -1) { + + color c = get(mouseX, mouseY); + println("r: " + red(c) + " g: " + green(c) + " b: " + blue(c)); + + int hue = int(map(hue(c), 0, 255, 0, 180)); + + colors[colorToChange-1] = c; + hues[colorToChange-1] = hue; + + println("color index " + (colorToChange-1) + ", value: " + hue); + } +} + +void keyPressed() { + + if (key == '1') { + colorToChange = 1; + + } else if (key == '2') { + colorToChange = 2; + + } else if (key == '3') { + colorToChange = 3; + + } else if (key == '4') { + colorToChange = 4; + } +} + +void keyReleased() { + colorToChange = -1; +} diff --git a/Remotecopy/points.pde b/Remotecopy/points.pde new file mode 100644 index 0000000..c77536a --- /dev/null +++ b/Remotecopy/points.pde @@ -0,0 +1,60 @@ +class points { + int x, y; + int r; + int line; + float dx, dy; + float red; + float green; + float blue; + int colorPoint; + + // Constructor + points(int _x, int _y, int r_, int line_, int colorPoint_) { + x = _x; + y = _y; + r = r_; + line = line_; + colorPoint = colorPoint_; + } + int getX(){ + return round(map(x, 0, 100, 0,640)); + } + int getY(){ + return round(map(y, 0, 100, 0,480)); + } + int getTiming(){ + return r; + } + int getCollor(){ + return colorPoint; + } + void setCollor(int colorPoint_){ + colorPoint = colorPoint_; + } + + void update() { + int x_x =round(map(x, 0, 100, 0,640)); + int y_y =round(map(y, 0, 100, 0,480)); + noStroke(); + if(getCollor() == 0){ + fill(255, 0, 0); + }else if(getCollor() == 1){ + fill(255, 140, 0); + }else if(getCollor() == 2){ + fill(0, 255, 0); + } + + ellipse(weightVideo+x_x, y_y, 15, 15); + + if(0 < line){ + points b = points.get(line-1); + fill(255, 255, 255); + stroke(255); + line(weightVideo+x_x, y_y, weightVideo+(b.getX()), b.getY()); + + } + + } + + +} \ No newline at end of file diff --git a/Remotecopy/positions.txt b/Remotecopy/positions.txt new file mode 100644 index 0000000..e69de29 diff --git a/Remotecopy/sketch.properties b/Remotecopy/sketch.properties new file mode 100644 index 0000000..09d6f35 --- /dev/null +++ b/Remotecopy/sketch.properties @@ -0,0 +1,2 @@ +mode.id=processing.mode.java.JavaMode +mode=Java diff --git a/Remotecopy/startup.pde b/Remotecopy/startup.pde new file mode 100644 index 0000000..1b16294 --- /dev/null +++ b/Remotecopy/startup.pde @@ -0,0 +1,13 @@ +int counter = 1; +void startup(){ + if(counter < 20){ + XAxisBase = XAxis; + YAxisBase = XAxis; + qxBase = qx; + sxBase = throttle ; + + counter += 1 ; + println("Waiting "+counter ); + } + +} \ No newline at end of file diff --git a/Remotecopy/surface.pde b/Remotecopy/surface.pde new file mode 100644 index 0000000..310e3a2 --- /dev/null +++ b/Remotecopy/surface.pde @@ -0,0 +1,9 @@ +void surface() { + + background(0); + image(img, 760, 0,640,480); + rect(0, 480, 1700, 18, 7); + rect(742, 0, 18, 485, 7); + + +} \ No newline at end of file diff --git a/remXY9250/AHRS.cpp b/remXY9250/AHRS.cpp new file mode 100644 index 0000000..2468695 --- /dev/null +++ b/remXY9250/AHRS.cpp @@ -0,0 +1,604 @@ +#include "AHRS.h" +#include + + + +int previousDegree; + float angle=0; + float heading=0; +void AHRS::Initialize(int calAHRS) +{ + // Start I2C Communication + //Wire.begin(); + Wire.setClock(400000L); + + // Set accelerometers low pass filter at 5Hz + writeBIT(29, 0x06,MPU9250_ADDRESS); + // Set gyroscope low pass filter at 5Hz + writeBIT(26, 0x06,MPU9250_ADDRESS); + // Configure gyroscope range + writeBIT(27, GYRO_FULL_SCALE_2000_DPS,MPU9250_ADDRESS); + // Configure accelerometers range + writeBIT(28, ACC_FULL_SCALE_2_G,MPU9250_ADDRESS); + // Set by pass mode for the magnetometers + writeBIT(0x37, 0x02,MPU9250_ADDRESS); + // Request continuous magnetometer measurements in 16 bits + //writeBIT(0x0A, 0x16,MAG_ADDRESS); + delay(20); + + + + + writeBIT(0x0A, 0x00 , MAG_ADDRESS); // Power down magnetometer + delay(20); + writeBIT(0x0A , 0x0F, MAG_ADDRESS); // Enter Fuse ROM access mode + delay(20); + uint8_t rawData[3]; + I2Cread(MAG_ADDRESS,0x10,3,rawData); + destination[0] = (float)(rawData[0] - 128)/256. + 1.; // Return x-axis sensitivity adjustment values, etc. + destination[1] = (float)(rawData[1] - 128)/256. + 1.; + destination[2] = (float)(rawData[2] - 128)/256. + 1.; //28 , 238 , 254 , 0.61 , 1.43 , 1.49 + + Serial.print("Sensitivity: "); + Serial.print(destination[0]); + Serial.print(" , "); + Serial.print(destination[1]); + Serial.print(" , "); + Serial.println(destination[2]); + delay(20); + + writeBIT(0x0A, 0x00, MAG_ADDRESS); // Power down magnetometer + delay(20); + // Configure the magnetometer for continuous read and highest resolution + // set Mscale bit 4 to 1 (0) to enable 16 (14) bit resolution in CNTL register, + // and enable continuous mode data acquisition Mmode (bits [3:0]), 0010 for 8 Hz and 0110 for 100 Hz sample rates + writeBIT(0x0A, Mscale << 4 | Mmode,MAG_ADDRESS); // Set magnetometer data resolution and sample ODR + delay(20); + + + if(calAHRS == 1){ + EEPROM.write(0, 0); + EEPROM.commit(); + delay(2000); + Serial.print("Calibration Progress Started"); + + analogWrite(redLed, PWMRANGE); + analogWrite(greenLed, PWMRANGE); + analogWrite(blueLed, PWMRANGE); + + + magCalStage = 1; + magCorrection(1000); + magCalStage =0; + analogWrite(2, PWMRANGE); + analogWrite(greenLed, PWMRANGE); + analogWrite(blueLed, PWMRANGE); + calAHRS=0; + }else{ + Serial.print("Read Eeprom..."); + if(EEPROM.read(4) == 1){ + MEAN_GYRO[0] = -EEPROM.read(1); + }else{ + MEAN_GYRO[0] = EEPROM.read(1); + } + if(EEPROM.read(5) == 1){ + MEAN_GYRO[1] = -EEPROM.read(2); + }else{ + MEAN_GYRO[1] = EEPROM.read(2); + } + if(EEPROM.read(6) == 1){ + MEAN_GYRO[2] = -EEPROM.read(3); + }else{ + MEAN_GYRO[2] = EEPROM.read(3); + } + + magOffset[0] = word(EEPROM.read(10),EEPROM.read(11)); + magOffset[1] = word(EEPROM.read(20),EEPROM.read(21)); + magOffset[2] = word(EEPROM.read(30),EEPROM.read(31)); + + magOffsetMotorEpr[0] = word(EEPROM.read(40),EEPROM.read(41)); + magOffsetMotorEpr[1] = word(EEPROM.read(50),EEPROM.read(51)); + + magOffsetMotorEpr[2] = word(EEPROM.read(45),EEPROM.read(46)); + magOffsetMotorEpr[3] = word(EEPROM.read(55),EEPROM.read(56)); + + destination2[0] = word(EEPROM.read(12),EEPROM.read(13))/100; + + destination2[1] = word(EEPROM.read(14),EEPROM.read(15))/100; + + + + + + } + + + Serial.print(" destination20: "); + Serial.print(destination2[0]); + Serial.print(" destination21: "); + Serial.print(destination2[1]); + Serial.print(" MagX: "); + Serial.print(magOffsetMotorEpr[0]); + Serial.print(" MagY: "); + Serial.print(magOffsetMotorEpr[1]); + Serial.print(" Offx: "); + Serial.print(magOffset[0]); + Serial.print(" Offy: "); + Serial.print(magOffset[1]); + Serial.print(" Offz:"); + Serial.print(magOffset[2]); + Serial.print(" GYROX: "); + Serial.print(MEAN_GYRO[0]); + Serial.print(" GYROY: "); + Serial.print(MEAN_GYRO[1]); + Serial.print(" GYROZ: "); + Serial.println(MEAN_GYRO[2]); +} + +void AHRS::writeBIT(int addr, int data, int adrrTrans){ + Wire.beginTransmission(adrrTrans); + Wire.write(addr); + Wire.write(data); + Wire.endTransmission(); +} +void AHRS::I2Cread(uint8_t Address, uint8_t Register, uint8_t Nbytes, uint8_t* Data){ +// Set register address +Wire.beginTransmission(Address); +Wire.write(Register); +Wire.endTransmission(); +// Read Nbytes +Wire.requestFrom(Address, Nbytes); +uint8_t index=0; +while (Wire.available()) +Data[index++]=Wire.read(); +} + +float AHRS::rad2deg(float rad){ + float output = rad * (180.0 / PI); + return output; +} + +float AHRS::deg2rad(float deg){ + float output = deg * (PI / 180.0); + return output; +} + +void AHRS::compute(double attitude[3], float rate[3]){ + timenow = millis(); + dt = (float)(timenow - timeprev)/978.; + timeprev = timenow; + if(dt > -1){ + // Get Raw Data From IMU + + I2Cread(MPU9250_ADDRESS,0x3B,14,Buf); + accel[0]=(Buf[0]<<8 | Buf[1]); + accel[1]=(Buf[2]<<8 | Buf[3]); + accel[2]=Buf[4]<<8 | Buf[5]; + + // Gyroscope + gyro_int[0]=(Buf[8]<<8 | Buf[9]) - MEAN_GYRO[0]; + gyro_int[1]=(Buf[10]<<8 | Buf[11]) - MEAN_GYRO[1]; + gyro_int[2]=Buf[12]<<8 | Buf[13] - MEAN_GYRO[2]; + + for(i = 0; i<3 ; i++){ + // Get Gyro + gyro[i] = (gyro_int[i] / GYRO_LSB)*DEG2RAD; + } + // Normalize Accelerometer + normalize(accel_angle, accel); + + // Calculate deltaAngle + gyro_angle_x = gyro_angle_x + (gyro_angle_y* gyro[2] - gyro_angle_z* gyro[1])*dt; + gyro_angle_y = gyro_angle_y + (gyro_angle_z* gyro[0] - gyro_angle_x* gyro[2])*dt; + gyro_angle_z = gyro_angle_z + (gyro_angle_z* gyro[1] - gyro_angle_y* gyro[0])*dt; + + // Apply Complementary Filter + // Apply when |a| - 1 < 0.10 to eliminate other forces + if((abs(norm)/16384.) - 1 <= 0.15) {//0.15 + gyro_angle_x = A_A/100 * gyro_angle_x + (1 - A_A/100) * accel_angle[0]; + gyro_angle_y = A_A/100 * gyro_angle_y + (1 - A_A/100) * accel_angle[1]; + gyro_angle_z = A_A/100 * gyro_angle_z + (1 - A_A/100) * accel_angle[2]; + } + + // Convert + attitude[0] = atan2(gyro_angle_y, sqrt(gyro_angle_x*gyro_angle_x + gyro_angle_z*gyro_angle_z)); // ROLL + attitude[1] = atan2(gyro_angle_x, gyro_angle_z); // PITCH + + // Calculate Euler Rates + rate[0] = (gyro[0] + ( gyro[1] * attitude[0] * attitude[1]) + ( gyro[2] * (1 - (attitude[0]*attitude[0]) / 2) * attitude[1]))*100*RAD2DEG; + rate[1] = (gyro[1] * (1 - ((attitude[0]*attitude[0])/2)) - gyro[2] * attitude[0])*100*RAD2DEG; + rate[2] = gyro[2]*100*RAD2DEG; + + float alpha = 0.85; + for(i = 0; i<3 ; i++){ + rate[i] = (alpha*(float)rate[i]) + ((1-alpha)*(float)_rate[i]); + _rate[i] = rate[i]; + } + + attitude[0] *= 100*RAD2DEG; + attitude[1] *= 100*RAD2DEG; + + float alpha2 = 0.95; + for(i = 0; i<2 ; i++){ + attitude[i] = (alpha2*(float)attitude[i]) + ((1-alpha2)*(float)_attitude[i]); + _attitude[i] = attitude[i]; + } + }else{ + Serial.print((float)dt); + Serial.println("Eror AHRS"); + } +} + +void AHRS::normalize(float output[3], int16_t input[3]) +{ + norm = sqrt(pow(input[0], 2) + pow(input[1], 2) + pow(input[2], 2)); + output[0] = input[0] / (float)norm; + output[1] = input[1] / (float)norm; + output[2] = input[2] / (float)norm; +} +void AHRS::setZero() +{ + gyro_angle_x =0; + gyro_angle_y =0; + gyro_angle_z =0; +} + +int16_t AHRS::readTemp(){ + uint8_t rawData[2]; // x/y/z gyro register data stored here + I2Cread(MPU9250_ADDRESS, 0x41, 2, &rawData[0]); // Read the two raw data registers sequentially into data array + return ((int16_t)rawData[0] << 8) | rawData[1] ; // Turn the MSB and LSB into a 16-bit value +} + + + +void AHRS::gyroCorrection(uint16_t itinary){ + for(i=0;i maxX) maxX = degree[1]; + + if (degree[2] < minY) minY = degree[2]; + if (degree[2] > maxY) maxY = degree[2]; + + + Serial.print("minX = "); + Serial.print(minX); + Serial.print(" , "); + Serial.print(maxX); + Serial.print(" , "); + Serial.print(minY); + Serial.print(" , "); + Serial.print(maxY); + Serial.print(" , "); + Serial.print(degree[1]); + Serial.print(" , "); + Serial.print(degree[2]); + Serial.print(" , "); + Serial.println(degree[3]); + delay(12); + } + + analogWrite(2, 0);// red opened + analogWrite(greenLed, PWMRANGE); + analogWrite(blueLed, PWMRANGE); // Blue opened + + delay(2000); + gyroCorrection(2048); + + // magOffset[0] = (((maxX - minX)/2)- maxX); + // magOffset[1] = -(maxY + ((minY - maxY)/2)); + + magOffset[0] = (maxX + minX)/2; + magOffset[1] = (maxY + minY)/2; + + mag_scale[0] = (maxX - minX)/2; // get average x axis max chord length in counts + mag_scale[1] = (maxY - minY)/2; // get average y axis max chord length in counts + + float avg_rad = (mag_scale[0] + mag_scale[1])/2; + + + destination2[0] = avg_rad/((float)mag_scale[0]) ; + destination2[1] = avg_rad/((float)mag_scale[1]) ; + + + + Serial.print(" 1 offX: "); + Serial.print(magOffset[0]); + Serial.print(" 1 offY: "); + Serial.print(magOffset[1]); + Serial.print(" 1 offZ: "); + Serial.println(magOffset[2]); + + + while(1){ + headingMag(rateFake,attitudeFake, degree , 0 ); + if( magOffsetMotorCount < 200 && degree_[2] != degree[2] &°ree_[1] != degree[1] ){ + magOffsetMotorCount += 1; + magOffsetMotor[0] += degree[1]; + magOffsetMotor[1] += degree[2]; + degree_[1] = degree[1]; + degree_[2] = degree[2]; + Serial.print("degreeX = "); + Serial.print(degree[1]); + Serial.print(" degreeY = "); + Serial.print(degree[2]); + Serial.println(); + }else if( magOffsetMotorCount == 200){ + sumMagOffsetMotor[0] = magOffsetMotor[0]/200; + sumMagOffsetMotor[1] = magOffsetMotor[1]/200; + break; + } + } + Serial.println(); + Serial.println("ORT = "); + Serial.println(); + Serial.print("sumMagX = "); + Serial.print(sumMagOffsetMotor[0]); + Serial.print(" sumMagY = "); + Serial.print(sumMagOffsetMotor[1]); + Serial.println(); + +for(int i =0; i< 30; i++){ + analogWrite(14, i*10); + analogWrite(15, i*10); + analogWrite(12, i*10); + analogWrite(13, i*10); + delay(25); +} + while(1){ + analogWrite(14, 700); + analogWrite(15, 700); + analogWrite(12, 700); + analogWrite(13, 700); + headingMag(rateFake, attitudeFake, degree , 0.0); + if( magOffsetMotorCount2 < 5 && degree_[0] != degree[0] && degree_[1] != degree[1] ){ + magOffsetMotorCount2 += 1; + degree_[1] = degree[1]; + degree_[2] = degree[2]; + Serial.print("degreeX = "); + Serial.print(degree[1]); + Serial.print(" degreeY = "); + Serial.print(degree[2]); + Serial.println(); + }else if ( magOffsetMotorCount2 == 5){ + sumMagOffsetMotor2[0] = degree[1]; + sumMagOffsetMotor2[1] = degree[2]; + analogWrite(14, 0); + analogWrite(15, 0); + analogWrite(12, 0); + analogWrite(13, 0); + break; + } + } + Serial.println(); + Serial.println("ORT 2 = "); + Serial.println(); + Serial.print("sumMagX = "); + Serial.print(sumMagOffsetMotor2[0]); + Serial.print(" sumMagY = "); + Serial.print(sumMagOffsetMotor2[1]); + Serial.println(); + + magOffsetMotorEpr[0] = (sumMagOffsetMotor[0] - sumMagOffsetMotor2[0]); + magOffsetMotorEpr[1] = (sumMagOffsetMotor[1] - sumMagOffsetMotor2[1]); + + Serial.println(); + Serial.println("LAST 2 = "); + Serial.println(); + Serial.print(" sumMaglastY= "); + Serial.print(magOffsetMotorEpr[0]); + Serial.print(" sumMaglastY = "); + Serial.print(magOffsetMotorEpr[1]); + Serial.println(); + + + + EEPROM.write(12,highByte(int(destination2[0]*100))); + EEPROM.write(13,lowByte(int(destination2[0]*100))); + + EEPROM.write(14,highByte(int(destination2[1]*100))); + EEPROM.write(15,lowByte(int(destination2[1]*100))); + + EEPROM.write(10,highByte(magOffset[0])); + EEPROM.write(11,lowByte(magOffset[0])); + + EEPROM.write(20,highByte(magOffset[1])); + EEPROM.write(21,lowByte(magOffset[1])); + + EEPROM.write(30,highByte(magOffset[2])); + EEPROM.write(31,lowByte(magOffset[2])); + + EEPROM.write(40,highByte(magOffsetMotorEpr[0])); + EEPROM.write(41,lowByte(magOffsetMotorEpr[0])); + + EEPROM.write(50,highByte(magOffsetMotorEpr[1])); + EEPROM.write(51,lowByte(magOffsetMotorEpr[1])); + + } + +void AHRS::headingMag(float attitude_rate[3],double input[3],float degree[4], float throttle){ + + I2Cread(MAG_ADDRESS,0x02,1,&ST1); + +if (ST1 & 0x01){ + uint8_t Mag[7]; +I2Cread(MAG_ADDRESS,0x03,7,Mag); +// Create 16 bits values from 8 bits data +// Magnetometer + mag_int[0]=(Mag[3]<<8 | Mag[2]); + mag_int[1]=(Mag[1]<<8 | Mag[0]); + mag_int[2]=(Mag[5]<<8 | Mag[4]); + + /* + if(throttle == 0){ + magOffset3_ = magOffset[2]; + magCaCoefficient=0; + }else{ + magCaCoefficient = map(100*constrain(magOffset3_ - magOffset[2],0,1500),0,150000,0.00,1000.00); + magCaCoefficient = magCaCoefficient/100; + } + */ + + + + + if(input[0] < 0.1 && input[0] > -0.1 && input[1] > -0.1 && input[1] < 0.1 ){//&& throttle == 0 + if((mag_int[2]* mRes * destination[2]) < 600){ + magOffset[2] = 600 - (mag_int[2]* mRes * destination[2]); + }else{ + magOffset[2] = -((mag_int[2]* mRes * destination[2])-600 ); + } +} + + + + + magOffsetMotorFnl2[0] = magOffsetMotorEpr[0]*(((float)map(100*constrain(throttle,0,700),0,70000,0,100))/100); + magOffsetMotorFnl2[1] = magOffsetMotorEpr[1]*(((float)map(100*constrain(throttle,0,700),0,70000,0,100))/100); + + + // magOffsetMotorFnl2[0] = magOffsetMotorEpr[0]* (1-exp(-5*(((float)map(100*constrain(throttle,0,800),0,80000,0,100))/100))); + // magOffsetMotorFnl2[1] = magOffsetMotorEpr[1]* (1-exp(-5*(((float)map(100*constrain(throttle,0,800),0,80000,0,100))/100))); + + mag[0] = (mag_int[0]* mRes * destination[0]) - magOffset[0] + magOffsetMotorFnl2[0]; + mag[1] = (mag_int[1]* mRes * destination[1]) - magOffset[1] + magOffsetMotorFnl2[1]; + mag[2] = (mag_int[2]* mRes * destination[2]) + magOffset[2]; + + // mag[0] *= destination2[0]; + // mag[1] *= destination2[1]; + + degree[1] = mag[0]; + degree[2] = mag[1]; + degree[3] = mag[2]; + + float roll; + float pitch; + + pitch = asin(input[1]); + roll = -asin(input[0]); + + float cosRoll = cos(roll); + float sinRoll = sin(roll); + float cosPitch = cos(pitch); + float sinPitch = sin(pitch); + + float Xh = mag[0] * cosPitch + mag[2] * sinPitch; + float Yh = mag[0] * sinRoll * sinPitch + mag[1] * cosRoll - mag[2] * sinRoll * cosPitch; + + float heading1 = atan2(Yh, Xh); + + float declinationAngle2 = (4.0 + (26.0 / 60.0)) / (180 / M_PI); + + heading1 += declinationAngle2; + // Correct for heading < 0deg and heading > 360deg + if(heading1 < 0) { + heading1 += 2 * PI; } + if(heading1 > 2 * PI){ + heading1 -= 2 * PI;} + + float headingDegrees_1 = heading1 * 180/M_PI; + + float headingDegrees = map(headingDegrees_1,0,360, -180,180); + + // headingDegrees = (0.85*(float)headingDegrees) + ((1-0.85)*(float)headingDegrees_); + // headingDegrees_ = headingDegrees; + + if(throttle < 10 ){ + headingDegreesDefoult = headingDegrees; + } + + + degree[0] = headingDegrees - headingDegreesDefoult; //MEAN_GYRO + /* + Serial.print(mag[0]); + Serial.print(" , "); + Serial.print(mag[1]); + Serial.print(" , "); + Serial.print(mag[2]); + Serial.print(" , "); + Serial.print(destination2[0]); + Serial.print(" , "); + Serial.print(magOffset[0]); + Serial.print(" , "); + Serial.print(headingDegrees); // -0.04 , 0.00 , -66 , 389 , 924 , 104.06 , 109.10 + Serial.println(); */ + /* + Serial.print("MEAN:"); + Serial.print(MEAN_GYRO[0]); + Serial.print("MEAN:"); + Serial.print(MEAN_GYRO[1]); + Serial.print("MEAN:"); + Serial.print(MEAN_GYRO[2]); offz:-285 offX:-1829 offY:479 + + + + + Serial.print(magOffsetMotorEpr[0]); + Serial.print(" , "); + Serial.print(magOffsetMotorEpr[1]); + Serial.print(" , "); + Serial.print(magOffsetMotorFnl2[0]); + Serial.print(" , "); + Serial.print(magOffsetMotorFnl2[1]); + Serial.print(" , "); + */ + +/* + Serial.print(throttle); + Serial.print(" , "); + Serial.print(mag[0]); + Serial.print(" , "); + Serial.print(mag[1]); + Serial.print(" , "); + Serial.print(mag[2] ); + Serial.print(" , "); + Serial.print(headingDegrees); // -0.04 , 0.00 , -66 , 389 , 924 , 104.06 , 109.10 + Serial.println(); + + */ + } +} diff --git a/remXY9250/AHRS.h b/remXY9250/AHRS.h new file mode 100644 index 0000000..bf79016 --- /dev/null +++ b/remXY9250/AHRS.h @@ -0,0 +1,103 @@ +#include "Arduino.h" +#include "Parameter.h" +#include "Wire.h" +#include "EEPROM.h" + +class AHRS{ + public: + + void Initialize(int calAHRS); + float rad2deg(float rad); + float deg2rad(float deg); + int16_t readTemp(); + void writeBIT(int addr, int data, int adrrTrans); + void I2Cread(uint8_t Address, uint8_t Register, uint8_t Nbytes, uint8_t* Data); + void compute(double attitude[3], float rate[3]); + void normalize(float output[3], int16_t input[3]); + void calibration(); + void setZero(); + void headingMag(float attitude_rate[3], double input[3],float degree[4], float throttle ); + private: + void gyroCorrection(uint16_t itinary); + void magCorrection(uint16_t itinary); + int32_t SUM_GYRO[3] = {0}, MEAN_GYRO[3] = {0}; + int16_t Filter_P[3] = {0}, Filter_I[3] = {0}, Filter_SUM[3] = {0}, delta = 0, _angle[3] = {0}; + float _rate[3] = {0}, test = 0, rate[3] = {0}; + float _w = 0, ic = 0.001, I = 0; + float dt = 0, timeprev = 0, timenow = 0; + int i, j = 0; + int16_t accel[3] = {0}, gyro_int[3] = {0} , mag[3] = {0}, mag_int[3] = {0}; + float accel_angle[3] = {0}, angle_acc[3] = {0}; + float gyro[3] = {0}, degree[3] = {0}; + float gyro_angle_x,gyro_angle_y,gyro_angle_z;// Estimated Gravity Vector + int16_t norm = 0; + double attitude[3] = {0}, _attitude[3] = {0}; + uint8_t ST1; + uint8_t Buf[14]; + + float destination[3] = {1,1,1}; + float destination2[3] = {1,1,1}; + + float avg_delta, scale_x, scale_y; + + enum Ascale { + AFS_2G = 0, + AFS_4G, + AFS_8G, + AFS_16G +}; + +enum Gscale { + GFS_250DPS = 0, + GFS_500DPS, + GFS_1000DPS, + GFS_2000DPS +}; + +enum Mscale { + MFS_14BITS = 0, // 0.6 mG per LSB + MFS_16BITS // 0.15 mG per LSB +}; + + + uint8_t Mscale = MFS_16BITS; // Choose either 14-bit or 16-bit magnetometer resolution + uint8_t Gscale = GFS_250DPS; + uint8_t Ascale = AFS_2G; + + + + uint8_t Mmode = 0x06; // 2 for 8 Hz, 6 for 100 Hz continuous magnetometer data read + int16_t magOffset[3] = {0}; + int16_t mag_scale[3] = {0}; + int16_t magOffset3_ , magOffset3; + int16_t magxOffsetMotor = 0,magyOffsetMotor = 0, magzOffsetMotor =0; + float magCaCoefficient; + float throttle; + float magDegree[4] = {0}; + float minX, maxX, minY, maxY; + int calAHRS; + float headingDegreesDefoult =0; + + int firstStage= 0; + int magCalStage= 0; + float magOffsetMotorCount =0; + float magOffsetMotor[3] = {0}; + float sumMagOffsetMotor[3] = {0}; + + float degree_[4] = {1,1,1,1}; + + float magOffsetMotorCount2 =0; + float magOffsetMotor2[3] = {0}; + float sumMagOffsetMotor2[3] = {0}; + + int16_t magOffsetMotorFnl[3] ={0}; + int16_t magOffsetMotorFnl2[3] ={0}; + + int16_t magOffsetMotorEpr[2] ={0}; + float headingDegrees_ = 1; + + #define blueLed 16 + #define redLed 2 + #define greenLed 0 + +}; diff --git a/remXY9250/FlightControl.h b/remXY9250/FlightControl.h new file mode 100644 index 0000000..3a506ba --- /dev/null +++ b/remXY9250/FlightControl.h @@ -0,0 +1,179 @@ + +#include "Parameter.h" + +unsigned long ts=micros(); + +unsigned long tsbat=micros(); +boolean ledState = HIGH; + +float factor; +float factor_; +void FlightControl(){ + +if((micros()-tsbat)>100000){ //Update only on + tsbat = micros(); +// Serial.println(analogRead(A0)*6); + if(analogRead(A0)*6 < 2900){ + batteryCount= batteryCount+1; + + }else{ + batteryCount= 0; +} +if(batteryCount > 25){ + batteryControl = 0; +} +} + + +if((micros()-ts)>1000){ //Update only once per 2ms (500hz update rate) + ts = micros(); + ahrs.compute(attitude, rate); + + attitude_Radian[0] = attitude[0]/(100*RAD2DEG); + attitude_Radian[1] = attitude[1]/(100*RAD2DEG); + + attitude_rate[0] = rate[0]/(100*RAD2DEG); + attitude_rate[1] = rate[1]/(100*RAD2DEG); + attitude_rate[2] = rate[2]/(100*RAD2DEG); + + ahrs.headingMag(attitude_rate, attitude_Radian, degree , throttle); + + if( yawControl==0){ + degree[0] = 0; + } + + + // Serial.print(((float) ahrs.readTemp()) / 333.87f + 21.0f); + // Serial.println(0); + + #ifdef vl53l0x + if(vl5310xControl == 1){ + vl5310x(); + } + #endif + + #ifdef opticalFlow + opticalSensor(); + #endif + + #ifdef MULTI_RANGER + multiRangerLoop(); + #endif + /* + Serial.print(otoMeasure ); + Serial.print(" , "); + Serial.print(DistanceX ); + Serial.print(" , "); + Serial.print(DistanceY ); + Serial.print(" , "); + Serial.print(xMulti.output); + Serial.print(" , "); + Serial.print(yMulti.output ); + Serial.print(" , "); + Serial.print( SetPoint[1] ); + Serial.println(); + */ + if(throttle > 2){ + roll.compute( 0 , SetPoint[0] - xMulti.output ,throttle, -xOpt.output +Trim_Roll ,-attitude[1], rate[1]); // Trim_Roll xOpt.output + pitch.compute( 1 , SetPoint[1] - yMulti.output,throttle, Trim_Pitch , -attitude[0], -rate[0]); + yaw.compute( 2 , SetPoint[2] , throttle,Trim_Yaw, degree[0]*100, -rate[2]);//-rate[2]degree[0]*100 + }else{ + ahrs.setZero(); + } + + } + + if(throttle >= motorMax) {throttle = motorMax;} else if(throttle <= 0) {throttle = 0;} + + factor =1+pow(2,throttle/250);// pow(2,throttle/250) ; //+pow(2,throttle/250) + factor_ = 100; + motorFL = throttle + (roll.output/factor_)*factor - (pitch.output/factor_)*factor + (yaw.output/factor_)*factor; + motorFR = throttle - (roll.output/factor_)*factor - (pitch.output/factor_)*factor - (yaw.output/factor_)*factor; + motorRL = throttle + (roll.output/factor_)*factor + (pitch.output/factor_)*factor - (yaw.output/factor_)*factor; + motorRR = throttle - (roll.output/factor_)*factor + (pitch.output/factor_)*factor + (yaw.output/factor_)*factor; + + if(motorFL >= PWMRANGE) {motorFL = PWMRANGE;} else if(motorFL <= 0) {motorFL = 0;} + if(motorFR >= PWMRANGE) {motorFR = PWMRANGE;} else if(motorFR <= 0) {motorFR = 0;} + if(motorRL >= PWMRANGE) {motorRL = PWMRANGE;} else if(motorRL <= 0) {motorRL = 0;} + if(motorRR >= PWMRANGE) {motorRR = PWMRANGE;} else if(motorRR <= 0) {motorRR = 0;} + + // Input Control Value to PWM Pins + if(throttle > 2){ + analogWrite(pinPWM[0], round(motorFL)); + analogWrite(pinPWM[1], round(motorFR)); + analogWrite(pinPWM[2], round(motorRL)); + analogWrite(pinPWM[3], round(motorRR)); + }else{ + analogWrite(pinPWM[0], 0); + analogWrite(pinPWM[1], 0); + analogWrite(pinPWM[2], 0); + analogWrite(pinPWM[3], 0); + } +} + +void modeControl(){ + +if(armControl == 1 && batteryControl == 1 && stopFlightControl == 1){ + throttleControl = 1; + + + if(flyMode_1 == 1){ + yawControl=1; + throttleControl = 1; + }else{ + yawControl=0; + } + + if(flyMode_2 == 1){ + throttleControl = 0; + otoHover=1; + }else if(flyMode_3 == 1){ + throttleControl = 0; + otoHover=1; + }else{ + otoHover=0; + } + + }else if(batteryControl == 0){ + throttleControl = 0; + otoHover=0; + yawControl=0; + throttle = throttle - 0.5; + }else if(stopFlightControl == 0){ + throttleControl = 0; + otoHover=0; + yawControl=0; + throttle = 0; + }else{ + throttleControl = 0; + otoHover=0; + yawControl=0; + throttle=0; + } + + + if(throttleControl == 1){ + // throttle= RX_throttle ; + if( throttle < RX_throttle){ + throttle = throttle +2.5; + } + if( throttle > RX_throttle){ + throttle = throttle -2.5; + } + }else{ + // targetOto = constrain(RX_throttle,250,500); + } + + + SetPoint[0] = map(RX_roll, -100, 100, -ROLL_LIMIT, ROLL_LIMIT); + SetPoint[1] = map(RX_pitch, -100, 100, -PITCH_LIMIT, PITCH_LIMIT); + + if(yawControl == 0 ){ + SetPoint[2] = map(RX_yaw, -100, 100, -YAW_LIMIT, YAW_LIMIT); + }else{ + SetPoint[2] = 0; + } + + throttle = constrain(throttle,0, 700); + +} diff --git a/remXY9250/NeoPixel.h b/remXY9250/NeoPixel.h new file mode 100644 index 0000000..1507263 --- /dev/null +++ b/remXY9250/NeoPixel.h @@ -0,0 +1,121 @@ +#include + +#define PIXELSPIN 2 +#define NUMPIXELS 12 +#define CALIBRATIONTIME 20000 + +Adafruit_NeoPixel pixels = Adafruit_NeoPixel(NUMPIXELS, PIXELSPIN, NEO_GRB + NEO_KHZ800); + +unsigned long pixelsInterval=50; // the time we need to wait +unsigned long colorWipePreviousMillis=0; +unsigned long theaterChasePreviousMillis=0; +unsigned long theaterChaseRainbowPreviousMillis=0; +unsigned long rainbowPreviousMillis=0; +unsigned long rainbowCyclesPreviousMillis=0; + +int theaterChaseQ = 0; +int theaterChaseRainbowQ = 0; +int theaterChaseRainbowCycles = 0; +int rainbowCycles = 0; +int rainbowCycleCycles = 0; + +uint16_t currentPixel = 0;// what pixel are we operating on + +void NeoPixelsetup() { + currentPixel = 0; + + pixels.begin(); // This initializes the NeoPixel library. + pixels.show(); // This sends the updated pixel color to the hardware. + +} + + + + +uint32_t Wheel(byte WheelPos) { + WheelPos = 255 - WheelPos; + if(WheelPos < 85) { + return pixels.Color(255 - WheelPos * 3, 0, WheelPos * 3); + } + if(WheelPos < 170) { + WheelPos -= 85; + return pixels.Color(0, WheelPos * 3, 255 - WheelPos * 3); + } + WheelPos -= 170; + return pixels.Color(WheelPos * 3, 255 - WheelPos * 3, 0); +} + +// Fill the dots one after the other with a color +void colorWipe(uint32_t c){ + pixels.setPixelColor(currentPixel,c); + pixels.show(); + currentPixel++; + if(currentPixel == NUMPIXELS){ + currentPixel = 0; + } +} + +void rainbow() { + for(uint16_t i=0; i= 256) rainbowCycles = 0; +} + +// Slightly different, this makes the rainbow equally distributed throughout +void rainbowCycle() { + uint16_t i; + + //for(j=0; j<256*5; j++) { // 5 cycles of all colors on wheel + for(i=0; i< pixels.numPixels(); i++) { + pixels.setPixelColor(i, Wheel(((i * 256 / pixels.numPixels()) + rainbowCycleCycles) & 255)); + } + pixels.show(); + + rainbowCycleCycles++; + if(rainbowCycleCycles >= 256*5) rainbowCycleCycles = 0; +} + +//Theatre-style crawling lights. +void theaterChase(uint32_t c) { + for (int i=0; i < pixels.numPixels(); i=i+3) { + pixels.setPixelColor(i+theaterChaseQ, c); //turn every third pixel on + } + pixels.show(); + for (int i=0; i < pixels.numPixels(); i=i+3) { + pixels.setPixelColor(i+theaterChaseQ, 0); //turn every third pixel off + } + theaterChaseQ++; + if(theaterChaseQ >= 3) theaterChaseQ = 0; +} + + +//Theatre-style crawling lights with rainbow effect +void theaterChaseRainbow() { + for (int i=0; i < pixels.numPixels(); i=i+3) { + pixels.setPixelColor(i+theaterChaseRainbowQ, Wheel( (i+theaterChaseRainbowCycles) % 255)); //turn every third pixel on + } + + pixels.show(); + for (int i=0; i < pixels.numPixels(); i=i+3) { + pixels.setPixelColor(i+theaterChaseRainbowQ, 0); //turn every third pixel off + } + theaterChaseRainbowQ++; + theaterChaseRainbowCycles++; + if(theaterChaseRainbowQ >= 3) theaterChaseRainbowQ = 0; + if(theaterChaseRainbowCycles >= 256) theaterChaseRainbowCycles = 0; +} + +// Input a value 0 to 255 to get a color value. +// The colours are a transition r - g - b - back to r. + +void neoPixel() { + + if ((unsigned long)(millis() - rainbowPreviousMillis) >= pixelsInterval) { + rainbowPreviousMillis = millis(); + rainbow(); + } + +} diff --git a/remXY9250/PID.cpp b/remXY9250/PID.cpp new file mode 100644 index 0000000..65a816b --- /dev/null +++ b/remXY9250/PID.cpp @@ -0,0 +1,183 @@ +#include "pid.h" +#include "Parameter.h" + + + +void PID::SetGain(float kp, float ki, float kpo, float kio,float kdo ){ + KP = kp; + KI = ki; + KPO = kpo; + KIO=kio; + KDO=kdo; +} +void PID::Setp(int32_t output_){ + +//P = output_; +} + +void PID::SetInit(int32_t p, int32_t d, int32_t i){ +P=p; +I=i; +D=d; +} +void PID::SetLimit(int16_t error_limit, int16_t i_limit, int16_t output_limit){ + ERROR_LIMIT = error_limit; + I_LIMIT = i_limit; + OUTPUT_LIMIT = output_limit; +} +int PID::GetItermRate(){ + return itermRate; +} + +void PID::compute(int whichIs, int32_t TARGET_ANGLE,int32_t THROTTLE,int32_t TRIM,int32_t MEASURED_ANGLE, int32_t MEASURED_RATE ){ + // Calculate delta + timenow = millis(); + float dt = (float)(timenow - timeprev)/978.; + timeprev = timenow; + if(dt > -1){ + // Calculate Angle Error + int32_t ANGLE_ERROR = (TARGET_ANGLE+TRIM) - MEASURED_ANGLE; + + // Limit Error Signal + ANGLE_ERROR = constrain(ANGLE_ERROR, -ERROR_LIMIT, ERROR_LIMIT); + + ITERM += ANGLE_ERROR * (float)dt; + + // Calculate I-term + ITERM = constrain(ITERM, -I_LIMIT, I_LIMIT); + + + if (THROTTLE <100 ) { + ITERM = 0; + } + + // Get Desired Rate + int32_t TARGET_RATE = ANGLE_ERROR * KP + KI * ITERM; // Calculate P-term + + if(whichIs == 2 && TARGET_ANGLE != 0){//whichIs == 2 || whichIs == 3 + TARGET_RATE = TARGET_ANGLE; + } + + + if(whichIs == 5 || whichIs == 4 || whichIs == 3 || whichIs == 6 || whichIs == 7 ){//whichIs == 2 || whichIs == 3 + TARGET_RATE = TARGET_ANGLE; + } + + // Calculate Rate Error + int32_t RATE_ERROR = TARGET_RATE - MEASURED_RATE; + + if(whichIs == 3 ){ + RATE_ERROR = constrain(RATE_ERROR, -100, 100); + } + if( whichIs == 6 && whichIs == 7 ){ + RATE_ERROR = constrain(RATE_ERROR, -50, 50); + } + + //if(whichIs == 5 || whichIs == 4 ||whichIs == 3){ + itermRate= constrain(itermRate, -5000, 5000); + // }else{ + // itermRate= constrain(itermRate, -500, 500); + //} + // Calculate D-Term + P = RATE_ERROR * KPO; + + delta = ((MEASURED_RATE - _MEASURED_RATE)/dt); + + _MEASURED_RATE= MEASURED_RATE; + + delta = 0.6 * (float)delta + (1. - 0.6) * (float)_delta; + + _delta = delta; + +/* + if(whichIs == 3 ){ + if(abs(RATE_ERROR) < 50){ + KDO = 1250; + + }else{ + KDO = 500; + } + } + */ + + D = (KDO/100) * delta; +/* + if(whichIs == 4 && TARGET_ANGLE < 200 && TARGET_ANGLE > -200 && MEASURED_ANGLE > -1000 && MEASURED_ANGLE < 1000 ){ + itermRate += RATE_ERROR * (float)dt; + }else if( whichIs == 4){ + P=0; + D=0; + } + + if(whichIs == 5 && TARGET_ANGLE < 200 && TARGET_ANGLE > -200 && MEASURED_ANGLE > -1000 && MEASURED_ANGLE < 1000 ){ + itermRate += RATE_ERROR * (float)dt; + }else if(whichIs == 5){ + P=0; + D=0; + } +*/ + + + itermRate = itermRate + RATE_ERROR * (float)dt; + + + if (THROTTLE <100 ){ + itermRate = 0; + } + + /* + if(whichIs == 3 ){ + KIO = 6; + if(RATE_ERROR!= 0){ + if(RATE_ERROR > -25){ + KIO = (float)KIO*(float)(abs(RATE_ERROR))/100; + itermRate = (itermRate*KIO_)/KIO; + KIO_ = KIO; + }else{ + KIO = 1.0; + } + }}*/ + + + + + I = itermRate * KIO; + + output= P + I - D; //output= P + I - D; + + output = 0.95 * (float)output + (1 - 0.95) * (float)_output; + _output = output; + + output = constrain(output, -OUTPUT_LIMIT, OUTPUT_LIMIT); + +/* + if(whichIs == 0){ + Serial.print(ANGLE_ERROR); + Serial.print(" , "); + Serial.print(P); + Serial.print(" , "); + Serial.print( I); + Serial.print(" , "); + Serial.print(output); + Serial.println(); + }*/ + /* + if(whichIs == 6){ + Serial.print(MEASURED_RATE); + Serial.print(" , "); + Serial.print(P); + Serial.print(" , "); + Serial.print(I); + Serial.print(" , "); + Serial.print(KIO); + Serial.print(" , "); + Serial.print(D); + Serial.print(" , "); + Serial.print(output); + Serial.println(); + }*/ + }else{ + Serial.print((float)dt); + Serial.println("Eror PÄ°D"); + } +} diff --git a/remXY9250/PID.h b/remXY9250/PID.h new file mode 100644 index 0000000..64b49b7 --- /dev/null +++ b/remXY9250/PID.h @@ -0,0 +1,29 @@ +#include "arduino.h" + +class PID{ + public: + + void SetGain(float kp, float ki, float kpo, float kio, float kdo); + void SetLimit(int16_t error_limit, int16_t i_limit, int16_t output_limit); + void SetInit(int32_t p, int32_t d, int32_t i); + void Setp(int32_t output_); + int GetItermRate(); + void compute(int whichIs, int32_t TARGET_ANGLE,int32_t THROTTLE,int32_t TRIM ,int32_t MEASURED_ANGLE, int32_t MEASURED_RATE); + int16_t output = 0; //throttle + private: + float KP = 0, KI = 0, KD = 0, KPO =0, KIO=0, KDO =0 , KIO_ = 0; + int32_t lastErr =0; + int16_t timenow3 = 0, timeprev3 = 0; + int16_t timenow2 = 0, timeprev2 = 0; + int16_t timenow = 0, timeprev = 0; + int16_t ERROR_LIMIT = 0, I_LIMIT = 0, OUTPUT_LIMIT = 0; + int32_t PTERM = 0, ITERM = 0 ,_output =0 , itermRate =0; + int32_t P =0, D=0,delta =0; + int32_t I = 0, _delta = 0, _MEASURED_RATE=0; + //int whichIs;TARGET_RATE + int32_t delta2 =0, _ANGLE_ERROR = 0; + int32_t YAW_RATE = 0; + int moveCommandX = 1; + int moveCommandY = 1; + int firstTime = 1; +}; diff --git a/remXY9250/PROCESSING.h b/remXY9250/PROCESSING.h new file mode 100644 index 0000000..e8979dd --- /dev/null +++ b/remXY9250/PROCESSING.h @@ -0,0 +1,326 @@ +#ifdef PROCESSING_REMOTE +int red, green, blue = 0; + +int xAxis= 200, yAxis= 200, zAxis = 200 , trimX = 100, trimY = 100, trimZ =100; + +unsigned long previousMillisTrail = 0; +String strial; + +#include + +const char WiFiAPPSK[] = ""; +WiFiServer server(80); + + + + +#ifdef PROCESSING_SINGLE +void setupWiFi() +{ + WiFi.mode(WIFI_AP); + + // Do a little work to get a unique-ish name. Append the + // last two bytes of the MAC (HEX'd) to "Thing-": + uint8_t mac[WL_MAC_ADDR_LENGTH]; + WiFi.softAPmacAddress(mac); + String macID = String(mac[WL_MAC_ADDR_LENGTH - 2], HEX) + + String(mac[WL_MAC_ADDR_LENGTH - 1], HEX); + macID.toUpperCase(); + String AP_NameString = "ESPCopter"; + + char AP_NameChar[AP_NameString.length() + 1]; + memset(AP_NameChar, 0, AP_NameString.length() + 1); + + for (int i=0; i= boundRate) { + // save the last time you blinked the LED + previousMillisTrail = currentMillisTrail; + // client.print(strial); + strial = ("DEL:"); + strial += (0); + strial += ("#ACC:"); + strial += (round(-rate[0]/100)); + strial += (","); + strial += (round(rate[1]/100)); + strial += (","); + strial += (round(-rate[2]/100)); + strial += ("#GYR:"); + strial += (round(-attitude[0]/100)); + strial += (","); + strial += (round(-attitude[1]/100)); + strial += ("#FIL:"); + strial += (otoMeasure); + strial += (","); + strial += (-xMulti.output); + strial += (","); + strial += (-yMulti.output); + client.println(strial); + strial== ""; + } + } + + + } + } + + // Serial.println("Client disconnected."); + // client.stop(); + } + + + + +} + + + +#endif diff --git a/remXY9250/Parameter.h b/remXY9250/Parameter.h new file mode 100644 index 0000000..4191cae --- /dev/null +++ b/remXY9250/Parameter.h @@ -0,0 +1,89 @@ +//******************* AHRS Parameter ********************// + +#define MPU9250_ADDRESS 0x68 +#define MAG_ADDRESS 0x0C +#define VL53L0X_ADDRESS 0x29 +#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00BF + +#define GYRO_FULL_SCALE_250_DPS 0x00 +#define GYRO_FULL_SCALE_500_DPS 0x08 +#define GYRO_FULL_SCALE_1000_DPS 0x10 +#define GYRO_FULL_SCALE_2000_DPS 0x18 + +#define ACC_FULL_SCALE_2_G 0x00 +#define ACC_FULL_SCALE_4_G 0x08 +#define ACC_FULL_SCALE_8_G 0x10 +#define ACC_FULL_SCALE_16_G 0x18 + + +#define GYRO_RANGE 0x18 // GYRO Range : -2000DPS ~ 2000DPS +#define ACCEL_RANGE 0x00 // ACCEL Range : -2g ~ 2g +#define MPU6050_DLPF 0x02 // DLP : 98mHz +#define COMPLEMENTARY_SAMPLE 0.001 // Sample Rate : 1000Hz = 1Khz +#define ACCEL_LSB 16384. // Accelerometer LSB +#define GYRO_LSB 16.4 // Gyro LSB +#define DEG2RAD PI/180. +#define RAD2DEG 180./PI +#define A_A 99.95 //99.95 +#define TT 978. //95 + +#define mRes 1.5 + +#define MAG_XOUT_H 0x03 +#define HMC 0x1E + +// MPU-6050 Parameter +#define MPU6050 0x68 +#define XA_OFFS_USRH 0x06 +#define XA_OFFS_USRL 0x07 +#define YA_OFFS_USRH 0x08 +#define YA_OFFS_USRL 0x09 +#define ZA_OFFS_USRH 0x0A +#define ZA_OFFS_USRL 0x0B +#define SELF_TEST_X 0x0D +#define SELF_TEST_Y 0x0E +#define SELF_TEST_Z 0x0F +#define SELF_TEST_A 0x10 +#define SMPLRT_DIV 0x19 +#define XG_OFFS_USRH 0x13 +#define XG_OFFS_USRL 0x14 +#define YG_OFFS_USRH 0x15 +#define YG_OFFS_USRL 0x16 +#define ZG_OFFS_USRH 0x17 +#define ZG_OFFS_USRL 0x18 +#define CONFIG 0x1A +#define GYRO_CONFIG 0x1B +#define ACCEL_CONFIG 0x1C +#define FIFO_EN 0x23 +#define INT_ENABLE 0x38 +#define INT_STATUS 0x3A +#define ACCEL_XOUT_H 0x3B +#define ACCEL_XOUT_L 0x3C +#define ACCEL_YOUT_H 0x3D +#define ACCEL_YOUT_L 0x3E +#define ACCEL_ZOUT_H 0x3F +#define ACCEL_ZOUT_L 0x40 +#define TEMP_OUT_H 0x41 +#define TEMP_OUT_L 0x42 +#define GYRO_XOUT_H 0x43 +#define GYRO_XOUT_L 0x44 +#define GYRO_YOUT_H 0x45 +#define GYRO_YOUT_L 0x46 +#define GYRO_ZOUT_H 0x47 +#define GYRO_ZOUT_L 0x48 +#define USER_CTRL 0x6A +#define PWR_MGMT_1 0x6B +#define PWR_MGMT_2 0x6C +#define FIFO_COUNT_H 0x72 +#define FIFO_COUNT_L 0x73 +#define FIFO_R_W 0x74 +#define WHO_AM_I 0x75 +//4.2....0.1......1.1 +//******************** PID Parameter ********************// + + + +//******************** CONTROL Parameter ********************// +#define ROLL_LIMIT 1750 +#define PITCH_LIMIT 1750 +#define YAW_LIMIT 8000 diff --git a/remXY9250/REMOTEXY.h b/remXY9250/REMOTEXY.h new file mode 100644 index 0000000..f250da2 --- /dev/null +++ b/remXY9250/REMOTEXY.h @@ -0,0 +1,122 @@ +#ifdef REMOTE_XY_REMOTE +/* + -- New project -- + + This source code of graphical user interface + has been generated automatically by RemoteXY editor. + To compile this code using RemoteXY library 2.3.3 or later version + download by link http://remotexy.com/en/library/ + To connect using RemoteXY mobile app by link http://remotexy.com/en/download/ + - for ANDROID 4.1.1 or later version; + - for iOS 1.2.1 or later version; + + This source code is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. +*/ + +////////////////////////////////////////////// +// RemoteXY include library // +////////////////////////////////////////////// + +// RemoteXY select connection mode and include library +#define REMOTEXY_MODE__ESP8266WIFI_LIB_POINT +#include + +#include + +// RemoteXY connection settings +#define REMOTEXY_WIFI_SSID "Espcopter" +#define REMOTEXY_WIFI_PASSWORD "12345678" +#define REMOTEXY_SERVER_PORT 6377 + +// RemoteXY configurate +#pragma pack(push, 1) +uint8_t RemoteXY_CONF[] = + { 255,6,0,51,0,59,0,8,24,0, + 5,16,63,14,32,32,31,26,24,5, + 0,6,15,32,32,31,26,24,2,1, + 42,5,18,8,24,26,31,31,65,82, + 77,0,68,73,83,65,82,77,0,3, + 5,47,17,7,32,31,26,67,5,8, + 55,86,5,31,26,51 }; + +// this structure defines all the variables of your control interface +struct { + + // input variable + int8_t joystick_1_x; // =-100..100 x-coordinate joystick position + int8_t joystick_1_y; // =-100..100 y-coordinate joystick position + int8_t joystick_2_x; // =-100..100 x-coordinate joystick position + int8_t joystick_2_y; // =-100..100 y-coordinate joystick position + uint8_t switch_1; // =1 if switch ON and =0 if OFF + uint8_t select_1; // =0 if select position A, =1 if position B, =2 if position C, ... + + // output variable + char text_1[51]; // string UTF8 end zero + + // other variable + uint8_t connect_flag; // =1 if wire connected, else =0 + +} RemoteXY; +#pragma pack(pop) + +///////////////////////////////////////////// +// END RemoteXY include // +///////////////////////////////////////////// + +void timer0_ISR (void){ + // Do some work + // ts1=millis(); + + //Serial.print(ts1); + // Serial.println(); + + FlightControl(); + // Set-up the next interrupt cycle + timer0_write(ESP.getCycleCount() + 1600000); //80Mhz -> 80*10^6 = 1 second +} + +void setupWiFi() +{ + RemoteXY_Init(); + // TODO you setup code + /* + noInterrupts(); + timer0_isr_init(); + timer0_attachInterrupt(timer0_ISR); + timer0_write(ESP.getCycleCount() + 1600000); //80Mhz -> 80*10^6 = 1 second + interrupts();*/ +} + + + + + +void getRX(){ + // timer0_isr_init(); + // timer0_attachInterrupt(timer0_ISR); + // timer0_write(ESP.getCycleCount() + 1600000); //80Mhz -> 80*10^6 = 1 second + //interrupts(); + RemoteXY_Handler(); + // timer0_detachInterrupt(); + + + armControl = RemoteXY.switch_1; // arm - disarm + + RX_throttle = (motorMax/100)*RemoteXY.joystick_2_y; + + flyMode = RemoteXY.select_1; + // char str[] = "ESPcopter is Ready"; + // strcpy (RemoteXY.text_1, str); + + RX_roll = RemoteXY.joystick_1_x; + + RX_pitch = RemoteXY.joystick_1_y; + + RX_yaw =RemoteXY.joystick_2_x; +} + + +#endif diff --git a/remXY9250/VL53L0X.cpp b/remXY9250/VL53L0X.cpp new file mode 100644 index 0000000..a006c6b --- /dev/null +++ b/remXY9250/VL53L0X.cpp @@ -0,0 +1,1039 @@ +// Most of the functionality of this library is based on the VL53L0X API +// provided by ST (STSW-IMG005), and some of the explanatory comments are quoted +// or paraphrased from the API source code, API user manual (UM2039), and the +// VL53L0X datasheet. + +#include "VL53L0X.h" +#include + +// Defines ///////////////////////////////////////////////////////////////////// + +// The Arduino two-wire interface uses a 7-bit number for the address, +// and sets the last bit correctly based on reads and writes +#define ADDRESS_DEFAULT 0b0101001 + +// Record the current time to check an upcoming timeout against +#define startTimeout() (timeout_start_ms = millis()) + +// Check if timeout is enabled (set to nonzero value) and has expired +#define checkTimeoutExpired() (io_timeout > 0 && ((uint16_t)millis() - timeout_start_ms) > io_timeout) + +// Decode VCSEL (vertical cavity surface emitting laser) pulse period in PCLKs +// from register value +// based on VL53L0X_decode_vcsel_period() +#define decodeVcselPeriod(reg_val) (((reg_val) + 1) << 1) + +// Encode VCSEL pulse period register value from period in PCLKs +// based on VL53L0X_encode_vcsel_period() +#define encodeVcselPeriod(period_pclks) (((period_pclks) >> 1) - 1) + +// Calculate macro period in *nanoseconds* from VCSEL period in PCLKs +// based on VL53L0X_calc_macro_period_ps() +// PLL_period_ps = 1655; macro_period_vclks = 2304 +#define calcMacroPeriod(vcsel_period_pclks) ((((uint32_t)2304 * (vcsel_period_pclks) * 1655) + 500) / 1000) + +// Constructors //////////////////////////////////////////////////////////////// + +VL53L0X::VL53L0X(void) + : address(ADDRESS_DEFAULT) + , io_timeout(0) // no timeout + , did_timeout(false) +{ +} + +// Public Methods ////////////////////////////////////////////////////////////// + +void VL53L0X::setAddress(uint8_t new_addr) +{ + writeReg(I2C_SLAVE_DEVICE_ADDRESS, new_addr & 0x7F); + address = new_addr; +} + +// Initialize sensor using sequence based on VL53L0X_DataInit(), +// VL53L0X_StaticInit(), and VL53L0X_PerformRefCalibration(). +// This function does not perform reference SPAD calibration +// (VL53L0X_PerformRefSpadManagement()), since the API user manual says that it +// is performed by ST on the bare modules; it seems like that should work well +// enough unless a cover glass is added. +// If io_2v8 (optional) is true or not given, the sensor is configured for 2V8 +// mode. +bool VL53L0X::init(bool io_2v8) +{ + // VL53L0X_DataInit() begin + + // sensor uses 1V8 mode for I/O by default; switch to 2V8 mode if necessary + if (io_2v8) + { + writeReg(VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, + readReg(VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV) | 0x01); // set bit 0 + } + + // "Set I2C standard mode" + writeReg(0x88, 0x00); + + writeReg(0x80, 0x01); + writeReg(0xFF, 0x01); + writeReg(0x00, 0x00); + stop_variable = readReg(0x91); + writeReg(0x00, 0x01); + writeReg(0xFF, 0x00); + writeReg(0x80, 0x00); + + // disable SIGNAL_RATE_MSRC (bit 1) and SIGNAL_RATE_PRE_RANGE (bit 4) limit checks + writeReg(MSRC_CONFIG_CONTROL, readReg(MSRC_CONFIG_CONTROL) | 0x12); + + // set final range signal rate limit to 0.25 MCPS (million counts per second) + setSignalRateLimit(0.25); + + writeReg(SYSTEM_SEQUENCE_CONFIG, 0xFF); + + // VL53L0X_DataInit() end + + // VL53L0X_StaticInit() begin + + uint8_t spad_count; + bool spad_type_is_aperture; + if (!getSpadInfo(&spad_count, &spad_type_is_aperture)) { return false; } + + // The SPAD map (RefGoodSpadMap) is read by VL53L0X_get_info_from_device() in + // the API, but the same data seems to be more easily readable from + // GLOBAL_CONFIG_SPAD_ENABLES_REF_0 through _6, so read it from there + uint8_t ref_spad_map[6]; + readMulti(GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6); + + // -- VL53L0X_set_reference_spads() begin (assume NVM values are valid) + + writeReg(0xFF, 0x01); + writeReg(DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00); + writeReg(DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C); + writeReg(0xFF, 0x00); + writeReg(GLOBAL_CONFIG_REF_EN_START_SELECT, 0xB4); + + uint8_t first_spad_to_enable = spad_type_is_aperture ? 12 : 0; // 12 is the first aperture spad + uint8_t spads_enabled = 0; + + for (uint8_t i = 0; i < 48; i++) + { + if (i < first_spad_to_enable || spads_enabled == spad_count) + { + // This bit is lower than the first one that should be enabled, or + // (reference_spad_count) bits have already been enabled, so zero this bit + ref_spad_map[i / 8] &= ~(1 << (i % 8)); + } + else if ((ref_spad_map[i / 8] >> (i % 8)) & 0x1) + { + spads_enabled++; + } + } + + writeMulti(GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6); + + // -- VL53L0X_set_reference_spads() end + + // -- VL53L0X_load_tuning_settings() begin + // DefaultTuningSettings from vl53l0x_tuning.h + + writeReg(0xFF, 0x01); + writeReg(0x00, 0x00); + + writeReg(0xFF, 0x00); + writeReg(0x09, 0x00); + writeReg(0x10, 0x00); + writeReg(0x11, 0x00); + + writeReg(0x24, 0x01); + writeReg(0x25, 0xFF); + writeReg(0x75, 0x00); + + writeReg(0xFF, 0x01); + writeReg(0x4E, 0x2C); + writeReg(0x48, 0x00); + writeReg(0x30, 0x20); + + writeReg(0xFF, 0x00); + writeReg(0x30, 0x09); + writeReg(0x54, 0x00); + writeReg(0x31, 0x04); + writeReg(0x32, 0x03); + writeReg(0x40, 0x83); + writeReg(0x46, 0x25); + writeReg(0x60, 0x00); + writeReg(0x27, 0x00); + writeReg(0x50, 0x06); + writeReg(0x51, 0x00); + writeReg(0x52, 0x96); + writeReg(0x56, 0x08); + writeReg(0x57, 0x30); + writeReg(0x61, 0x00); + writeReg(0x62, 0x00); + writeReg(0x64, 0x00); + writeReg(0x65, 0x00); + writeReg(0x66, 0xA0); + + writeReg(0xFF, 0x01); + writeReg(0x22, 0x32); + writeReg(0x47, 0x14); + writeReg(0x49, 0xFF); + writeReg(0x4A, 0x00); + + writeReg(0xFF, 0x00); + writeReg(0x7A, 0x0A); + writeReg(0x7B, 0x00); + writeReg(0x78, 0x21); + + writeReg(0xFF, 0x01); + writeReg(0x23, 0x34); + writeReg(0x42, 0x00); + writeReg(0x44, 0xFF); + writeReg(0x45, 0x26); + writeReg(0x46, 0x05); + writeReg(0x40, 0x40); + writeReg(0x0E, 0x06); + writeReg(0x20, 0x1A); + writeReg(0x43, 0x40); + + writeReg(0xFF, 0x00); + writeReg(0x34, 0x03); + writeReg(0x35, 0x44); + + writeReg(0xFF, 0x01); + writeReg(0x31, 0x04); + writeReg(0x4B, 0x09); + writeReg(0x4C, 0x05); + writeReg(0x4D, 0x04); + + writeReg(0xFF, 0x00); + writeReg(0x44, 0x00); + writeReg(0x45, 0x20); + writeReg(0x47, 0x08); + writeReg(0x48, 0x28); + writeReg(0x67, 0x00); + writeReg(0x70, 0x04); + writeReg(0x71, 0x01); + writeReg(0x72, 0xFE); + writeReg(0x76, 0x00); + writeReg(0x77, 0x00); + + writeReg(0xFF, 0x01); + writeReg(0x0D, 0x01); + + writeReg(0xFF, 0x00); + writeReg(0x80, 0x01); + writeReg(0x01, 0xF8); + + writeReg(0xFF, 0x01); + writeReg(0x8E, 0x01); + writeReg(0x00, 0x01); + writeReg(0xFF, 0x00); + writeReg(0x80, 0x00); + + // -- VL53L0X_load_tuning_settings() end + + // "Set interrupt config to new sample ready" + // -- VL53L0X_SetGpioConfig() begin + + writeReg(SYSTEM_INTERRUPT_CONFIG_GPIO, 0x04); + writeReg(GPIO_HV_MUX_ACTIVE_HIGH, readReg(GPIO_HV_MUX_ACTIVE_HIGH) & ~0x10); // active low + writeReg(SYSTEM_INTERRUPT_CLEAR, 0x01); + + // -- VL53L0X_SetGpioConfig() end + + measurement_timing_budget_us = getMeasurementTimingBudget(); + + // "Disable MSRC and TCC by default" + // MSRC = Minimum Signal Rate Check + // TCC = Target CentreCheck + // -- VL53L0X_SetSequenceStepEnable() begin + + writeReg(SYSTEM_SEQUENCE_CONFIG, 0xE8); + + // -- VL53L0X_SetSequenceStepEnable() end + + // "Recalculate timing budget" + setMeasurementTimingBudget(measurement_timing_budget_us); + + // VL53L0X_StaticInit() end + + // VL53L0X_PerformRefCalibration() begin (VL53L0X_perform_ref_calibration()) + + // -- VL53L0X_perform_vhv_calibration() begin + + writeReg(SYSTEM_SEQUENCE_CONFIG, 0x01); + if (!performSingleRefCalibration(0x40)) { return false; } + + // -- VL53L0X_perform_vhv_calibration() end + + // -- VL53L0X_perform_phase_calibration() begin + + writeReg(SYSTEM_SEQUENCE_CONFIG, 0x02); + if (!performSingleRefCalibration(0x00)) { return false; } + + // -- VL53L0X_perform_phase_calibration() end + + // "restore the previous Sequence Config" + writeReg(SYSTEM_SEQUENCE_CONFIG, 0xE8); + + // VL53L0X_PerformRefCalibration() end + + return true; +} + +// Write an 8-bit register +void VL53L0X::writeReg(uint8_t reg, uint8_t value) +{ + Wire.beginTransmission(address); + Wire.write(reg); + Wire.write(value); + last_status = Wire.endTransmission(); +} + +// Write a 16-bit register +void VL53L0X::writeReg16Bit(uint8_t reg, uint16_t value) +{ + Wire.beginTransmission(address); + Wire.write(reg); + Wire.write((value >> 8) & 0xFF); // value high byte + Wire.write( value & 0xFF); // value low byte + last_status = Wire.endTransmission(); +} + +// Write a 32-bit register +void VL53L0X::writeReg32Bit(uint8_t reg, uint32_t value) +{ + Wire.beginTransmission(address); + Wire.write(reg); + Wire.write((value >> 24) & 0xFF); // value highest byte + Wire.write((value >> 16) & 0xFF); + Wire.write((value >> 8) & 0xFF); + Wire.write( value & 0xFF); // value lowest byte + last_status = Wire.endTransmission(); +} + +// Read an 8-bit register +uint8_t VL53L0X::readReg(uint8_t reg) +{ + uint8_t value; + + Wire.beginTransmission(address); + Wire.write(reg); + last_status = Wire.endTransmission(); + + Wire.requestFrom(address, (uint8_t)1); + value = Wire.read(); + + return value; +} + +// Read a 16-bit register +uint16_t VL53L0X::readReg16Bit(uint8_t reg) +{ + uint16_t value; + + Wire.beginTransmission(address); + Wire.write(reg); + last_status = Wire.endTransmission(); + + Wire.requestFrom(address, (uint8_t)2); + value = (uint16_t)Wire.read() << 8; // value high byte + value |= Wire.read(); // value low byte + + return value; +} + +// Read a 32-bit register +uint32_t VL53L0X::readReg32Bit(uint8_t reg) +{ + uint32_t value; + + Wire.beginTransmission(address); + Wire.write(reg); + last_status = Wire.endTransmission(); + + Wire.requestFrom(address, (uint8_t)4); + value = (uint32_t)Wire.read() << 24; // value highest byte + value |= (uint32_t)Wire.read() << 16; + value |= (uint16_t)Wire.read() << 8; + value |= Wire.read(); // value lowest byte + + return value; +} + +// Write an arbitrary number of bytes from the given array to the sensor, +// starting at the given register +void VL53L0X::writeMulti(uint8_t reg, uint8_t const * src, uint8_t count) +{ + Wire.beginTransmission(address); + Wire.write(reg); + + while (count-- > 0) + { + Wire.write(*(src++)); + } + + last_status = Wire.endTransmission(); +} + +// Read an arbitrary number of bytes from the sensor, starting at the given +// register, into the given array +void VL53L0X::readMulti(uint8_t reg, uint8_t * dst, uint8_t count) +{ + Wire.beginTransmission(address); + Wire.write(reg); + last_status = Wire.endTransmission(); + + Wire.requestFrom(address, count); + + while (count-- > 0) + { + *(dst++) = Wire.read(); + } +} + +// Set the return signal rate limit check value in units of MCPS (mega counts +// per second). "This represents the amplitude of the signal reflected from the +// target and detected by the device"; setting this limit presumably determines +// the minimum measurement necessary for the sensor to report a valid reading. +// Setting a lower limit increases the potential range of the sensor but also +// seems to increase the likelihood of getting an inaccurate reading because of +// unwanted reflections from objects other than the intended target. +// Defaults to 0.25 MCPS as initialized by the ST API and this library. +bool VL53L0X::setSignalRateLimit(float limit_Mcps) +{ + if (limit_Mcps < 0 || limit_Mcps > 511.99) { return false; } + + // Q9.7 fixed point format (9 integer bits, 7 fractional bits) + writeReg16Bit(FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, limit_Mcps * (1 << 7)); + return true; +} + +// Get the return signal rate limit check value in MCPS +float VL53L0X::getSignalRateLimit(void) +{ + return (float)readReg16Bit(FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT) / (1 << 7); +} + +// Set the measurement timing budget in microseconds, which is the time allowed +// for one measurement; the ST API and this library take care of splitting the +// timing budget among the sub-steps in the ranging sequence. A longer timing +// budget allows for more accurate measurements. Increasing the budget by a +// factor of N decreases the range measurement standard deviation by a factor of +// sqrt(N). Defaults to about 33 milliseconds; the minimum is 20 ms. +// based on VL53L0X_set_measurement_timing_budget_micro_seconds() +bool VL53L0X::setMeasurementTimingBudget(uint32_t budget_us) +{ + SequenceStepEnables enables; + SequenceStepTimeouts timeouts; + + uint16_t const StartOverhead = 1320; // note that this is different than the value in get_ + uint16_t const EndOverhead = 960; + uint16_t const MsrcOverhead = 660; + uint16_t const TccOverhead = 590; + uint16_t const DssOverhead = 690; + uint16_t const PreRangeOverhead = 660; + uint16_t const FinalRangeOverhead = 550; + + uint32_t const MinTimingBudget = 20000; + + if (budget_us < MinTimingBudget) { return false; } + + uint32_t used_budget_us = StartOverhead + EndOverhead; + + getSequenceStepEnables(&enables); + getSequenceStepTimeouts(&enables, &timeouts); + + if (enables.tcc) + { + used_budget_us += (timeouts.msrc_dss_tcc_us + TccOverhead); + } + + if (enables.dss) + { + used_budget_us += 2 * (timeouts.msrc_dss_tcc_us + DssOverhead); + } + else if (enables.msrc) + { + used_budget_us += (timeouts.msrc_dss_tcc_us + MsrcOverhead); + } + + if (enables.pre_range) + { + used_budget_us += (timeouts.pre_range_us + PreRangeOverhead); + } + + if (enables.final_range) + { + used_budget_us += FinalRangeOverhead; + + // "Note that the final range timeout is determined by the timing + // budget and the sum of all other timeouts within the sequence. + // If there is no room for the final range timeout, then an error + // will be set. Otherwise the remaining time will be applied to + // the final range." + + if (used_budget_us > budget_us) + { + // "Requested timeout too big." + return false; + } + + uint32_t final_range_timeout_us = budget_us - used_budget_us; + + // set_sequence_step_timeout() begin + // (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) + + // "For the final range timeout, the pre-range timeout + // must be added. To do this both final and pre-range + // timeouts must be expressed in macro periods MClks + // because they have different vcsel periods." + + uint16_t final_range_timeout_mclks = + timeoutMicrosecondsToMclks(final_range_timeout_us, + timeouts.final_range_vcsel_period_pclks); + + if (enables.pre_range) + { + final_range_timeout_mclks += timeouts.pre_range_mclks; + } + + writeReg16Bit(FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, + encodeTimeout(final_range_timeout_mclks)); + + // set_sequence_step_timeout() end + + measurement_timing_budget_us = budget_us; // store for internal reuse + } + return true; +} + +// Get the measurement timing budget in microseconds +// based on VL53L0X_get_measurement_timing_budget_micro_seconds() +// in us +uint32_t VL53L0X::getMeasurementTimingBudget(void) +{ + SequenceStepEnables enables; + SequenceStepTimeouts timeouts; + + uint16_t const StartOverhead = 1910; // note that this is different than the value in set_ + uint16_t const EndOverhead = 960; + uint16_t const MsrcOverhead = 660; + uint16_t const TccOverhead = 590; + uint16_t const DssOverhead = 690; + uint16_t const PreRangeOverhead = 660; + uint16_t const FinalRangeOverhead = 550; + + // "Start and end overhead times always present" + uint32_t budget_us = StartOverhead + EndOverhead; + + getSequenceStepEnables(&enables); + getSequenceStepTimeouts(&enables, &timeouts); + + if (enables.tcc) + { + budget_us += (timeouts.msrc_dss_tcc_us + TccOverhead); + } + + if (enables.dss) + { + budget_us += 2 * (timeouts.msrc_dss_tcc_us + DssOverhead); + } + else if (enables.msrc) + { + budget_us += (timeouts.msrc_dss_tcc_us + MsrcOverhead); + } + + if (enables.pre_range) + { + budget_us += (timeouts.pre_range_us + PreRangeOverhead); + } + + if (enables.final_range) + { + budget_us += (timeouts.final_range_us + FinalRangeOverhead); + } + + measurement_timing_budget_us = budget_us; // store for internal reuse + return budget_us; +} + +// Set the VCSEL (vertical cavity surface emitting laser) pulse period for the +// given period type (pre-range or final range) to the given value in PCLKs. +// Longer periods seem to increase the potential range of the sensor. +// Valid values are (even numbers only): +// pre: 12 to 18 (initialized default: 14) +// final: 8 to 14 (initialized default: 10) +// based on VL53L0X_set_vcsel_pulse_period() +bool VL53L0X::setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks) +{ + uint8_t vcsel_period_reg = encodeVcselPeriod(period_pclks); + + SequenceStepEnables enables; + SequenceStepTimeouts timeouts; + + getSequenceStepEnables(&enables); + getSequenceStepTimeouts(&enables, &timeouts); + + // "Apply specific settings for the requested clock period" + // "Re-calculate and apply timeouts, in macro periods" + + // "When the VCSEL period for the pre or final range is changed, + // the corresponding timeout must be read from the device using + // the current VCSEL period, then the new VCSEL period can be + // applied. The timeout then must be written back to the device + // using the new VCSEL period. + // + // For the MSRC timeout, the same applies - this timeout being + // dependant on the pre-range vcsel period." + + + if (type == VcselPeriodPreRange) + { + // "Set phase check limits" + switch (period_pclks) + { + case 12: + writeReg(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x18); + break; + + case 14: + writeReg(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x30); + break; + + case 16: + writeReg(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x40); + break; + + case 18: + writeReg(PRE_RANGE_CONFIG_VALID_PHASE_HIGH, 0x50); + break; + + default: + // invalid period + return false; + } + writeReg(PRE_RANGE_CONFIG_VALID_PHASE_LOW, 0x08); + + // apply new VCSEL period + writeReg(PRE_RANGE_CONFIG_VCSEL_PERIOD, vcsel_period_reg); + + // update timeouts + + // set_sequence_step_timeout() begin + // (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) + + uint16_t new_pre_range_timeout_mclks = + timeoutMicrosecondsToMclks(timeouts.pre_range_us, period_pclks); + + writeReg16Bit(PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, + encodeTimeout(new_pre_range_timeout_mclks)); + + // set_sequence_step_timeout() end + + // set_sequence_step_timeout() begin + // (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC) + + uint16_t new_msrc_timeout_mclks = + timeoutMicrosecondsToMclks(timeouts.msrc_dss_tcc_us, period_pclks); + + writeReg(MSRC_CONFIG_TIMEOUT_MACROP, + (new_msrc_timeout_mclks > 256) ? 255 : (new_msrc_timeout_mclks - 1)); + + // set_sequence_step_timeout() end + } + else if (type == VcselPeriodFinalRange) + { + switch (period_pclks) + { + case 8: + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x10); + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08); + writeReg(GLOBAL_CONFIG_VCSEL_WIDTH, 0x02); + writeReg(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C); + writeReg(0xFF, 0x01); + writeReg(ALGO_PHASECAL_LIM, 0x30); + writeReg(0xFF, 0x00); + break; + + case 10: + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x28); + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08); + writeReg(GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); + writeReg(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09); + writeReg(0xFF, 0x01); + writeReg(ALGO_PHASECAL_LIM, 0x20); + writeReg(0xFF, 0x00); + break; + + case 12: + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x38); + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08); + writeReg(GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); + writeReg(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08); + writeReg(0xFF, 0x01); + writeReg(ALGO_PHASECAL_LIM, 0x20); + writeReg(0xFF, 0x00); + break; + + case 14: + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x48); + writeReg(FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08); + writeReg(GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); + writeReg(ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07); + writeReg(0xFF, 0x01); + writeReg(ALGO_PHASECAL_LIM, 0x20); + writeReg(0xFF, 0x00); + break; + + default: + // invalid period + return false; + } + + // apply new VCSEL period + writeReg(FINAL_RANGE_CONFIG_VCSEL_PERIOD, vcsel_period_reg); + + // update timeouts + + // set_sequence_step_timeout() begin + // (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) + + // "For the final range timeout, the pre-range timeout + // must be added. To do this both final and pre-range + // timeouts must be expressed in macro periods MClks + // because they have different vcsel periods." + + uint16_t new_final_range_timeout_mclks = + timeoutMicrosecondsToMclks(timeouts.final_range_us, period_pclks); + + if (enables.pre_range) + { + new_final_range_timeout_mclks += timeouts.pre_range_mclks; + } + + writeReg16Bit(FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, + encodeTimeout(new_final_range_timeout_mclks)); + + // set_sequence_step_timeout end + } + else + { + // invalid type + return false; + } + + // "Finally, the timing budget must be re-applied" + + setMeasurementTimingBudget(measurement_timing_budget_us); + + // "Perform the phase calibration. This is needed after changing on vcsel period." + // VL53L0X_perform_phase_calibration() begin + + uint8_t sequence_config = readReg(SYSTEM_SEQUENCE_CONFIG); + writeReg(SYSTEM_SEQUENCE_CONFIG, 0x02); + performSingleRefCalibration(0x0); + writeReg(SYSTEM_SEQUENCE_CONFIG, sequence_config); + + // VL53L0X_perform_phase_calibration() end + + return true; +} + +// Get the VCSEL pulse period in PCLKs for the given period type. +// based on VL53L0X_get_vcsel_pulse_period() +uint8_t VL53L0X::getVcselPulsePeriod(vcselPeriodType type) +{ + if (type == VcselPeriodPreRange) + { + return decodeVcselPeriod(readReg(PRE_RANGE_CONFIG_VCSEL_PERIOD)); + } + else if (type == VcselPeriodFinalRange) + { + return decodeVcselPeriod(readReg(FINAL_RANGE_CONFIG_VCSEL_PERIOD)); + } + else { return 255; } +} + +// Start continuous ranging measurements. If period_ms (optional) is 0 or not +// given, continuous back-to-back mode is used (the sensor takes measurements as +// often as possible); otherwise, continuous timed mode is used, with the given +// inter-measurement period in milliseconds determining how often the sensor +// takes a measurement. +// based on VL53L0X_StartMeasurement() +void VL53L0X::startContinuous(uint32_t period_ms) +{ + writeReg(0x80, 0x01); + writeReg(0xFF, 0x01); + writeReg(0x00, 0x00); + writeReg(0x91, stop_variable); + writeReg(0x00, 0x01); + writeReg(0xFF, 0x00); + writeReg(0x80, 0x00); + + if (period_ms != 0) + { + // continuous timed mode + + // VL53L0X_SetInterMeasurementPeriodMilliSeconds() begin + + uint16_t osc_calibrate_val = readReg16Bit(OSC_CALIBRATE_VAL); + + if (osc_calibrate_val != 0) + { + period_ms *= osc_calibrate_val; + } + + writeReg32Bit(SYSTEM_INTERMEASUREMENT_PERIOD, period_ms); + + // VL53L0X_SetInterMeasurementPeriodMilliSeconds() end + + writeReg(SYSRANGE_START, 0x04); // VL53L0X_REG_SYSRANGE_MODE_TIMED + } + else + { + // continuous back-to-back mode + writeReg(SYSRANGE_START, 0x02); // VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK + } +} + +// Stop continuous measurements +// based on VL53L0X_StopMeasurement() +void VL53L0X::stopContinuous(void) +{ + writeReg(SYSRANGE_START, 0x01); // VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT + + writeReg(0xFF, 0x01); + writeReg(0x00, 0x00); + writeReg(0x91, 0x00); + writeReg(0x00, 0x01); + writeReg(0xFF, 0x00); +} + +// Returns a range reading in millimeters when continuous mode is active +// (readRangeSingleMillimeters() also calls this function after starting a +// single-shot range measurement) +uint16_t VL53L0X::readRangeContinuousMillimeters(void) +{ + // startTimeout(); + while ((readReg(RESULT_INTERRUPT_STATUS) & 0x07) == 0) + { + if (checkTimeoutExpired()) + { + did_timeout = true; + return 65535; + } + } + + // assumptions: Linearity Corrective Gain is 1000 (default); + // fractional ranging is not enabled + uint16_t range = readReg16Bit(RESULT_RANGE_STATUS + 10); + + writeReg(SYSTEM_INTERRUPT_CLEAR, 0x01); + + return range; +} + +// Performs a single-shot range measurement and returns the reading in +// millimeters +// based on VL53L0X_PerformSingleRangingMeasurement() +uint16_t VL53L0X::readRangeSingleMillimeters(void) +{ + writeReg(0x80, 0x01); + writeReg(0xFF, 0x01); + writeReg(0x00, 0x00); + writeReg(0x91, stop_variable); + writeReg(0x00, 0x01); + writeReg(0xFF, 0x00); + writeReg(0x80, 0x00); + + writeReg(SYSRANGE_START, 0x01); + + // "Wait until start bit has been cleared" + +// startTimeout(); + + while (readReg(SYSRANGE_START) & 0x01) + { + if (checkTimeoutExpired()) + { + did_timeout = true; + return 65535; + } + } + +return readRangeContinuousMillimeters(); + +} + +// Did a timeout occur in one of the read functions since the last call to +// timeoutOccurred()? +bool VL53L0X::timeoutOccurred() +{ + bool tmp = did_timeout; + did_timeout = false; + return tmp; +} + +// Private Methods ///////////////////////////////////////////////////////////// + +// Get reference SPAD (single photon avalanche diode) count and type +// based on VL53L0X_get_info_from_device(), +// but only gets reference SPAD count and type +bool VL53L0X::getSpadInfo(uint8_t * count, bool * type_is_aperture) +{ + uint8_t tmp; + + writeReg(0x80, 0x01); + writeReg(0xFF, 0x01); + writeReg(0x00, 0x00); + + writeReg(0xFF, 0x06); + writeReg(0x83, readReg(0x83) | 0x04); + writeReg(0xFF, 0x07); + writeReg(0x81, 0x01); + + writeReg(0x80, 0x01); + + writeReg(0x94, 0x6b); + writeReg(0x83, 0x00); + startTimeout(); + while (readReg(0x83) == 0x00) + { + if (checkTimeoutExpired()) { return false; } + } + writeReg(0x83, 0x01); + tmp = readReg(0x92); + + *count = tmp & 0x7f; + *type_is_aperture = (tmp >> 7) & 0x01; + + writeReg(0x81, 0x00); + writeReg(0xFF, 0x06); + writeReg(0x83, readReg( 0x83 & ~0x04)); + writeReg(0xFF, 0x01); + writeReg(0x00, 0x01); + + writeReg(0xFF, 0x00); + writeReg(0x80, 0x00); + + return true; +} + +// Get sequence step enables +// based on VL53L0X_GetSequenceStepEnables() +void VL53L0X::getSequenceStepEnables(SequenceStepEnables * enables) +{ + uint8_t sequence_config = readReg(SYSTEM_SEQUENCE_CONFIG); + + enables->tcc = (sequence_config >> 4) & 0x1; + enables->dss = (sequence_config >> 3) & 0x1; + enables->msrc = (sequence_config >> 2) & 0x1; + enables->pre_range = (sequence_config >> 6) & 0x1; + enables->final_range = (sequence_config >> 7) & 0x1; +} + +// Get sequence step timeouts +// based on get_sequence_step_timeout(), +// but gets all timeouts instead of just the requested one, and also stores +// intermediate values +void VL53L0X::getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts) +{ + timeouts->pre_range_vcsel_period_pclks = getVcselPulsePeriod(VcselPeriodPreRange); + + timeouts->msrc_dss_tcc_mclks = readReg(MSRC_CONFIG_TIMEOUT_MACROP) + 1; + timeouts->msrc_dss_tcc_us = + timeoutMclksToMicroseconds(timeouts->msrc_dss_tcc_mclks, + timeouts->pre_range_vcsel_period_pclks); + + timeouts->pre_range_mclks = + decodeTimeout(readReg16Bit(PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI)); + timeouts->pre_range_us = + timeoutMclksToMicroseconds(timeouts->pre_range_mclks, + timeouts->pre_range_vcsel_period_pclks); + + timeouts->final_range_vcsel_period_pclks = getVcselPulsePeriod(VcselPeriodFinalRange); + + timeouts->final_range_mclks = + decodeTimeout(readReg16Bit(FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI)); + + if (enables->pre_range) + { + timeouts->final_range_mclks -= timeouts->pre_range_mclks; + } + + timeouts->final_range_us = + timeoutMclksToMicroseconds(timeouts->final_range_mclks, + timeouts->final_range_vcsel_period_pclks); +} + +// Decode sequence step timeout in MCLKs from register value +// based on VL53L0X_decode_timeout() +// Note: the original function returned a uint32_t, but the return value is +// always stored in a uint16_t. +uint16_t VL53L0X::decodeTimeout(uint16_t reg_val) +{ + // format: "(LSByte * 2^MSByte) + 1" + return (uint16_t)((reg_val & 0x00FF) << + (uint16_t)((reg_val & 0xFF00) >> 8)) + 1; +} + +// Encode sequence step timeout register value from timeout in MCLKs +// based on VL53L0X_encode_timeout() +// Note: the original function took a uint16_t, but the argument passed to it +// is always a uint16_t. +uint16_t VL53L0X::encodeTimeout(uint16_t timeout_mclks) +{ + // format: "(LSByte * 2^MSByte) + 1" + + uint32_t ls_byte = 0; + uint16_t ms_byte = 0; + + if (timeout_mclks > 0) + { + ls_byte = timeout_mclks - 1; + + while ((ls_byte & 0xFFFFFF00) > 0) + { + ls_byte >>= 1; + ms_byte++; + } + + return (ms_byte << 8) | (ls_byte & 0xFF); + } + else { return 0; } +} + +// Convert sequence step timeout from MCLKs to microseconds with given VCSEL period in PCLKs +// based on VL53L0X_calc_timeout_us() +uint32_t VL53L0X::timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks) +{ + uint32_t macro_period_ns = calcMacroPeriod(vcsel_period_pclks); + + return ((timeout_period_mclks * macro_period_ns) + (macro_period_ns / 2)) / 1000; +} + +// Convert sequence step timeout from microseconds to MCLKs with given VCSEL period in PCLKs +// based on VL53L0X_calc_timeout_mclks() +uint32_t VL53L0X::timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks) +{ + uint32_t macro_period_ns = calcMacroPeriod(vcsel_period_pclks); + + return (((timeout_period_us * 1000) + (macro_period_ns / 2)) / macro_period_ns); +} + + +// based on VL53L0X_perform_single_ref_calibration() +bool VL53L0X::performSingleRefCalibration(uint8_t vhv_init_byte) +{ + writeReg(SYSRANGE_START, 0x01 | vhv_init_byte); // VL53L0X_REG_SYSRANGE_MODE_START_STOP + + startTimeout(); + while ((readReg(RESULT_INTERRUPT_STATUS) & 0x07) == 0) + { + if (checkTimeoutExpired()) { return false; } + } + + writeReg(SYSTEM_INTERRUPT_CLEAR, 0x01); + + writeReg(SYSRANGE_START, 0x00); + + return true; +} diff --git a/remXY9250/VL53L0X.h b/remXY9250/VL53L0X.h new file mode 100644 index 0000000..b531ff9 --- /dev/null +++ b/remXY9250/VL53L0X.h @@ -0,0 +1,176 @@ +#ifndef VL53L0X_h +#define VL53L0X_h + +#include + +class VL53L0X +{ + public: + // register addresses from API vl53l0x_device.h (ordered as listed there) + enum regAddr + { + SYSRANGE_START = 0x00, + + SYSTEM_THRESH_HIGH = 0x0C, + SYSTEM_THRESH_LOW = 0x0E, + + SYSTEM_SEQUENCE_CONFIG = 0x01, + SYSTEM_RANGE_CONFIG = 0x09, + SYSTEM_INTERMEASUREMENT_PERIOD = 0x04, + + SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A, + + GPIO_HV_MUX_ACTIVE_HIGH = 0x84, + + SYSTEM_INTERRUPT_CLEAR = 0x0B, + + RESULT_INTERRUPT_STATUS = 0x13, + RESULT_RANGE_STATUS = 0x14, + + RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC, + RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0, + RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0, + RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4, + RESULT_PEAK_SIGNAL_RATE_REF = 0xB6, + + ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28, + + I2C_SLAVE_DEVICE_ADDRESS = 0x8A, + + MSRC_CONFIG_CONTROL = 0x60, + + PRE_RANGE_CONFIG_MIN_SNR = 0x27, + PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56, + PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57, + PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64, + + FINAL_RANGE_CONFIG_MIN_SNR = 0x67, + FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47, + FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48, + FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44, + + PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61, + PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62, + + PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50, + PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51, + PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52, + + SYSTEM_HISTOGRAM_BIN = 0x81, + HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33, + HISTOGRAM_CONFIG_READOUT_CTRL = 0x55, + + FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70, + FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71, + FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72, + CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20, + + MSRC_CONFIG_TIMEOUT_MACROP = 0x46, + + SOFT_RESET_GO2_SOFT_RESET_N = 0xBF, + IDENTIFICATION_MODEL_ID = 0xC0, + IDENTIFICATION_REVISION_ID = 0xC2, + + OSC_CALIBRATE_VAL = 0xF8, + + GLOBAL_CONFIG_VCSEL_WIDTH = 0x32, + GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0, + GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1, + GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2, + GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3, + GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4, + GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5, + + GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6, + DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E, + DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F, + POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80, + + VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89, + + ALGO_PHASECAL_LIM = 0x30, + ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30, + }; + + enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange }; + + uint8_t last_status; // status of last I2C transmission + + VL53L0X(void); + + void setAddress(uint8_t new_addr); + inline uint8_t getAddress(void) { return address; } + + bool init(bool io_2v8 = true); + + void writeReg(uint8_t reg, uint8_t value); + void writeReg16Bit(uint8_t reg, uint16_t value); + void writeReg32Bit(uint8_t reg, uint32_t value); + uint8_t readReg(uint8_t reg); + uint16_t readReg16Bit(uint8_t reg); + uint32_t readReg32Bit(uint8_t reg); + + void writeMulti(uint8_t reg, uint8_t const * src, uint8_t count); + void readMulti(uint8_t reg, uint8_t * dst, uint8_t count); + + bool setSignalRateLimit(float limit_Mcps); + float getSignalRateLimit(void); + + bool setMeasurementTimingBudget(uint32_t budget_us); + uint32_t getMeasurementTimingBudget(void); + + bool setVcselPulsePeriod(vcselPeriodType type, uint8_t period_pclks); + uint8_t getVcselPulsePeriod(vcselPeriodType type); + + void startContinuous(uint32_t period_ms = 0); + void stopContinuous(void); + uint16_t readRangeContinuousMillimeters(void); + uint16_t readRangeSingleMillimeters(void); + + inline void setTimeout(uint16_t timeout) { io_timeout = timeout; } + inline uint16_t getTimeout(void) { return io_timeout; } + bool timeoutOccurred(void); + + private: + // TCC: Target CentreCheck + // MSRC: Minimum Signal Rate Check + // DSS: Dynamic Spad Selection + + struct SequenceStepEnables + { + boolean tcc, msrc, dss, pre_range, final_range; + }; + + struct SequenceStepTimeouts + { + uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks; + + uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks; + uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us; + }; + + uint8_t address; + uint16_t io_timeout; + bool did_timeout; + uint16_t timeout_start_ms; + + uint8_t stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API + uint32_t measurement_timing_budget_us; + + bool getSpadInfo(uint8_t * count, bool * type_is_aperture); + + void getSequenceStepEnables(SequenceStepEnables * enables); + void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts); + + bool performSingleRefCalibration(uint8_t vhv_init_byte); + + static uint16_t decodeTimeout(uint16_t value); + static uint16_t encodeTimeout(uint16_t timeout_mclks); + static uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks); + static uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks); +}; + +#endif + + + diff --git a/remXY9250/WEP_APP.h b/remXY9250/WEP_APP.h new file mode 100644 index 0000000..1b8ad82 --- /dev/null +++ b/remXY9250/WEP_APP.h @@ -0,0 +1,588 @@ +#ifdef REMOTE_WEB_APP + +#include +#include + + +#include +#include +#include + + +const char *ssid = "ESPcopter"; //Name of the access point +const char *password = "12345678"; //Password for the access point + + +#define onState 0 //set polarity of the pulses: 1 is positive, 0 is negative +#define sigPin 5 //set PPM saignal output pin on the arduino + +//#define USE_SERIAL Serial + + + +const byte captive_portal=0; //set to 1 to enable a captive portal. I had problems with the websockets with captive portal enabled +const byte DNS_PORT = 53; //just used for captive portal +const char* serverIndex = "

    "; //website for ota update + +DNSServer dnsServer; //just used for captive portal +ESP8266WebServer server = ESP8266WebServer(80); +WebSocketsServer webSocket = WebSocketsServer(81); + + + +void handleRoot() { + String website=""; + website+=" \n"; + website+=" \n"; + website+=" Wifi PPM\n"; + website+=" \n"; + + website+=" \n"; + website+=" \n"; + website+=" \n"; + website+="
    \n"; + website+=" \n"; + website+="
    \n"; + website+=" \n"; + website+="
    \n"; + website+=" \n"; + website+="
    \n"; + website+=" \n"; + + + website+="
    \n"; + website+=" Invert Y Axis\n"; + website+="
    \n"; + website+="
    \n"; + website+=" Invert Y Axis\n"; + website+="
    \n"; + + website+="
    \n"; //remove "display:none;" if you want trim sliders in touchscreen mode + website+=" \n"; + website+=" \n"; + website+=" \n"; + website+=" \n"; + website+="
    \n"; + website+="
    \n"; + website+=" \n"; + website+=" Your browser does not support the HTML5 canvas tag.\n"; + website+=" \n"; + website+=" Your browser does not support the HTML5 canvas tag.\n"; + website+=" \n"; + website+=" Your browser does not support the HTML5 canvas tag.\n"; + website+=" \n"; + website+=" Your browser does not support the HTML5 canvas tag.\n"; + + website+=" \n"; + + + website+=" \n"; + website+=" \n"; + + + server.send(200, "text/html", website ); + } + +void webSocketEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t length) { + +//USE_SERIAL.printf("event %i\n",type); + switch(type) { + case WStype_DISCONNECTED: + Serial.printf("[%u] Disconnected!\n", num); + break; + case WStype_CONNECTED: { + IPAddress ip = webSocket.remoteIP(num); + Serial.printf("[%u] Connected from %d.%d.%d.%d url: %s\n", num, ip[0], ip[1], ip[2], ip[3], payload); + + // send message to client + webSocket.sendTXT(num, "Connected"); + } + break; + case WStype_TEXT: { + Serial.printf("[%u] get Text: %s\n", num, payload); + } + break; + case WStype_BIN: { + // ppm[payload[0]]=(payload[1]<<8)+payload[2]; //the ppm data is sent by the website in three bytes. channel/hbyte/lbyte + // Serial.print(payload[0]); + // Serial.print(" , "); + + + if(payload[0] == 0 ){ + + RX_yaw = map(word(payload[1],payload[2]),1000,2000,-100,100); + + }else if(payload[0] == 1 ){ + + RX_throttle = map(word(payload[1],payload[2]),1000,2000,-100,motorMax); + + }else if(payload[0] == 2 ){ + + RX_roll = map(word(payload[1],payload[2]),1000,2000,-100,100); + + }else if(payload[0] == 3 ){ + RX_pitch = map(word(payload[1],payload[2]),1000,2000,-100,100); + + }else if(payload[0] == 4 ){ + armControl = word(payload[1],payload[2]); + //Serial.println(word(payload[1],payload[2])); + + }else if(payload[0] == 5 ){ + flyMode_1 = word(payload[1],payload[2]); + + + }else if(payload[0] == 6 ){ + + flyMode_2 = word(payload[1],payload[2]); + + + }else if(payload[0] == 7 ){ + flyMode_3 = word(payload[1],payload[2]); + + } + } + break; + } + +} + +void setupWiFi(){ + + /* You can remove the password parameter if you want the AP to be open. */ + WiFi.softAP(ssid,password); + + IPAddress myIP = WiFi.softAPIP(); + Serial.print("AP IP address: "); + Serial.println(myIP); + + if(captive_portal) + dnsServer.start(DNS_PORT, "*", myIP); + server.onNotFound(handleRoot); + server.on("/", handleRoot); + + server.on("/update", HTTP_GET, [](){ + + + server.sendHeader("Connection", "close"); + server.sendHeader("Access-Control-Allow-Origin", "*"); + server.send(200, "text/html", serverIndex); + }); + + server.on("/upload", HTTP_POST, [](){ + server.sendHeader("Connection", "close"); + server.sendHeader("Access-Control-Allow-Origin", "*"); + server.send(200, "text/plain", (Update.hasError())?"FAIL":"OK"); + ESP.restart(); + },[](){ + HTTPUpload& upload = server.upload(); + if(upload.status == UPLOAD_FILE_START){ + Serial.setDebugOutput(true); + WiFiUDP::stopAll(); + Serial.printf("Update: %s\n", upload.filename.c_str()); + uint32_t maxSketchSpace = (ESP.getFreeSketchSpace() - 0x1000) & 0xFFFFF000; + if(!Update.begin(maxSketchSpace)){//start with max available size + Update.printError(Serial); + } + } + else if(upload.status == UPLOAD_FILE_WRITE){ + if(Update.write(upload.buf, upload.currentSize) != upload.currentSize){ + Update.printError(Serial); + } + } + else if(upload.status == UPLOAD_FILE_END){ + if(Update.end(true)){ //true to set the size to the current progress + Serial.printf("Update Success: %u\nRebooting...\n", upload.totalSize); + } else { + Update.printError(Serial); + } + Serial.setDebugOutput(false); + } + yield(); + }); + + server.begin(); + webSocket.onEvent(webSocketEvent); + webSocket.begin(); + + + + Serial.println("HTTP server started"); + Serial.println("test1"); + + +} +void getRX(){ +webSocket.loop(); + + if(captive_portal) + dnsServer.processNextRequest(); + server.handleClient(); + yield(); + + +} + + + + +#endif diff --git a/remXY9250/desktop.ini b/remXY9250/desktop.ini new file mode 100644 index 0000000..bb9f3d6 --- /dev/null +++ b/remXY9250/desktop.ini @@ -0,0 +1,4 @@ +[ViewState] +Mode= +Vid= +FolderType=Generic diff --git a/remXY9250/global.h b/remXY9250/global.h new file mode 100644 index 0000000..ae679ec --- /dev/null +++ b/remXY9250/global.h @@ -0,0 +1,136 @@ +//--------------------------------------------------------------------------------------- +//Define PWM pin + +int pinPWM[4] = {14, 15, 12, 13}; + +//--------------------------------------------------------------------------------------- +//Define Led pin +#define blueLed 16 +#define redLed 2 +#define greenLed 0 +//--------------------------------------------------------------------------------------- +// Define for remote method + +//#define REMOTE_XY_REMOTE + +//#define PROCESSING_REMOTE +//#define PROCESSING_SINGLE +//#define PROCESSING_MULTIPLE + +//#define PPM_REMOTE + +#define REMOTE_WEB_APP // Phone control + +//--------------------------------------------------------------------------------------- +//Define modules + +//#define NeoPixel + +//#define MULTI_RANGER + +#define vl53l0x // auto recognazation +#define LONG_RANGE +//#define HIGH_ACCURACY +//#define HIGH_SPEED + +//#define opticalFlow +//--------------------------------------------------------------------------------------- + +// Define trim and Set point values +int SetPoint[3] = {0}, _SetPoint[3] = {0}; // -1750 : 1750 +int Trim_Roll = 0, Trim_Pitch = 0; // -1750 : 1750 +int Trim_Yaw =0; // -8000 : 8000 +float throttle = 0; +// Define auto altitude (mm) +int targetOto = 250; +//--------------------------------------------------------------------------------------- +// Define fly modes + +int flyMode_1 = 0, flyMode_2 = 0 , flyMode_3 = 0; + +//--------------------------------------------------------------------------------------- +// Define controls + +int firstStage= 0; +int armControl = 0; +int batteryControl = 1; +int batteryCount = 0; +int vl5310xControl = 0; +int throttleControl = 0; +int yawControl = 0; +int stopFlightControl = 1; + +//--------------------------------------------------------------------------------------- +// Define RX Value + +float RX_throttle = 0; // 0 : 700 +float RX_roll = 0, RX_pitch = 0, RX_yaw = 0; // -100 : + 100 + + +//--------------------------------------------------------------------------------------- +// Define other variables + + +float magOffsetMotorFnl[3] ={0}; +float magOffsetMotorCount =0; +float magOffsetMotor[3] = {0}; +float sumMagOffsetMotor[3] = {0}; +float magOffsetMotorCount2 =0; +float magOffsetMotor2[3] = {0}; +float sumMagOffsetMotor2[3] = {0}; + +unsigned long calMillis = 0; // will store last time LED was updated + +// constants won't change: +const long calInterval = 1000; + +float errorDegrees = 0; +int motorMax = 700; + +#define weightOfDrone 1 + +float xOptical = 0; +float yOptical = 0; +float crcOpt = 0; +float crcOptQuality = 0; + +String inString = ""; // string to hold input +int currentCommand = 0; +int currentColor = 0; +int currentPid = 0; +int currentValue = 0; + +int boundRate = 1000; +double aggKi; +double aggKp; + +boolean otoHover = false; +boolean sendMpu = false; + +int calAHRS = 0; +int calTest = 1; + + +char getMode = 0; +int i; + +float degree[4] = {0}; + + +float altitudeBmp = 0; +float temperatureBmp = 0; + +float rate[3] = {0}; +float attitude_rate[3] = {0}; +double attitude[3] = {0}; +double attitude_Radian[3] = {0}; +int _Rate[3] = {0}; +int16_t _Angle[3] = {0}; +long ctr_value[3]; + + +float Alpha = 0.75, a = 0.7585; //Trim_Roll = -150, Trim_Pitch = 100, + +int dt, time_prev = 0, time_now, dt2, time_prev2 = 0; + +float yaw_rate = 0, motorFL = 0, motorFR = 0, motorRL = 0, motorRR = 0; diff --git a/remXY9250/multiRanger.h b/remXY9250/multiRanger.h new file mode 100644 index 0000000..3e7525e --- /dev/null +++ b/remXY9250/multiRanger.h @@ -0,0 +1,140 @@ + + +#ifdef MULTI_RANGER + +VL53L0X sensor1, sensor2; +float DistanceX, DistanceY; +float DistanceX_, DistanceY_; +float DistanceX_0, DistanceY_0; +int targetMultiX=500; +int targetMultiY=500; + + + + +#define TCAADDR 0x70 + +void tcaselect(uint8_t i) { + if (i > 7) return; + Wire.beginTransmission(TCAADDR); + Wire.write(1 << i); + Wire.endTransmission(); +} + +unsigned long multiPreviousMillis = 0; +const long multiInterval = 35; + + +void multiRangerSetup(){ + + tcaselect(1); + sensor1.init(); + sensor1.setTimeout(500); + +#if defined LONG_RANGE + // lower the return signal rate limit (default is 0.25 MCPS) + sensor1.setSignalRateLimit(0.1); + // increase laser pulse periods (defaults are 14 and 10 PCLKs) + sensor1.setVcselPulsePeriod(VL53L0X::VcselPeriodPreRange, 18); + sensor1.setVcselPulsePeriod(VL53L0X::VcselPeriodFinalRange, 14); + + //sensor1.setMeasurementTimingBudget(200000); +#endif + + tcaselect(2); + sensor2.init(); + sensor2.setTimeout(500); + +#if defined LONG_RANGE + // lower the return signal rate limit (default is 0.25 MCPS) + sensor2.setSignalRateLimit(0.1); + // increase laser pulse periods (defaults are 14 and 10 PCLKs) + sensor2.setVcselPulsePeriod(VL53L0X::VcselPeriodPreRange, 18); + sensor2.setVcselPulsePeriod(VL53L0X::VcselPeriodFinalRange, 14); + + // sensor2.setMeasurementTimingBudget(200000); +#endif + + + Wire.beginTransmission(TCAADDR); + Wire.write(0); + Wire.endTransmission(); + +} + +void multiRangerLoop(){ + + unsigned long multiCurrentMillis = millis(); + if(multiCurrentMillis - multiPreviousMillis >= multiInterval){ + multiPreviousMillis = multiCurrentMillis; + + unsigned long multiCurrentMillis_1 = micros(); + tcaselect(1); + int val1 = sensor1.readRangeSingleMillimeters(); + + tcaselect(2); + int val2 = sensor2.readRangeSingleMillimeters(); + + Wire.beginTransmission(TCAADDR); + Wire.write(0); + Wire.endTransmission(); + + unsigned long multiCurrentMillis_2 = micros(); + + if((val1 < 2001) && (val1 > 10) ){ + DistanceY = val1; + }else{ + DistanceY= targetMultiY*1.5; + } + + if((val2 < 2001) && (val2 > 10) ){ + DistanceX = val2; + }else{ + DistanceX= targetMultiX*1.5; + } + + Serial.print("DistanceY 1 = "); + Serial.print(DistanceY); + Serial.print(" DistanceX 1= "); + Serial.print(DistanceX); + + + + DistanceX = (0.85*(float)DistanceX) + ((1-0.85)*(float)DistanceX_); +/* +if(abs(DistanceX - DistanceX_) > 50){ + DistanceX = targetMultiX; +}*/ + DistanceX_ = DistanceX; + + DistanceY = (0.85*(float)DistanceY) + ((1-0.85)*(float)DistanceY_); +/* +if(abs(DistanceY - DistanceY_) > 50){ + DistanceY = targetMultiY; +} +*/ + + DistanceY_ = DistanceY; + + + Serial.print(" DistanceY= "); + Serial.print(DistanceY); + Serial.print(" DistanceX= "); + Serial.println(DistanceX); + + + +if(otoMeasure > 60){ + xMulti.compute(6,targetMultiX,throttle,0,0,DistanceX); + yMulti.compute(7,targetMultiY,throttle,0,0,DistanceY); +}else{ + xMulti.compute(6,targetMultiX,throttle,0,0,targetMultiX); + yMulti.compute(7,targetMultiY,throttle,0,0,targetMultiX); +} + + + } + + +} +#endif diff --git a/remXY9250/optical.h b/remXY9250/optical.h new file mode 100644 index 0000000..0ea480e --- /dev/null +++ b/remXY9250/optical.h @@ -0,0 +1,97 @@ +#ifdef opticalFlow + +int opticalUpdate = 50; +unsigned long opticalTs=millis(); + + + int limitOpt = 20; + int16_t deltaY = 0, deltaX = 0 ,deltaX_= 0, deltaY_= 0, deltaCsr =0; + int _flow_sum_x = 0; + int _flow_sum_y = 0; + + int delta_x = 0; + int delta_y = 0; + +void opticalSensor() { + + + if((millis()-opticalTs)>opticalUpdate ){ //Update only once per 10sec && flyMode == 2 + opticalTs = millis(); + + Wire.requestFrom(8, 6); // request 6 bytes from slave device #8 + int16_t response[6]; + int index = 0; + // Wait for response + while (Wire.available()) { + int16_t b = Wire.read(); + response[index] = b; + index++; + } + + deltaY =word(response[0], response[1]); + deltaX =word(response[2], response[3]); + deltaCsr = word(response[4], response[5]); + + + if( (deltaY + deltaX) == deltaCsr){ + + analogWrite(2, 0); + }else{ + deltaY =0; + deltaX =0; + analogWrite(2, PWMRANGE); + } + if (isnan(deltaY)) { + deltaY=0; +} + + if (isnan(deltaX)) { + deltaX=0; +} +/* + deltaY = (0.6*(float)deltaY) + (1-0.6)*(float)deltaY_; + deltaY_ = deltaY; + + deltaX = (0.6*(float)deltaX) + (1-0.6)*(float)deltaX_; + deltaX_ = deltaX; + */ + + // deltaX = constrain(deltaX, -limitOpt, limitOpt); + // deltaY = constrain(deltaY, -limitOpt, limitOpt); + + + // _flow_sum_x += deltaX; + // _flow_sum_y += deltaY; + + // delta_x = (float)_flow_sum_x / 500.0f; // proportional factor + convert from pixels to radians + // delta_y = (float)_flow_sum_y / 500.0f; // proportional factor + convert from pixels to radians + + + + + + + + + + + if(otoMeasure > targetOto-50){ + xOpt.compute(4,0,throttle,0,attitude[1],deltaX*100); + yOpt.compute(5,0,throttle,0,attitude[0],deltaY*100); + } + + //xOpt.Setp(0); + //yOpt.Setp(0); + //} + + Serial.print("X: "); + Serial.print(deltaX); + Serial.print(", Y: "); + Serial.print(deltaY); + Serial.print(", deltaCsr: "); + Serial.print(deltaCsr); + Serial.println(); + +} +} +#endif diff --git a/remXY9250/otoMission.h b/remXY9250/otoMission.h new file mode 100644 index 0000000..14c3f28 --- /dev/null +++ b/remXY9250/otoMission.h @@ -0,0 +1,121 @@ +#define otoMission + +#define missionTime 4600 + +#ifdef otoMission +unsigned long baslagincZamani = 0; +/* + + __ + / \ + / \ + | | + | | + | ++++ | + | | + | | + | | + |Trim_Pitch| + + + ___________________ ___________________ + / | | \ +/ ---- | | ++++ \ +\ | | / + \____Trim_Roll______| |____Trim_Roll______/ + + + Trim_Roll + | | + | | + | | + | ---- | + | | + | | + | | + \ / + \ __ / + + + +*/ + +unsigned long kaydedilenZaman = 0; + +int saymayaBasla = 1; +int stopMission = 1; + +int gorevNo = 0; + +int sure[] = { // milisaniye + 500, + 1000, + 1000, + 1000, + 1000 +}; + +int rollDegeri[] = { + 0, + 0, + 25, + -10, // + -25 +}; + +int pitchDegeri[] = { + 0, + 25, + -10, // + -25, + 10 // +}; + +int yukseklikDegeri[] = { + 250, + 250, + 250, + 250, + 250 +}; + +void setup_(){ + +//Trim_Roll = 500; // -1750, 1750 +//Trim_Pitch = 140; // -1750, 1750 + +} + +void loop_(){ + if(flyMode_3 == 1 && stopMission == 1){ + unsigned long suAnkiZaman = millis(); + + if(saymayaBasla == 1){ + kaydedilenZaman = suAnkiZaman; + baslagincZamani = suAnkiZaman; + saymayaBasla = 0; + } + + + if( gorevNo < 5){ + + if (suAnkiZaman - kaydedilenZaman >= sure[gorevNo] ) { + kaydedilenZaman = suAnkiZaman; + + RX_roll = rollDegeri[gorevNo]; + RX_pitch = pitchDegeri[gorevNo]; + targetOto = yukseklikDegeri[gorevNo]; + + + gorevNo = gorevNo + 1 ; + } + } + + if (suAnkiZaman - baslagincZamani >= missionTime ) { + + stopFlightControl = 0; + stopMission = 0; + } + +}} +#endif diff --git a/remXY9250/remXY9250.ino b/remXY9250/remXY9250.ino new file mode 100644 index 0000000..7748a8a --- /dev/null +++ b/remXY9250/remXY9250.ino @@ -0,0 +1,215 @@ + +/* + * ________________________________________________________________________________________________________ + * metehan son + * +*/ + +#include "global.h" +#include "Parameter.h" +#include +#include +#include "pid.h" +#include "AHRS.h" + +#include "REMOTEXY.h" +#include "WEP_APP.h" +#include "NeoPixel.h" + +#include "VL53L0X.h" + +VL53L0X sensor; +PID oto; +PID xOpt; +PID yOpt; + +PID xMulti; +PID yMulti; + +AHRS ahrs; + +PID roll; +PID pitch; +PID yaw; + +#include "vl5310x.h" +#include "optical.h" +#include "multiRanger.h" + +#include "FlightControl.h" +#include "PROCESSING.h" +#include "otoMission.h" + + +// ************************************************************************************************************************************ + +void setup() { + // Set Pin Mode + Serial.begin(921600);// 921600 + analogWriteFreq(20000); + EEPROM.begin(512); + scanShields(); + + pinMode(redLed, OUTPUT); + pinMode(greenLed, OUTPUT); + pinMode(blueLed, OUTPUT); + + analogWrite(redLed, PWMRANGE); + analogWrite(greenLed, PWMRANGE); + analogWrite(blueLed, 0); + + + pinMode(pinPWM[0], OUTPUT); + pinMode(pinPWM[1], OUTPUT); + pinMode(pinPWM[2], OUTPUT); + pinMode(pinPWM[3], OUTPUT); + + analogWrite(pinPWM[0], 0); + analogWrite(pinPWM[1], 0); + analogWrite(pinPWM[2], 0); + analogWrite(pinPWM[3], 0); + + calAHRS = EEPROM.read(0); + + setupWiFi(); + + //Start Serial Communication + ahrs.Initialize(calAHRS); + + + roll.SetGain(7.2, 26.0, 0.16,0.6,0.9);// pitch.SetGain(6.2, 22.0, 0.18,0.4,0.9); + roll.SetLimit(4500, 200, 3500); + + pitch.SetGain(7.2, 26.0, 0.16,0.6,0.9); + pitch.SetLimit(4500, 200, 3500); + + yaw.SetGain(0.5,0.3,0.6,0.3,0.0); + yaw.SetLimit(4500, 1000, 6000); + + oto.SetGain(0.0, 0.0, 1.2,5.0,1000.0); // 1.2,6.8,1000.0); + oto.SetLimit(1000, 1000, 6500); + + yOpt.SetGain(0.0, 0.0, 0.1 ,0.3 ,0.0); + yOpt.SetLimit(4500, 1000, 6000); //3000, 900, 3500 + + xOpt.SetGain(0.0, 0.0, 0.18 ,0.1,0.0); + xOpt.SetLimit(4500, 1000, 6000); //3000, 900, 3500 + + xMulti.SetGain(0.0, 0.0, 0.9 ,0.3 ,125.0); // 1.5 ,1.00 ,100); + xMulti.SetLimit(4500, 1000, 6000); //3000, 900, 3500 + + yMulti.SetGain(0.0, 0.0, 0.9 ,0.3 ,125.0); + yMulti.SetLimit(4500, 1000, 6000); //3000, 900, 3500 + + #ifdef vl53l0x + if(vl5310xControl == 1){ + InitVL53L0X(); + } + #endif + + #ifdef MULTI_RANGER + multiRangerSetup(); + #endif + + #ifdef NeoPixel + NeoPixelsetup(); + #endif + + #ifdef otoMission + setup_(); + #endif + + delay(1000); + +} + + +void loop() { + calibrationInt(); + + getRX(); + modeControl(); + FlightControl(); + + #ifdef NeoPixel + neoPixel(); + #endif + + + #ifdef otoMission + loop_(); + #endif + + + +} + +void calibrationInt(){ + while(calTest == 1 ){ + unsigned long calMillis = millis(); + Serial.println(calMillis); + EEPROM.write(0,1); + EEPROM.commit(); + analogWrite(redLed, 0); + delay(50); + analogWrite(redLed, PWMRANGE); + delay(50); + if(calMillis > 2000){ + analogWrite(redLed, PWMRANGE); + analogWrite(greenLed, 0); + analogWrite(blueLed, 0); // Blue opened + EEPROM.write(0, 0); + EEPROM.commit(); + calTest=0; + break; + } + } + +} + +void scanShields(){ + Wire.begin(); + byte error, address; + int nDevices; + + Serial.println("Scanning..."); + + nDevices = 0; + for(address = 1; address < 127; address++ ) + { + // The i2c_scanner uses the return value of + // the Write.endTransmisstion to see if + // a device did acknowledge to the address. + Wire.beginTransmission(address); + error = Wire.endTransmission(); + + if (error == 0) + { + Serial.print("I2C device found at address 0x"); + if (address<16) + Serial.print("0"); + Serial.print(address); + Serial.println(" !"); + + if(address == 22 || address == 41){ + vl5310xControl = 1; + Serial.println(" Altidude hold shield was found" + vl5310xControl); + Serial.println(vl5310xControl); + } + nDevices++; + } + else if (error==4) + { + Serial.print("Unknown error at address 0x"); + if (address<16) + Serial.print("0"); + Serial.println(address); + } + } + if (nDevices == 0) + Serial.println("No I2C devices found\n"); + else + Serial.println("done\n"); + + +} diff --git a/remXY9250/vl5310x.h b/remXY9250/vl5310x.h new file mode 100644 index 0000000..cf3dd3a --- /dev/null +++ b/remXY9250/vl5310x.h @@ -0,0 +1,96 @@ +int otoMeasure; +int hoverlimitUp = 750; +int hoverlimitDown = 550; +int otoMeasure_; +int otoMeasure_0; +int changeMeasure; + +float hoverFactor = 0; +float hoverFactor_ = 450; + +unsigned long otoPreviousMillis = 0; +const long otoInterval = 35; + +int takeBattery =0; + + +void InitVL53L0X(){ + + sensor.init(); + delay(10); + sensor.setAddress((uint8_t)22); + sensor.setTimeout(500); + + #if defined LONG_RANGE + // lower the return signal rate limit (default is 0.25 MCPS) + sensor.setSignalRateLimit(0.1); + // increase laser pulse periods (defaults are 14 and 10 PCLKs) + sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodPreRange, 18); + sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodFinalRange, 14); +#endif + +#if defined HIGH_SPEED + // reduce timing budget to 20 ms (default is about 33 ms) + sensor.setMeasurementTimingBudget(20000); +#elif defined HIGH_ACCURACY + // increase timing budget to 200 ms + sensor.setMeasurementTimingBudget(200000); +#endif +} + +void vl5310x(){ + + unsigned long otoCurrentMillis = millis(); + if(otoCurrentMillis - otoPreviousMillis >= otoInterval){ + otoPreviousMillis = otoCurrentMillis; + + otoMeasure_ = sensor.readRangeSingleMillimeters(); + + if((otoMeasure_ < 2001) && otoMeasure_ > 10 ){ + //float triOtoMeasure = 2*otoMeasure - (otoMeasure * cos(attitude_Radian[0])) - (otoMeasure * cos(attitude_Radian[1])) ; + //otoMeasure = otoMeasure - triOtoMeasure; + otoMeasure = otoMeasure_; + + otoMeasure = (0.85*(float)otoMeasure) + ((1-0.85)*(float)otoMeasure_0); + otoMeasure_0 = otoMeasure; + + if( otoHover == true && vl5310xControl == 1 ){ + if( takeBattery == 0){ + for(int i = 0;i<25;i++){ + oto.compute(3,targetOto,throttle,0,0,otoMeasure); + hoverFactor_ = map(6*analogRead(A0),3600,4200,475,375) * weightOfDrone; + Serial.print("hoverFactor_= "); + Serial.println(hoverFactor_); + delay(1); + } + takeBattery =1; + } + oto.compute(3,targetOto,throttle,0,0,otoMeasure); + hoverFactor = constrain(hoverFactor_ + (oto.output/25),0,motorMax); + + } + + } else if (otoMeasure_ < 2 ){ + otoMeasure= targetOto*2; + } + + + + +} + + if(otoHover == true && vl5310xControl == 1){ + if( throttle < round(hoverFactor)){ + throttle = throttle +2.5; + } + if( throttle > round(hoverFactor)){ + throttle = throttle -2.5; + }}else{ + oto.SetInit(0,0,0); + hoverFactor=0; + takeBattery =0; + hoverFactor_ =0; + // vl5310xControl = 0; + } + +}

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