fabricademy2017:students:nuria.robles:week_9 [Textile Academy]

Link to this comparison view

--- fabricademy2017:students:nuria.robles:week_9 [2018/02/15 23:40]
nuriafablab_gmail.com
+++ fabricademy2017:students:nuria.robles:week_9 [2018/05/12 00:25] (current)
nuriafablab_gmail.com
@@ Line 18: / Line 18: @@
 Create an interactive object; if you are already experienced with coding, focus on fully integrating a microcontoller into a textile circuit. If you are new to coding, choose an example and get it working using your own sensors and actuators.
+----
+=== Digital Sensor Circuits ===
+A **digital sensor**  is an electronic or electrochemical sensor, where [[https://en.wikipedia.org/wiki/Data_conversion|data conversion]] and data transmission are done digitally.
+When a digital sensor is connected to a microcontroller, need to use a pull down or pull-up resistor. A nice tutorial about pull-up, pull-down resistor can be found [[https://learn.sparkfun.com/tutorials/pull-up-resistors|here]].
+=== Reading Resistive Sensors ===
+The first thing I want to test is how my crochet pressure sensor acts in a voltage divider. Many sensors in the real world are simple resistive devices. A [[https://www.sparkfun.com/products/9088|photocell]] is a variable resistor, which produces a resistance proportional to the amount of light it senses. Other devices like [[https://www.sparkfun.com/products/8606?|flex sensors]], [[https://www.sparkfun.com/products/9375|force-sensitive resistors]], and [[https://www.sparkfun.com/products/250|thermistors]], are also variable resistors.
+It turns out voltage is really easy for microcontrollers (those with [[https://learn.sparkfun.com/tutorials/analog-to-digital-conversion|analog-to-digital converters]] - ADC’s - at least) to measure. Resistance? Not so much. But, by adding another resistor to the resistive sensors, we can create a voltage divider. Once the output of the voltage divider is known, we can go back and calculate the resistance of the sensor.
+For example, the photocell’s resistance varies between 1kΩ in the light and about 10kΩ in the dark. If we combine that with a static resistance somewhere in the middle - say 5.6kΩ, we can get a wide range out of the voltage divider they create.
 ----
@@ Line 39: / Line 55: @@
 {{  :fabricademy2017:students:nuria.robles:week9_etextile_wearablesii:lilypad_arduino_processing.png?nolink&600x613  }}
-A video of the circuit working can be watched here:
+Here is the arduino code :
-{{vimeo>255993043?large}}
+<code>
+#define OUTPUT_TEAPOT
-===   ===
+#define INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards
+#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
+bool blinkState = false;
-=== Digital Sensor Circuits ===
+// MPU control/status vars
+bool dmpReady = false;  // set true if DMP init was successful
+uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
+uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
+uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
+uint16_t fifoCount;     // count of all bytes currently in FIFO
+uint8_t fifoBuffer[64]; // FIFO storage buffer
-A **digital sensor**  is an electronic or electrochemical sensor, where [[https://en.wikipedia.org/wiki/Data_conversion|data conversion]] and data transmission are done digitally.
+// orientation/motion vars
+Quaternion q;           // [w, x, y, z]         quaternion container
+VectorInt16 aa;         // [x, y, z]            accel sensor measurements
+VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
+VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
+VectorFloat gravity;    // [x, y, z]            gravity vector
+float euler[3];         // [psi, theta, phi]    Euler angle container
+float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
-When a digital sensor is connected to a microcontroller, need to use a pull down or pull-up resistor. A nice tutorial about pull-up, pull-down resistor can be found [[https://learn.sparkfun.com/tutorials/pull-up-resistors|here]].
+// packet structure for InvenSense teapot demo
+uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, 'r', 'n' };
-=== Reading Resistive Sensors ===
+// ================================================================
+// ===               INTERRUPT DETECTION ROUTINE                ===
+// ================================================================
-The first thing I want to test is how my crochet pressure sensor acts in a voltage divider. Many sensors in the real world are simple resistive devices. A [[https://www.sparkfun.com/products/9088|photocell]] is a variable resistor, which produces a resistance proportional to the amount of light it senses. Other devices like [[https://www.sparkfun.com/products/8606?|flex sensors]], [[https://www.sparkfun.com/products/9375|force-sensitive resistors]], and [[https://www.sparkfun.com/products/250|thermistors]], are also variable resistors.
+volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
+void dmpDataReady() {
+    mpuInterrupt = true;
+}
-It turns out voltage is really easy for microcontrollers (those with [[https://learn.sparkfun.com/tutorials/analog-to-digital-conversion|analog-to-digital converters]] - ADC’s - at least) to measure. Resistance? Not so much. But, by adding another resistor to the resistive sensors, we can create a voltage divider. Once the output of the voltage divider is known, we can go back and calculate the resistance of the sensor.
+// ================================================================
+// ===                      INITIAL SETUP                       ===
+// ================================================================
-For example, the photocell’s resistance varies between 1kΩ in the light and about 10kΩ in the dark. If we combine that with a static resistance somewhere in the middle - say 5.6kΩ, we can get a wide range out of the voltage divider they create.
+void setup() {
+    // join I2C bus (I2Cdev library doesn't do this automatically)
+    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
+        Wire.begin();
+        Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
+    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
+        Fastwire::setup(400, true);
+    #endif
+    // initialize serial communication
+    // (115200 chosen because it is required for Teapot Demo output, but it's
+    // really up to you depending on your project)
+    Serial.begin(115200);
+    while (!Serial); // wait for Leonardo enumeration, others continue immediately
+    // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
+    // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
+    // the baud timing being too misaligned with processor ticks. You must use
+    // 38400 or slower in these cases, or use some kind of external separate
+    // crystal solution for the UART timer.
+    // initialize device
+    Serial.println(F("Initializing I2C devices..."));
+    mpu.initialize();
+    pinMode(INTERRUPT_PIN, INPUT);
+    // verify connection
+    Serial.println(F("Testing device connections..."));
+    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
+    // wait for ready
+    Serial.println(F("nSend any character to begin DMP programming and demo: "));
+    while (Serial.available() && Serial.read()); // empty buffer
+    while (!Serial.available());                 // wait for data
+    while (Serial.available() && Serial.read()); // empty buffer again
+    // load and configure the DMP
+    Serial.println(F("Initializing DMP..."));
+    devStatus = mpu.dmpInitialize();
+    // supply your own gyro offsets here, scaled for min sensitivity
+    mpu.setXGyroOffset(220);
+    mpu.setYGyroOffset(76);
+    mpu.setZGyroOffset(-85);
+    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
+    // make sure it worked (returns 0 if so)
+    if (devStatus == 0) {
+        // turn on the DMP, now that it's ready
+        Serial.println(F("Enabling DMP..."));
+        mpu.setDMPEnabled(true);
+        // enable Arduino interrupt detection
+        Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
+        attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
+        mpuIntStatus = mpu.getIntStatus();
+        // set our DMP Ready flag so the main loop() function knows it's okay to use it
+        Serial.println(F("DMP ready! Waiting for first interrupt..."));
+        dmpReady = true;
+        // get expected DMP packet size for later comparison
+        packetSize = mpu.dmpGetFIFOPacketSize();
+    } else {
+        // ERROR!
+        // 1 = initial memory load failed
+        // 2 = DMP configuration updates failed
+        // (if it's going to break, usually the code will be 1)
+        Serial.print(F("DMP Initialization failed (code "));
+        Serial.print(devStatus);
+        Serial.println(F(")"));
+    }
+    // configure LED for output
+    pinMode(LED_PIN, OUTPUT);
+}
+// ================================================================
+// ===                    MAIN PROGRAM LOOP                     ===
+// ================================================================
+void loop() {
+    // if programming failed, don't try to do anything
+    if (!dmpReady) return;
+    // wait for MPU interrupt or extra packet(s) available
+    while (!mpuInterrupt && fifoCount <packetSize) {
+        // other program behavior stuff here
+        // .
+        // .
+        // .
+        // if you are really paranoid you can frequently test in between other
+        // stuff to see if mpuInterrupt is true, and if so, "break;" from the
+        // while() loop to immediately process the MPU data
+        // .
+        // .
+        // .
+    }
+    // reset interrupt flag and get INT_STATUS byte
+    mpuInterrupt = false;
+    mpuIntStatus = mpu.getIntStatus();
+    // get current FIFO count
+    fifoCount = mpu.getFIFOCount();
+    // check for overflow (this should never happen unless our code is too inefficient)
+    if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
+        // reset so we can continue cleanly
+        mpu.resetFIFO();
+        Serial.println(F("FIFO overflow!"));
+    // otherwise, check for DMP data ready interrupt (this should happen frequently)
+    } else if (mpuIntStatus & 0x02) {
+        // wait for correct available data length, should be a VERY short wait
+        while (fifoCount <packetSize) fifoCount = mpu.getFIFOCount();
+        // read a packet from FIFO
+        mpu.getFIFOBytes(fifoBuffer, packetSize);
+        // track FIFO count here in case there is> 1 packet available
+        // (this lets us immediately read more without waiting for an interrupt)
+        fifoCount -= packetSize;
+        #ifdef OUTPUT_READABLE_QUATERNION
+            // display quaternion values in easy matrix form: w x y z
+            mpu.dmpGetQuaternion(&q, fifoBuffer);
+            Serial.print("quat\t");
+            Serial.print(q.w);
+            Serial.print("\t");
+            Serial.print(q.x);
+            Serial.print("\t");
+            Serial.print(q.y);
+            Serial.print("\t");
+            Serial.println(q.z);
+        #endif
+        #ifdef OUTPUT_READABLE_EULER
+            // display Euler angles in degrees
+            mpu.dmpGetQuaternion(&q, fifoBuffer);
+            mpu.dmpGetEuler(euler, &q);
+            Serial.print("euler\t");
+            Serial.print(euler[0] * 180/M_PI);
+            Serial.print("\t");
+            Serial.print(euler[1] * 180/M_PI);
+            Serial.print("\t");
+            Serial.println(euler[2] * 180/M_PI);
+        #endif
+        #ifdef OUTPUT_READABLE_YAWPITCHROLL
+            // display Euler angles in degrees
+            mpu.dmpGetQuaternion(&q, fifoBuffer);
+            mpu.dmpGetGravity(&gravity, &q);
+            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
+            Serial.print("ypr\t");
+            Serial.print(ypr[0] * 180/M_PI);
+            Serial.print("\t");
+            Serial.print(ypr[1] * 180/M_PI);
+            Serial.print("\t");
+            Serial.println(ypr[2] * 180/M_PI);
+        #endif
+        #ifdef OUTPUT_READABLE_REALACCEL
+            // display real acceleration, adjusted to remove gravity
+            mpu.dmpGetQuaternion(&q, fifoBuffer);
+            mpu.dmpGetAccel(&aa, fifoBuffer);
+            mpu.dmpGetGravity(&gravity, &q);
+            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
+            Serial.print("areal\t");
+            Serial.print(aaReal.x);
+            Serial.print("\t");
+            Serial.print(aaReal.y);
+            Serial.print("\t");
+            Serial.println(aaReal.z);
+        #endif
+        #ifdef OUTPUT_READABLE_WORLDACCEL
+            // display initial world-frame acceleration, adjusted to remove gravity
+            // and rotated based on known orientation from quaternion
+            mpu.dmpGetQuaternion(&q, fifoBuffer);
+            mpu.dmpGetAccel(&aa, fifoBuffer);
+            mpu.dmpGetGravity(&gravity, &q);
+            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
+            mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
+            Serial.print("aworld\t");
+            Serial.print(aaWorld.x);
+            Serial.print("\t");
+            Serial.print(aaWorld.y);
+            Serial.print("\t");
+            Serial.println(aaWorld.z);
+        #endif
+        #ifdef OUTPUT_TEAPOT
+            // display quaternion values in InvenSense Teapot demo format:
+            teapotPacket[2] = fifoBuffer[0];
+            teapotPacket[3] = fifoBuffer[1];
+            teapotPacket[4] = fifoBuffer[4];
+            teapotPacket[5] = fifoBuffer[5];
+            teapotPacket[6] = fifoBuffer[8];
+            teapotPacket[7] = fifoBuffer[9];
+            teapotPacket[8] = fifoBuffer[12];
+            teapotPacket[9] = fifoBuffer[13];
+            Serial.write(teapotPacket, 14);
+            teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
+        #endif
+        // blink LED to indicate activity
+        blinkState = !blinkState;
+        digitalWrite(LED_PIN, blinkState);
+    }
+}
+</code>
+And here the Processing code:
+<file>
+// I2C device class (I2Cdev) demonstration Processing sketch for MPU6050 DMP output
+// 6/20/2012 by Jeff Rowberg <jeff@rowberg.net>
+// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+//     2012-06-20 - initial release
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2012 Jeff Rowberg
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+*/
+import processing.serial.*;
+import processing.opengl.*;
+import toxi.geom.*;
+import toxi.processing.*;
+import processing.video.*;
+// NOTE: requires ToxicLibs to be installed in order to run properly.
+// 1. Download from http://toxiclibs.org/downloads
+// 2. Extract into [userdir]/Processing/libraries
+//    (location may be different on Mac/Linux)
+// 3. Run and bask in awesomeness
+ToxiclibsSupport gfx;
+Serial port;                         // The serial port
+char[] teapotPacket = new char[14];  // InvenSense Teapot packet
+int serialCount = 0;                 // current packet byte position
+int synced = 0;
+int interval = 0;
+float[] q = new float[4];
+Quaternion quat = new Quaternion(1, 0, 0, 0);
+float[] gravity = new float[3];
+float[] euler = new float[3];
+float[] ypr = new float[3];
+PShape saturn; //prueba de nuria para cargar objeto 3d
+PImage grid; //imagen de fondo
+Movie movie; //video fondo
+//PShape star; //prueba de nuria para cargar objeto 3d
+void setup() {
+    // 300px square viewport using OpenGL rendering
+    //size(300, 300, OPENGL); // original
+    size(800, 800, OPENGL);//comentado por nuria: mayor tamaño
+    saturn = loadShape("planet_final.obj");//codigo nuria
+    //saturn.disableStyle();
+    //fill (225,128,0);
+    //shape (saturn);
+  //Borja
+  //
+  //saturn.setStroke(true); //Lineas Poligonales
+  //saturn.setStroke(color(255,0,0)); //Color de la Linea  Rojo
+  //saturn.setStrokeWeight(2); //Grosor de la Linea
+    grid = loadImage("DomeGrid_2k.png"); // cargamos foto de fondo
+    movie = new Movie(this, "transit.mov"); //poner un video
+    movie.loop();
+    //star = loadShape("star.obj");//codigo nuria
+    gfx = new ToxiclibsSupport(this);
+    // setup lights and antialiasing
+    lights();
+    smooth();
+    // display serial port list for debugging/clarity
+    println(Serial.list());
+    // get the first available port (use EITHER this OR the specific port code below)
+    //String portName = Serial.list()[0];
+    // get a specific serial port (use EITHER this OR the first-available code above)
+    //String portName = "/dev/cu.usbmodem1411"; //nuria: arduino
+    String portName = "/dev/tty.usbmodem14121";
+    //String portName = "/dev/tty.usbserial-A50285BI"; //nuria: ftdi rojo
+    // open the serial port
+    port = new Serial(this, portName, 115200);
+    // send single character to trigger DMP init/start
+    // (expected by MPU6050_DMP6 example Arduino sketch)
+    port.write('r');
+}
+void movieEvent(Movie m) {
+  m.read();
+}
+void draw() {
+   if (millis() - interval> 1000) {
+        port.write('r');
+        interval = millis();
+    }
+    //background(0,255,35); //fondo verde
+    image(movie, 0, 0, width, height); //VIDEO FONDO
+    //image(grid, 0,0, width, height); //FOTO de FONDO
+    pushMatrix();
+    translate(width / 2, height / 2, 150); //Nuria la ultima coordenada es para traerlo por delante del video
+    lights();
+    float[] axis = quat.toAxisAngle();
+    rotate(axis[0], -axis[1], axis[3], axis[2]);
+    noStroke();//nuria: de marta
+    scale(10,10,10);//nuria: para agrandar
+    fill(255); //nuria: para cambiar de color
+    shape(saturn);
+    popMatrix();
+}
+void serialEvent(Serial port) {
+    interval = millis();
+    while (port.available()> 0) {
+        int ch = port.read();
+        if (synced == 0 && ch != '$') return;   // initial synchronization - also used to resync/realign if needed
+        synced = 1;
+        print ((char)ch);
+        if ((serialCount == 1 && ch != 2)
+            || (serialCount == 12 && ch != '\r')
+            || (serialCount == 13 && ch != '\n'))  {
+            serialCount = 0;
+            synced = 0;
+            return;
+        }
+        if (serialCount> 0 || ch == '$') {
+            teapotPacket[serialCount++] = (char)ch;
+            if (serialCount == 14) {
+                serialCount = 0; // restart packet byte position
+                // get quaternion from data packet
+                q[0] = ((teapotPacket[2] <<8) | teapotPacket[3]) / 16384.0f;
+                q[1] = ((teapotPacket[4] <<8) | teapotPacket[5]) / 16384.0f;
+                q[2] = ((teapotPacket[6] <<8) | teapotPacket[7]) / 16384.0f;
+                q[3] = ((teapotPacket[8] <<8) | teapotPacket[9]) / 16384.0f;
+                for (int i = 0; i <4; i++) if (q[i]>= 2) q[i] = -4 + q[i];
+                // set our toxilibs quaternion to new data
+                quat.set(q[0], q[1], q[2], q[3]);
+                /*
+                // below calculations unnecessary for orientation only using toxilibs
+                // calculate gravity vector
+                gravity[0] = 2 * (q[1]*q[3] - q[0]*q[2]);
+                gravity[1] = 2 * (q[0]*q[1] + q[2]*q[3]);
+                gravity[2] = q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3];
+                // calculate Euler angles
+                euler[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
+                euler[1] = -asin(2*q[1]*q[3] + 2*q[0]*q[2]);
+                euler[2] = atan2(2*q[2]*q[3] - 2*q[0]*q[1], 2*q[0]*q[0] + 2*q[3]*q[3] - 1);
+                // calculate yaw/pitch/roll angles
+                ypr[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
+                ypr[1] = atan(gravity[0] / sqrt(gravity[1]*gravity[1] + gravity[2]*gravity[2]));
+                ypr[2] = atan(gravity[1] / sqrt(gravity[0]*gravity[0] + gravity[2]*gravity[2]));
+                // output various components for debugging
+                //println("q:\t" + round(q[0]*100.0f)/100.0f + "\t" + round(q[1]*100.0f)/100.0f + "\t" + round(q[2]*100.0f)/100.0f + "\t" + round(q[3]*100.0f)/100.0f);
+                //println("euler:\t" + euler[0]*180.0f/PI + "\t" + euler[1]*180.0f/PI + "\t" + euler[2]*180.0f/PI);
+                //println("ypr:\t" + ypr[0]*180.0f/PI + "\t" + ypr[1]*180.0f/PI + "\t" + ypr[2]*180.0f/PI);
+                */
+            }
+        }
+    }
+}
+void drawCylinder(float topRadius, float bottomRadius, float tall, int sides) {
+    float angle = 0;
+    float angleIncrement = TWO_PI / sides;
+    beginShape(QUAD_STRIP);
+    for (int i = 0; i <sides + 1; ++i) {
+        vertex(topRadius*cos(angle), 0, topRadius*sin(angle));
+        vertex(bottomRadius*cos(angle), tall, bottomRadius*sin(angle));
+        angle += angleIncrement;
+    }
+    endShape();
+    // If it is not a cone, draw the circular top cap
+    if (topRadius != 0) {
+        angle = 0;
+        beginShape(TRIANGLE_FAN);
+        // Center point
+        vertex(0, 0, 0);
+        for (int i = 0; i <sides + 1; i++) {
+            vertex(topRadius * cos(angle), 0, topRadius * sin(angle));
+            angle += angleIncrement;
+        }
+        endShape();
+    }
+    // If it is not a cone, draw the circular bottom cap
+    if (bottomRadius != 0) {
+        angle = 0;
+        beginShape(TRIANGLE_FAN);
+        // Center point
+        vertex(0, tall, 0);
+        for (int i = 0; i <sides + 1; i++) {
+            vertex(bottomRadius * cos(angle), tall, bottomRadius * sin(angle));
+            angle += angleIncrement;
+        }
+        endShape();
+    }
+}
+</file>
+A video of the circuit working can be watched here:
+{{vimeo>255993043?large}}
+===   ===
+===   ===