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绘图。

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This commit is contained in:
unlockable
2023-09-09 10:12:22 +08:00
parent 418d9e0478
commit 19013fb0d7
1 changed files with 35 additions and 9 deletions
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44
8By8/8By8.ino
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@@ -114,18 +114,30 @@ public:
}
else {
Serial1.begin(SensorReader::c_uiBaud[WIT_BAUD_9600]);
// Serial.println("9600 Baud rate modified successfully");
if (DEBUG) {
Serial.println("9600 Baud rate modified successfully");
}
}
if (WitSetContent(RSW_ANGLE | RSW_ACC || RSW_GYRO) != WIT_HAL_OK) {
if (WitSetContent(RSW_ANGLE | RSW_ACC | RSW_GYRO) != WIT_HAL_OK) {
Serial.println("Set send content: angle, acc, and GYRO Error");
return false;
}
else {
if (DEBUG) {
Serial.println("Set send content: angle, acc, and GYRO");
}
}
if (WitSetOutputRate(RRATE_5HZ) != WIT_HAL_OK) {
Serial.print("Set report rate failed");
return false;
}
else {
if (DEBUG) {
Serial.println("Set report rate success");
}
}
return true;
}
@@ -749,13 +761,13 @@ void setup() {
TIMSK5 |= (1 << OCIE5A);
sei();
attachInterrupt(digitalPinToInterrupt(JOYSTICK_SWITCH),
on_joystick_button, FALLING);
attachInterrupt(digitalPinToInterrupt(JOYSTICK_SWITCH), on_joystick_button,
FALLING);
// Wait for z_ref to have value;
while (SensorReader::angle.z == 0.0 && SensorReader::angle.y == 0.0 &&
while (SensorReader::angle.z == 0.0 || SensorReader::angle.y == 0.0 ||
SensorReader::angle.x == 0.0) {
Serial.print("");
Serial.println("Wait");
continue;
}
@@ -975,6 +987,9 @@ void calculate_and_draw() {
abs(SensorReader::acceleration.y) +
abs(SensorReader::acceleration.z) >
120.0) {
if (DEBUG) {
Serial.print("g");
}
x_offset = 0;
y_offset = 0;
z_offset = 0;
@@ -987,6 +1002,14 @@ void calculate_and_draw() {
if (abs(SensorReader::gyro.x) + abs(SensorReader::gyro.y) +
abs(SensorReader::gyro.z) >
240) {
if (DEBUG) {
Serial.println("h");
Serial.print(SensorReader::gyro.x);
Serial.print(" ");
Serial.print(SensorReader::gyro.y);
Serial.print(" ");
Serial.println(SensorReader::gyro.z);
}
x_offset = 0;
y_offset = 0;
z_offset = 0;
@@ -998,11 +1021,14 @@ void calculate_and_draw() {
}
else {
if (DEBUG) {
Serial.print(abs(SensorReader::angle.x - x_ref) < 20.0 ? "true" : "false");
Serial.print(abs(SensorReader::angle.x - x_ref) < 20.0 ? "true"
: "false");
Serial.print(" ");
Serial.print(abs(SensorReader::angle.y - y_ref) < 20.0 ? "true" : "false");
Serial.print(abs(SensorReader::angle.y - y_ref) < 20.0 ? "true"
: "false");
Serial.print(" ");
Serial.print(abs(SensorReader::angle.z - z_ref) < 20.0 ? "true" : "false");
Serial.print(abs(SensorReader::angle.z - z_ref) < 20.0 ? "true"
: "false");
Serial.print(" ");
Serial.println(analogRead(JOYSTICK_VRX));
}