From 6c000abd47fe8e736fc33220280bbdbf001772d8 Mon Sep 17 00:00:00 2001
From: Nathan Adams <nathanadams@icloud.com>
Date: Wed, 15 Jan 2020 17:46:54 +0000
Subject: [PATCH] added reference for teensy / airlift example
---
.../AirLift_OCS_Orientation.ino | 169 ++++++++++++++++++
.../airLift_OSC_Orientation/arduino_secrets.h | 4 +
2 files changed, 173 insertions(+)
create mode 100644 reference/airLift_OSC_Orientation/AirLift_OCS_Orientation.ino
create mode 100644 reference/airLift_OSC_Orientation/arduino_secrets.h
diff --git a/reference/airLift_OSC_Orientation/AirLift_OCS_Orientation.ino b/reference/airLift_OSC_Orientation/AirLift_OCS_Orientation.ino
new file mode 100644
index 0000000..49210b3
--- /dev/null
+++ b/reference/airLift_OSC_Orientation/AirLift_OCS_Orientation.ino
@@ -0,0 +1,169 @@
+//////////WIFI/////////
+#include <SPI.h>
+#include <WiFiNINA.h>
+#include <WiFiUdp.h>
+#include <OSCMessage.h> /// https://github.com/CNMAT/OSC
+#include <OSCBundle.h> /// https://github.com/CNMAT/OSC
+
+//////////PROP SHIELD/////////
+#include <NXPMotionSense.h>
+#include <Wire.h>
+#include <EEPROM.h>
+NXPMotionSense imu;
+NXPSensorFusion filter;
+float ax, ay, az;
+float gx, gy, gz;
+float mx, my, mz;
+float roll, pitch, heading;
+
+
+
+////WIFI CONFIG////////
+int status = WL_IDLE_STATUS;
+#include "arduino_secrets.h"
+///////please enter your sensitive data in the Secret tab/arduino_secrets.h
+char ssid[] = SECRET_SSID; // your network SSID (name)
+char pass[] = SECRET_PASS; // your network password (use for WPA, or use as key for WEP)
+const IPAddress outIp(SECRET_IP); // remote IP of your computer
+const unsigned int outPort = SECRET_OUTPORT; // remote port to receive OSC
+unsigned int localPort = 8888; // local port to listen on
+
+int keyIndex = 0; // your network key Index number (needed only for WEP)
+/**************************************************************************/
+
+WiFiUDP Udp;
+
+/**************************************************************************/
+
+long sendCount = 0;
+long frameCount = 0;
+void sendBundleViaOSC();
+int data = 0;
+/**************************************************************************/
+
+// Configure the pins used for the ESP32 connection
+#if defined(TEENSYDUINO)
+#define SPIWIFI SPI // The SPI port
+#define SPIWIFI_SS 5 // Chip select pin
+#define ESP32_RESETN 6 // Reset pin
+#define SPIWIFI_ACK 9 // a.k.a BUSY or READY pin
+#define ESP32_GPIO0 -1
+
+#elif !defined(SPIWIFI_SS) // if the wifi definition isnt in the board variant
+// Don't change the names of these #define's! they match the variant ones
+#define SPIWIFI SPI
+#define SPIWIFI_SS 10 // Chip select pin
+#define SPIWIFI_ACK 7 // a.k.a BUSY or READY pin
+#define ESP32_RESETN 5 // Reset pin
+#define ESP32_GPIO0 -1 // Not connected
+#endif
+
+void setup() {
+ // put your setup code here, to run once:
+ //Initialize serial and wait for port to open:
+ Serial.begin(9600);
+
+ ///////////WIFI/////////
+ while (!Serial) {
+ ; // wait for serial port to connect. Needed for native USB port only
+ }
+
+
+ WiFi.setPins(SPIWIFI_SS, SPIWIFI_ACK, ESP32_RESETN, ESP32_GPIO0, &SPIWIFI);
+ // check for the WiFi module:
+ if (WiFi.status() == WL_NO_MODULE) {
+ Serial.println("Communication with WiFi module failed!");
+ // don't continue
+ while (true);
+ }
+
+ String fv = WiFi.firmwareVersion();
+ if (fv < "1.0.0") {
+ Serial.println("Please upgrade the firmware");
+ }
+
+ // attempt to connect to Wifi network:
+ while (status != WL_CONNECTED) {
+ Serial.print("Attempting to connect to SSID: ");
+ Serial.println(ssid);
+ // Connect to WPA/WPA2 network. Change this line if using open or WEP network:
+ status = WiFi.begin(ssid, pass);
+
+ // wait 10 seconds for connection:
+ delay(10000);
+ }
+ Serial.println("Connected to wifi");
+
+
+ Serial.println("\nStarting connection to server...");
+ // if you get a connection, report back via serial:
+ Udp.begin(localPort);
+
+ //////PROP SHIELD//////
+ imu.begin();
+ filter.begin(100);
+}
+
+void loop() {
+ // put your main code here, to run repeatedly:
+
+
+
+
+ //increment sendcount
+ sendCount ++;
+ //if sendCount is over 1000 (1 second) send OSC info
+ if (sendCount > 1000)
+ {
+
+ sendViaOSC();//send messages
+
+ //sendBundleViaOSC() //send bundle
+ //Serial.println("sendingdata");
+
+ }
+}
+
+void sendViaOSC() {
+ readSense();//READ THE PROP SHIELD SENSORS
+ //orientation
+ OSCMessage msg("/orientation");
+ msg.add((int32_t)heading);
+ msg.add((int32_t)pitch);
+ msg.add((int32_t)roll);
+
+ //send out
+ Udp.beginPacket(outIp, outPort);
+ msg.send(Udp);
+ Udp.endPacket();
+ msg.empty();
+ sendCount = 0;
+}
+
+void readSense() {
+
+
+ if (imu.available()) {
+ // Read the motion sensors
+ imu.readMotionSensor(ax, ay, az, gx, gy, gz, mx, my, mz);
+
+ // Update the SensorFusion filter
+ filter.update(gx, gy, gz, ax, ay, az, mx, my, mz);
+
+ // print the heading, pitch and roll
+ roll = filter.getRoll();
+ pitch = filter.getPitch();
+ heading = filter.getYaw();
+
+ Serial.print("a");
+ Serial.print(heading);
+ Serial.print("b");
+ Serial.print("c");
+ Serial.print(pitch);
+ Serial.print("d");
+ Serial.print("e");
+ Serial.println(roll);
+ Serial.print("f");
+
+ }
+}
\ No newline at end of file
diff --git a/reference/airLift_OSC_Orientation/arduino_secrets.h b/reference/airLift_OSC_Orientation/arduino_secrets.h
new file mode 100644
index 0000000..ae8487a
--- /dev/null
+++ b/reference/airLift_OSC_Orientation/arduino_secrets.h
@@ -0,0 +1,4 @@
+#define SECRET_SSID "******"
+#define SECRET_PASS "*******"
+#define SECRET_IP 172, 20, 10, 8
+#define SECRET_OUTPORT 9999
\ No newline at end of file
--
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