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try again with WiiMote accel value. Pitch working correctly

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This commit is contained in:
matthias.ringwald 2009-11-06 21:19:35 +00:00
parent 998c32acab
commit 1cbe268abc
2 changed files with 39 additions and 7 deletions
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9
TODO.txt
View File

@ -2,11 +2,18 @@
NEXT: NEXT:
- WiiMote Demo - WiiMote Demo
- upside down is not shown correctly - implement roll
- video for YouTube
- check/fix BTstack for iPhone 2G - check/fix BTstack for iPhone 2G
- figure out how to add BTstack logo to Cydia repository list - figure out how to add BTstack logo to Cydia repository list
- sign BTstack repository - sign BTstack repository
- add news coverage on wiki
- release notes (features and limits)
- install instructions with Cydia usage screenshots
== Release Version 0.1 == Release Version 0.1
- figure out how to receive iPhone System Power IONotifications (in BTdaemon) to detect, - figure out how to receive iPhone System Power IONotifications (in BTdaemon) to detect,

35
example/WiiMoteOpenGLDemo/Classes/WiiMoteOpenGLDemoAppDelegate.m
View File

@ -67,9 +67,9 @@ static void bt_data_cb(uint8_t x, uint8_t y, uint8_t z){
float az = z - 128; float az = z - 128;
// mini calib // mini calib
az /= 2; // az /= 2;
#if 1 #if 0
// normalize vector // normalize vector
float length = sqrt( ax*ax + ay*ay + az*az); float length = sqrt( ax*ax + ay*ay + az*az);
ax /= length; ax /= length;
@ -77,6 +77,7 @@ static void bt_data_cb(uint8_t x, uint8_t y, uint8_t z){
az /= length; az /= length;
#endif #endif
#if 0
// cross product between A and (0,0,1) // cross product between A and (0,0,1)
float crossX = ay; float crossX = ay;
float crossY = -ax; float crossY = -ax;
@ -94,7 +95,7 @@ static void bt_data_cb(uint8_t x, uint8_t y, uint8_t z){
int pitch = atan2( 2*(omega*crossX), omega*omega - crossX*crossX - crossY*crossY)* 180 / M_PI; int pitch = atan2( 2*(omega*crossX), omega*omega - crossX*crossX - crossY*crossY)* 180 / M_PI;
int roll = atan2( 2*(crossX * crossY), omega*omega + crossX*crossX - crossY*crossY) * 180 / M_PI; int roll = atan2( 2*(crossX * crossY), omega*omega + crossX*crossX - crossY*crossY) * 180 / M_PI;
int theta = 0; int theta = 0;
#endif
#if 0 #if 0
int roll = atan2(ax, sqrt(ay*ay+az*az)) * 180 / M_PI; int roll = atan2(ax, sqrt(ay*ay+az*az)) * 180 / M_PI;
int pitch = atan2(ay, sqrt(ax*ax+az*az)) * 180 / M_PI; int pitch = atan2(ay, sqrt(ax*ax+az*az)) * 180 / M_PI;
@ -104,16 +105,37 @@ static void bt_data_cb(uint8_t x, uint8_t y, uint8_t z){
} }
#endif #endif
if ( (++counter & 15) == 0) // sort axes
float h = az;
az = -ay;
ay = h;
// calc
int roll = 0;
int pitch = atan2(ay, az) * 180 / M_PI;
int theta = 0;
// if ( (++counter & 15) == 0)
NSLog(@"BT data: %f %f %f: pitch %i, roll %i, yaw %i", ax , ay ,az, pitch, roll, theta); NSLog(@"BT data: %f %f %f: pitch %i, roll %i, yaw %i", ax , ay ,az, pitch, roll, theta);
#if 1 #if 1
static int lastPitch;
if (abs(lastPitch - pitch) > 180) {
if (pitch > lastPitch) {
pitch -= 360;
} else {
pitch += 360;
}
}
// moving average of size SIZE // moving average of size SIZE
static int pos = 0; static int pos = 0;
static int historyRoll[SIZE]; static int historyRoll[SIZE];
static int historyPitch[SIZE]; static int historyPitch[SIZE];
static int historyTheta[SIZE]; static int historyTheta[SIZE];
historyRoll[pos] = roll; historyRoll[pos] = roll;
historyPitch[pos] = pitch; historyPitch[pos] = pitch;
historyTheta[pos] = theta; historyTheta[pos] = theta;
@ -130,8 +152,11 @@ static void bt_data_cb(uint8_t x, uint8_t y, uint8_t z){
roll = roll / SIZE; roll = roll / SIZE;
pitch = pitch / SIZE; pitch = pitch / SIZE;
theta = theta / SIZE; theta = theta / SIZE;
lastPitch = pitch;
#endif #endif
[[theMainApp glView] setRotationX:-pitch Y:roll Z:0]; // hack
[[theMainApp glView] setRotationX:(-pitch+90) Y:roll Z:0];
} }
void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint16_t size){ void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint16_t size){