void updateAccelerometer(float * pitch, float * roll) {
float Accelerometer_Data [3];
readAccelerometer(Accelerometer_Data);
for(int i = 0; i < 3; i++)
moving_filter(&buffer_list[i], &Accelerometer_Data[i]);
calculate_Pitch(Accelerometer_Data, pitch);
calculate_Roll(Accelerometer_Data, roll);
moving_filter(&buffer_list[3], pitch);
moving_filter(&buffer_list[4], roll);
}
String Accelerometer::processor() {
String output;
for (int axis=0; axis<3; axis++) {
average_delta_a[axis] = 0;
}
for (int i=0; i<iterations; i++) {
readAccelerometer();
for (int axis=0; axis<3; axis++) {
//delta_a[axis][i]=current_acceleration[axis] - previous_acceleration[axis];
//average_delta_a[axis] += delta_a[axis][i];
average_delta_a[axis] += current_acceleration[axis] - previous_acceleration[axis];
}
delay(delta);
}
for (int axis=0; axis<3; axis++) {
average_delta_a[axis] = average_delta_a[axis] / iterations;
if (abs(average_delta_a[axis]) > mThreshold
&& (millis() - previous_event_time[axis]) > mEventThreshold) {
if (previous_event[axis] > 0 && average_delta_a[axis] < 0) { // turning point
output = axes[axis][0];
} else if (previous_event[axis] < 0 && average_delta_a[axis] > 0) { // turning point
output = axes[axis][1];
}
previous_event_time[axis] = millis(); // update last event
previous_event[axis] = average_delta_a[axis]; // store this last acceleration value
}
}
// store previous acceleration
for (int i=0; i<NELEMS(current_acceleration); i++) {
previous_acceleration[i] = current_acceleration[i];
}
return output;
}
Window::Window(QWidget* parent)
: QWidget(parent)
{
QGridLayout* grid = new QGridLayout;
grid->addWidget(createAccelerometerGroup(), 0, 0);
grid->addWidget(createGyroscopeGroup(), 0, 1);
grid->addWidget(createMagnetometerGroup(), 1, 0);
grid->addWidget(createButtonsGroup(), 1, 1);
setLayout(grid);
setWindowTitle(tr("psmoveosc"));
resize(480, 320);
psm = new PSMoveQt(0);
psm->setColor(Qt::red);
psm->setEnabled(true);
connect(psm, SIGNAL(accelerometerChanged()),
this, SLOT(readAccelerometer()));
connect(psm, SIGNAL(gyroChanged()),
this, SLOT(readGyro()));
connect(psm, SIGNAL(magnetometerChanged()),
this, SLOT(readMagnetometer()));
connect(psm, SIGNAL(triggerChanged()),
this, SLOT(setTrigger()));
connect(psm, SIGNAL(buttonPressed(int)),
this, SLOT(onButton(int)));
connect(psm, SIGNAL(buttonReleased(int)),
this, SLOT(onButton(int)));
}
