void runExperiments(ParamProgram *par){
uint m;
cout << "====================================================" << endl;
par->patterns = new ulong[REPET];
m = 6;
createPatternsLoad(par, m);
cout << "Patterns created for m = " << m << endl;
timeCount(par, m);
cout << "Document Listing..." << endl;
runExperimentsOne(par, m);
m = 10;
createPatternsLoad(par, m);
cout << "Patterns created for m = " << m << endl;
timeCount(par, m);
cout << "Document Listing..." << endl;
runExperimentsOne(par, m);
delete [] (par->patterns);
}
MainWindow2::MainWindow2(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow2)
{
ui->setupUi(this);
ui->label_9->setVisible(false);
ui->label_10->setVisible(false);
ui->label_13->setVisible(false);
timer = new QTimer(this);
connect(timer,SIGNAL(timeout()),this,SLOT(timeCount()));
timer->start(1000);
timer2 = new QTimer(this);
connect(timer2,SIGNAL(timeout()),this,SLOT(drumMove()));
timer2->start(10);
qsrand(QTime(0,0,0).secsTo(QTime::currentTime()));
}
float MPU6050::dmpGetFirstYPRData()
{
long long time = timeCheck();
if(dmpReady && time > 0)
{
// get current FIFO count
dmpFifoCount = getFIFOCount();
if (dmpFifoCount == 1024) {
// reset so we can continue cleanly
resetFIFO();
timeReset();
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (dmpFifoCount >= 42) {
timeCount(time);
// read a packet from FIFO
getFIFOBytes(dmpFifoBuffer, dmpPacketSize);
// display quaternion values in easy matrix form: w x y z
dmpGetQuaternion(&dmpQuat, dmpFifoBuffer);
// if(dmpDebug) printf("quat %7.2f %7.2f %7.2f %7.2f ", dmpQuat.w,dmpQuat.x,dmpQuat.y,dmpQuat.z);
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
dmpGetEuler(dmpEuler, &dmpQuat);
dmpEuler[0] = dmpEuler[0] * 180/M_PI;
dmpEuler[1] = dmpEuler[1] * 180/M_PI;
dmpEuler[2] = dmpEuler[2] * 180/M_PI;
// if(dmpDebug) printf("euler %7.2f %7.2f %7.2f ", dmpEuler[0], dmpEuler[1], dmpEuler[2]);
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
dmpGetGravity(&dmpGravity, &dmpQuat);
dmpGetYawPitchRoll(dmpYawPitchRoll, &dmpQuat, &dmpGravity);
dmpYawPitchRoll[0] = dmpYawPitchRoll[0] * 180/M_PI;
dmpYawPitchRoll[1] = dmpYawPitchRoll[1] * 180/M_PI;
dmpYawPitchRoll[2] = dmpYawPitchRoll[2] * 180/M_PI;
// if(dmpDebug) printf("ypr %7.2f %7.2f %7.2f ", dmpYawPitchRoll[0], dmpYawPitchRoll[1], dmpYawPitchRoll[2]);
if(dmpDebug)
return dmpYawPitchRoll[0];
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
dmpGetAccel(&dmpAccel, dmpFifoBuffer);
dmpGetGravity(&dmpGravity, &dmpQuat);
dmpGetLinearAccel(&dmpAccelReal, &dmpAccel, &dmpGravity);
// if(dmpDebug) printf("areal %6d %6d %6d ", dmpAccelReal.x, dmpAccelReal.y, dmpAccelReal.z);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
dmpGetAccel(&dmpAccel, dmpFifoBuffer);
dmpGetGravity(&dmpGravity, &dmpQuat);
dmpGetLinearAccelInWorld(&dmpAccelWorld, &dmpAccelReal, &dmpQuat);
// if(dmpDebug) printf("aworld %6d %6d %6d ", dmpAccelWorld.x, dmpAccelWorld.y, dmpAccelWorld.z);
#endif
#ifdef OUTPUT_TEAPOT
// display quaternion values in InvenSense Teapot demo format:
dmpTeapotPacket[2] = dmpFifoBuffer[0];
dmpTeapotPacket[3] = dmpFifoBuffer[1];
dmpTeapotPacket[4] = dmpFifoBuffer[4];
dmpTeapotPacket[5] = dmpFifoBuffer[5];
dmpTeapotPacket[6] = dmpFifoBuffer[8];
dmpTeapotPacket[7] = dmpFifoBuffer[9];
dmpTeapotPacket[8] = dmpFifoBuffer[12];
dmpTeapotPacket[9] = dmpFifoBuffer[13];
//Serial.write(dmpTeapotPacket, 14);
dmpTeapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif
return -255;
}
}
return -255;
}
