Esempio n. 1
0
 // onOrientationData() is called whenever the Myo device provides its current orientation, which is represented
 // as a unit quaternion.
 void onOrientationData(myo::Myo* myo, uint64_t timestamp, const myo::Quaternion<float>& quat)
 {
     // wait flag tells us we must wait for user
     if (wait) {
         if (timestamp > t) {
             wait = false;
         }
     }
     else if (setup_stage == 4){
         // initialization complete
         myo::Vector3<float> vec(1, 0, 0);
         vec = myo::rotate(quat, vec);
         float x = v.dot(v.proj(vec, vec_left), vec_left);
         float y = v.dot(v.proj(vec, vec_up), vec_up);
         maybeDragMouse(x, y);
     }
     else if (setup_stage == 3){
         // create coordinate system
         printf("vec_center   = (%f,%f,%f)\n", vec_center.x(), vec_center.y(), vec_center.z());
         printf("rough vec_up = (%f,%f,%f)\n", vec_up.x(), vec_up.y(), vec_up.z());
         // make vec_up orthogonal to vec_center
         //vec_up = vecNormalize(closestOrthogonalVector(vec_up, vec_center));
         //printf("clean vec_up = (%f,%f,%f)\n", vec_up.x(), vec_up.y(), vec_up.z());
         // left side of person wearing the Myo
         vec_left = v.cross(vec_center, vec_up);
         printf("vec_left     = (%f,%f,%f)\n", vec_left.x(), vec_left.y(), vec_left.z());
         printf("vec_up   . vec_center = %f\n", v.dot(vec_up, vec_center));
         printf("vec_up   . vec_left   = %f\n", v.dot(vec_up, vec_left));
         printf("vec_left . vec_center = %f\n", v.dot(vec_left, vec_center));
         setup_stage++;
     }
     else if (setup_stage == 2) {
         // measure vec_up
         myo::Vector3<float> vec(1, 0, 0);
         vec_center = myo::rotate(quat, vec);
         printf("Measured.\n");
         setup_stage++;
     }
     else if (setup_stage == 1) {
         // measure vec_center
         myo::Vector3<float> vec(1, 0, 0);
         vec_up = myo::rotate(quat, vec);
         printf("Measured.\n");
         printf("Point at center of screen. Measuring in 3 seconds.\n");
         wait = true;
         t = timestamp + 3000000;
         setup_stage++;
     }
     else if (setup_stage == 0) {
         // waiting for user to be ready
         printf("Point straight up. Measuring in 3 seconds.\n");
         wait = true;
         t = timestamp + 3000000;
         setup_stage++;
     }
 }
Esempio n. 2
0
    void onGyroscopeData	(myo::Myo * myo, uint64_t timestamp, const myo::Vector3< float > & gyro) {


        gyroX = gyro.x();
        gyroY = gyro.y();
        gyroZ = gyro.z();
    }
Esempio n. 3
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    void onAccelerometerData (myo::Myo* myo, uint64_t timestamp, const myo::Vector3< float > & accel) {


        accelX = accel.x();
        accelY = accel.y();
        accelZ = accel.z();

        count+=1;
    }
    jobject getJavaVector3(JNIEnv * env, myo::Vector3<float> vector3) {
    	jclass vector3Class = env->FindClass("net/johnluetke/myojni/jni/Vector3");
        jmethodID vector3Constructor = env->GetMethodID(vector3Class, "<init>", "(DDD)V");
        jobject javaVector3 = env->NewObject(vector3Class,
                                             vector3Constructor,
                                             vector3.x(),
                                             vector3.y(),
                                             vector3.z());

    	return javaVector3;
    }
Esempio n. 5
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	void Filter::onAccelerometerData(myo::Myo *myo, uint64_t timestamp, const myo::Vector3< float > &accel){
		accelX_old = accelX;
		accelY_old = accelY;
		accelZ_old = accelZ;

		using std::atan2;
		using std::asin;
		using std::sqrt;
		using std::cos;
		using std::sin;
		using std::max;
		using std::min;

		//shift the coordinate system in order to cancel out gravity in the right axis


		//roll = roll - roll_i;
		//pitch = pitch - pitch_i;
		//yaw = yaw - yaw_i;

		//accelX = -1 * accel.y();
		//accelY = -1 * accel.z();
		//accelZ = accel.x();

		// pitch = alpha
		// yaw = beta
		// roll = gamma

		//accelX *= cos(yaw) * cos(roll) + cos(yaw) * sin(roll) - sin(yaw);
		//accelY *= cos(roll) * sin(pitch) * sin(yaw) - cos(pitch) * sin(roll) + cos(pitch) * cos(roll) + sin(pitch) * sin(yaw) * sin(roll) + cos(yaw) * sin(pitch);
		//accelZ *= cos(pitch) * cos(roll) * sin(yaw) + sin(pitch) * sin(roll) - cos(roll) * sin(pitch) + cos(pitch) * sin(yaw) * sin(roll) + cos(pitch) * cos(yaw);

		if (fabs(accel.x() - accelX_old) > 0.01)
			accelX = accel.x();

		if (fabs(accel.y() - accelY_old) > 0.01)
			accelY = accel.y();

		if (fabs(accel.z() - accelZ_old) > 0.01)
			accelZ = accel.z() - 1;
	}
Esempio n. 6
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	// units of deg/s
	void onGyroscopeData(myo::Myo* myo, uint64_t timestamp, const myo::Vector3<float>& gyro)
	{
		g_x = gyro.x();
		g_y = gyro.y();
		g_z = gyro.z();
        
		osc::OutboundPacketStream p(buffer, OUTPUT_BUFFER_SIZE);
		p << osc::BeginMessage("/myo/gyro")
        << MAC
        << g_x << g_y << g_z << osc::EndMessage;
		transmitSocket->Send(p.Data(), p.Size());
	}
Esempio n. 7
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	// units of g
	void onAccelerometerData(myo::Myo* myo, uint64_t timestamp, const myo::Vector3<float>& accel)
	{
		a_x = accel.x();
		a_y = accel.y();
		a_z = accel.z();
        
		osc::OutboundPacketStream p(buffer, OUTPUT_BUFFER_SIZE);
		p << osc::BeginMessage("/myo/accel")
        << MAC
        << a_x << a_y << a_z << osc::EndMessage;
		transmitSocket->Send(p.Data(), p.Size());
	}
Esempio n. 8
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void DataCollector::onAccelerometerData(myo::Myo* myo, uint64_t timestamp, const myo::Vector3<float>& accel) 
{
	xAccel = accel.x();
	yAccel = accel.y();
	zAccel = accel.z();
}
Esempio n. 9
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	void onAccelerometerData(myo::Myo* myo, uint64_t timestamp, const myo::Vector3<float> &accel) {
		accx = accel.x() * 40;
		accy = accel.y() * 40;
		accz = accel.z() * 40;
	}
 void onGyroscopeData(myo::Myo* myo, uint64_t timestamp, const myo::Vector3<float>& vec)
 {
   const int count = 3;
   float values[count] = { values[0] = vec.x(), values[1] = vec.y(), values[2] = vec.z() };
   this->addEventData(myo, timestamp, "gyroscope", new VectorEventData(values, count));
 }
Esempio n. 11
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	void sendData(myo::Vector3<double> curPos) {
		fprintf(hFile, "%d\t%d\t%d\t%f\t%f\t%f\t%c\t%s\n", yaw_w, pitch_w, roll_w,
			curPos.x(), curPos.y(), curPos.z(), (whichArm == myo::armLeft ? 'L' : 'R'), currentPose.toString().c_str());
		fflush(hFile);
	}