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VyroUnityEdition.ino
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VyroUnityEdition.ino
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#include <esp_wifi.h>
#include <ESPmDNS.h>
#include <WiFi.h>
#include <WiFiManager.h>
#include <WiFiUdp.h>
#include <AsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include <Wire.h>
#include "IMUsManager.h"
#include "esp32_settings.h"
#include "debugLogger.h"
#include "pitches.h"
const char *PARAM_TARGET_IP = "targetIp";
String targetIp;
// HTML web page to handle 1 input fields (targetIp)
const char index_html[] PROGMEM = R"rawliteral(
<!DOCTYPE HTML><html><head>
<title>ESP Input Form</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<style>
.button {
background-color: #4CAF50;
border: none;
color: white;
padding: 16px 40px;
text-decoration: none;
font-size: 30px;
margin: 2px;
cursor: pointer;
}
</style>
</head><body>
<form action="/post">
Target IP: <input type="text" name="targetIp">
<input type="submit" value="Submit">
</form><br>
<p><a href="/calibrate"><button class="button">CALIBRATE</button></a></p>
</body></html>)rawliteral";
void notFound(AsyncWebServerRequest *request) {
request->send(404, "text/plain", "Not found");
}
#define LFOOT 1 /* כף רגל שמאל */
#define RFOOT 2 /* כף רגל ימין */
#define LSHIN 3 /* שוק שמאלית */
#define RSHIN 4 /* שוק ימנית */
#define LTHIGH 5 /* ירך שמאלית */
#define RTHIGH 6 /* ירך ימנית */
#define WAIST 7 /* מותן */
#define CHEST 8 /* חזה */
#define LSHOULDER 9 /* כתף שמאל */
#define RSHOULDER 10 /* כתף ימין */
#define LUPPERARM 11 /* שריר יד שמאל עליון */
#define RUPPERARM 12 /* שריר יד ימין עליון */
class Vyro {
public:
IMUsManager trackers;
int currentMainIndex = -1;
void setMainMultiplexer(int channel) {
if (currentMainIndex != channel) {
DEBUG_PRINT.println("========== SETTING MAIN MULTIPLEXER TO CHANNEL " + String(channel) + "! ==========");
currentMainIndex = channel;
Wire.beginTransmission(0x71); // Main TCA9548A address is 0x71
Wire.write(1 << channel); // Send byte to select bus
int result = Wire.endTransmission();
switch (result) {
case 0: DEBUG_PRINT.println("Main Multiplexer successfully changed to channel " + String(channel) + "!"); break;
case 1: DEBUG_PRINT.println("Main Multiplexer errored (data too long to fit in transmit buffer) while changing to channel " + String(channel) + "!"); break;
case 2: DEBUG_PRINT.println("Main Multiplexer errored (received NACK on transmit of address) while changing to channel " + String(channel) + "!"); break;
case 3: DEBUG_PRINT.println("Main Multiplexer errored (received NACK on transmit of data) while changing to channel " + String(channel) + "!"); break;
case 4: DEBUG_PRINT.println("Main Multiplexer errored (other error) while changing to channel " + String(channel) + "!"); break;
case 5: DEBUG_PRINT.println("Main Multiplexer errored (timeout) while changing to channel " + String(channel) + "!"); break;
default: DEBUG_PRINT.println("Main Multiplexer errored (other error [on the default case]) while changing to channel " + String(channel) + "!"); break;
}
}
}
};
struct TrackerData {
uint8_t id = 0;
int16_t x = 0;
int16_t y = 0;
int16_t z = 0;
int16_t w = 32767;
void setQuat(int16_t qx, int16_t qy, int16_t qz, int16_t qw = 32767) {
x = qx;
y = qy;
z = qz;
w = qw;
}
};
Vyro vyro;
TrackerData trackers[13]; // Trackers data
WiFiManager wifiManager;
AsyncWebServer server(80); // Set web server port number to 80
const char *host = "VYRO";
// UDP destination address, these will be changed according to the configuration
IPAddress outIp(192, 168, 1, 114); // 127.0.0.1
const unsigned int inPort = 8000, outPort = 9000;
WiFiUDP Udp;
uint16_t serialLength;
int16_t map(float x, float in_min = -1, float in_max = 1, float out_min = -32767, float out_max = 32767) {
return (int16_t)((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min);
}
void setup() {
// put your setup code here, to run once:
buzz(NOTE_F6, 250);
buzz(NOTE_F7, 250);
buzz(NOTE_A7, 250);
Serial.begin(115200);
while (!Serial); // wait for the serial port to open
DEBUG_PRINT.println("Serial set up!");
WiFi.hostname(host);
WiFi.begin();
Wire.begin(32 /*SDA Pin*/, 33 /*SCL Pin*/, 400000 /*Speed*/);
DEBUG_PRINT.println("Wire set up! [ SDA = 32 , SCL = 33 , SPEED = 400000 ]");
Udp.begin(inPort);
if (WiFi.status() != WL_CONNECTED)
Serial.println("WiFi not connected");
// wifiManager.setAPStaticIPConfig(IPAddress(192, 168, 1, 69), IPAddress(192, 168, 69, 69), IPAddress(255, 255, 255, 0));
wifiManager.setConfigPortalBlocking(false);
wifiManager.setConfigPortalTimeout(60);
if (wifiManager.autoConnect(host)) {
Serial.println("connected...yeey :)");
} else {
Serial.println("Configportal running");
}
if (WiFi.status() == WL_CONNECTED) {
buzzResult(true);
Serial.println("WiFi connected!");
} else {
buzzResult(false);
}
/*use mdns for host name resolution*/
if (!MDNS.begin(host)) { //http://vyro.local
Serial.println("Error setting up MDNS responder!");
while (1) {
delay(1000);
}
}
// Send web page with input fields to client
server.on("/", HTTP_GET, [](AsyncWebServerRequest *request) {
request->send_P(200, "text/html", index_html);
});
// Send a POST request to <ESP_IP>/post?targetIp=<inputMessage>
server.on("/post", HTTP_POST, [](AsyncWebServerRequest *request) {
String inputMessage;
String inputParam;
// POST targetIp value on <ESP_IP>/post?targetIp=<inputMessage>
if (request->hasParam(PARAM_TARGET_IP)) {
inputMessage = request->getParam(PARAM_TARGET_IP)->value();
outIp.fromString(inputMessage);
inputParam = PARAM_TARGET_IP;
} else {
inputMessage = "No message sent";
inputParam = "none";
}
DEBUG_PRINT.println(inputMessage);
request->send(200, "text/html", "HTTP POST request sent to your ESP on input field (" + inputParam + ") with value: " + inputMessage + "<br><a href=\"/\">Return to Home Page</a>");
});
server.on("/calibrate", HTTP_GET, [](AsyncWebServerRequest *request) {
DEBUG_PRINT.println("RECEIVED CALIBRATION REQUEST!!!");
request->send(200, "text/html", "HTTP POST request sent to your ESP for calibration<br><a href=\"/\">Return to Home Page</a>");
Calibrate();
});
server.onNotFound(notFound);
server.begin();
if (!brown_en) {
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0);
}
setCpuFrequencyMhz(80);
vyro.setMainMultiplexer(1);
vyro.trackers.initAllChannels();
vyro.setMainMultiplexer(2);
vyro.trackers.initAllChannels();
DEBUG_PRINT.println("All channels are supposed to be initialized!");
pinMode(led_pin, OUTPUT);
if (!brown_en) {
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 1);
}
DEBUG_PRINT.println("Finished setup!");
buzzResult(true);
//PlayTetris();
}
void sendUDP(String payload) {
Udp.beginPacket(outIp, outPort);
Udp.write((uint8_t *)payload.c_str(), payload.length());
Udp.endPacket();
}
String formatQuats(Madgwick quat1, Madgwick quat2, Madgwick quat3, Madgwick quat4) {
String formatted;
formatted += String(quat1.getQuatX(), 4);
formatted += ",";
formatted += String(quat1.getQuatY(), 4);
formatted += ",";
formatted += String(quat1.getQuatZ(), 4);
formatted += ",";
formatted += String(quat1.getQuatW(), 4);
formatted += "|";
formatted += String(quat2.getQuatX(), 4);
formatted += ",";
formatted += String(quat2.getQuatY(), 4);
formatted += ",";
formatted += String(quat2.getQuatZ(), 4);
formatted += ",";
formatted += String(quat2.getQuatW(), 4);
formatted += "|";
formatted += String(quat3.getQuatX(), 4);
formatted += ",";
formatted += String(quat3.getQuatY(), 4);
formatted += ",";
formatted += String(quat3.getQuatZ(), 4);
formatted += ",";
formatted += String(quat3.getQuatW(), 4);
formatted += "|";
formatted += String(quat4.getQuatX(), 4);
formatted += ",";
formatted += String(quat4.getQuatY(), 4);
formatted += ",";
formatted += String(quat4.getQuatZ(), 4);
formatted += ",";
formatted += String(quat4.getQuatW(), 4);
return formatted;
}
void printQuat(TrackerData d, bool last = false) {
Serial.print(d.id);
Serial.print(",");
Serial.print(d.x);
Serial.print(",");
Serial.print(d.y);
Serial.print(",");
Serial.print(d.z);
Serial.print(",");
Serial.print(d.w);
if (last)
Serial.println();
else
Serial.print("|");
}
void buzzResult(bool success) {
if (success) {
buzz(NOTE_DS8, 200);
delay(10);
buzz(NOTE_DS8, 200);
} else {
buzz(NOTE_FS4, 500);
delay(10);
buzz(NOTE_FS4, 500);
}
}
void PlayRasputin() {
buzz(NOTE_FS6, 200);
delay(100);
buzz(NOTE_FS6, 200);
delay(100);
buzz(NOTE_FS6, 200);
delay(300);
buzz(NOTE_FS6, 200);
delay(100);
buzz(NOTE_G6, 100);
delay(100);
buzz(NOTE_A6, 100);
delay(100);
buzz(NOTE_G6, 100);
delay(100);
buzz(NOTE_FS6, 100);
delay(100);
buzz(NOTE_FS6, 100);
delay(200);
buzz(NOTE_CS6, 100);
delay(100);
buzz(NOTE_D6, 100);
delay(100);
buzz(NOTE_E6, 100);
delay(100);
buzz(NOTE_E6, 100);
delay(100);
buzz(NOTE_E6, 100);
delay(200);
buzz(NOTE_CS6, 100);
delay(100);
buzz(NOTE_D6, 100);
delay(100);
buzz(NOTE_E6, 100);
delay(100);
buzz(NOTE_E6, 100);
delay(100);
buzz(NOTE_E6, 100);
delay(100);
buzz(NOTE_E6, 100);
delay(10);
buzz(NOTE_D6, 100);
delay(100);
buzz(NOTE_CS6, 100);
delay(100);
buzz(NOTE_B5, 100);
}
void PlayTetris() {
int tempo = 144;
// notes of the moledy followed by the duration.
// a 4 means a quarter note, 8 an eighteenth , 16 sixteenth, so on
// !!negative numbers are used to represent dotted notes,
// so -4 means a dotted quarter note, that is, a quarter plus an eighteenth!!
int melody[] = {
//Based on the arrangement at https://www.flutetunes.com/tunes.php?id=192
NOTE_E5, 4, NOTE_B4, 8, NOTE_C5, 8, NOTE_D5, 4, NOTE_C5, 8, NOTE_B4, 8,
NOTE_A4, 4, NOTE_A4, 8, NOTE_C5, 8, NOTE_E5, 4, NOTE_D5, 8, NOTE_C5, 8,
NOTE_B4, -4, NOTE_C5, 8, NOTE_D5, 4, NOTE_E5, 4,
NOTE_C5, 4, NOTE_A4, 4, NOTE_A4, 8, NOTE_A4, 4, NOTE_B4, 8 //, NOTE_C5,8,
// NOTE_D5, -4, NOTE_F5,8, NOTE_A5,4, NOTE_G5,8, NOTE_F5,8,
// NOTE_E5, -4, NOTE_C5,8, NOTE_E5,4, NOTE_D5,8, NOTE_C5,8,
// NOTE_B4, 4, NOTE_B4,8, NOTE_C5,8, NOTE_D5,4, NOTE_E5,4,
// NOTE_C5, 4, NOTE_A4,4, NOTE_A4,4, REST, 4,
// NOTE_E5, 4, NOTE_B4,8, NOTE_C5,8, NOTE_D5,4, NOTE_C5,8, NOTE_B4,8,
// NOTE_A4, 4, NOTE_A4,8, NOTE_C5,8, NOTE_E5,4, NOTE_D5,8, NOTE_C5,8,
// NOTE_B4, -4, NOTE_C5,8, NOTE_D5,4, NOTE_E5,4,
// NOTE_C5, 4, NOTE_A4,4, NOTE_A4,8, NOTE_A4,4, NOTE_B4,8, NOTE_C5,8,
// NOTE_D5, -4, NOTE_F5,8, NOTE_A5,4, NOTE_G5,8, NOTE_F5,8,
// NOTE_E5, -4, NOTE_C5,8, NOTE_E5,4, NOTE_D5,8, NOTE_C5,8,
// NOTE_B4, 4, NOTE_B4,8, NOTE_C5,8, NOTE_D5,4, NOTE_E5,4,
// NOTE_C5, 4, NOTE_A4,4, NOTE_A4,4, REST, 4,
// NOTE_E5,2, NOTE_C5,2,
// NOTE_D5,2, NOTE_B4,2,
// NOTE_C5,2, NOTE_A4,2,
// NOTE_GS4,2, NOTE_B4,4, REST,8,
// NOTE_E5,2, NOTE_C5,2,
// NOTE_D5,2, NOTE_B4,2,
// NOTE_C5,4, NOTE_E5,4, NOTE_A5,2,
// NOTE_GS5,2,
};
// sizeof gives the number of bytes, each int value is composed of two bytes (16 bits)
// there are two values per note (pitch and duration), so for each note there are four bytes
int notes = sizeof(melody) / sizeof(melody[0]) / 2;
// this calculates the duration of a whole note in ms (60s/tempo)*4 beats
int wholenote = (60000 * 4) / tempo;
int divider = 0, noteDuration = 0;
// iterate over the notes of the melody.
// Remember, the array is twice the number of notes (notes + durations)
for (int thisNote = 0; thisNote < notes * 2; thisNote = thisNote + 2) {
// calculates the duration of each note
divider = melody[thisNote + 1];
if (divider > 0) {
// regular note, just proceed
noteDuration = (wholenote) / divider;
} else if (divider < 0) {
// dotted notes are represented with negative durations!!
noteDuration = (wholenote) / abs(divider);
noteDuration *= 1.5; // increases the duration in half for dotted notes
}
// we only play the note for 90% of the duration, leaving 10% as a pause
tone(BUZZZER_PIN, melody[thisNote], noteDuration * 0.9);
// Wait for the specief duration before playing the next note.
delay(noteDuration);
// stop the waveform generation before the next note.
noTone(BUZZZER_PIN);
}
}
void Calibrate() {
vyro.setMainMultiplexer(1);
vyro.trackers.calibrateAllChannels();
vyro.setMainMultiplexer(2);
vyro.trackers.calibrateAllChannels();
}
void loop() {
// put your main code here, to run repeatedly:
wifiManager.process();
serialLength = Serial.available();
if (serialLength) {
String cmd = Serial.readString(); //read until timeout
cmd.trim();
if (cmd == "c") {
Calibrate();
}
}
vyro.setMainMultiplexer(1);
vyro.trackers.lookAt(7);
Madgwick quaternion_LUPPERARM = vyro.trackers.imu1.getQuaternion();
trackers[LUPPERARM].setQuat(map(quaternion_LUPPERARM.getQuatX()), map(quaternion_LUPPERARM.getQuatY()), map(quaternion_LUPPERARM.getQuatZ()), map(quaternion_LUPPERARM.getQuatW()));
Madgwick quaternion_LSHOULDER = vyro.trackers.imu2.getQuaternion();
trackers[LSHOULDER].setQuat(map(quaternion_LSHOULDER.getQuatX()), map(quaternion_LSHOULDER.getQuatY()), map(quaternion_LSHOULDER.getQuatZ()), map(quaternion_LSHOULDER.getQuatW()));
vyro.setMainMultiplexer(2);
vyro.trackers.lookAt(2);
Madgwick quaternion_LSHIN = vyro.trackers.imu1.getQuaternion();
trackers[LSHIN].setQuat(map(quaternion_LSHIN.getQuatX()), map(quaternion_LSHIN.getQuatY()), map(quaternion_LSHIN.getQuatZ()), map(quaternion_LSHIN.getQuatW()));
Madgwick quaternion_LTHIGH = vyro.trackers.imu2.getQuaternion();
trackers[LTHIGH].setQuat(map(quaternion_LTHIGH.getQuatX()), map(quaternion_LTHIGH.getQuatY()), map(quaternion_LTHIGH.getQuatZ()), map(quaternion_LTHIGH.getQuatW()));
String formattedQuats = formatQuats(quaternion_LUPPERARM, quaternion_LSHOULDER, quaternion_LTHIGH, quaternion_LSHIN);
Serial.println(formattedQuats);
sendUDP(formattedQuats);
delay(50);
}