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IMO support in usermod games, add 3D IMO cube effect

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- platformio: add USERMOD_MPU6050_IMU and ElectronicCats/MPU6050 @ 0.6.0 to esp32mdevums
- USERMOD_MPU6050_IMU: update readme.md and usermod_mpu650_imu.h
- usermod_v2_games: support for  USERMOD_MPU6050_IMU, add mode_IMUTest and class Frame3D and mode_3DIMUCube, remove old gyro handling
- usermods_list.cpp: add USERMOD_MPU6050_IMU
This commit is contained in:
Ewowi
2022-09-27 15:19:58 +02:00
parent 471ccf946b
commit 9414f531dd
5 changed files with 387 additions and 215 deletions
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232
usermods/usermod_v2_games/usermod_v2_games.h
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@@ -1,25 +1,19 @@
/*
Games usermod by ewowi, september 2022
Contains:
- mode_pongGame
- Depending on USERMOD_MPU6050_IMU
- mode_IMUTest (shows IMU values only if WLED_DEBUG)
- class Frame3D and struct Voxel
- mode_3DIMUCube (uses class Frame3D to show a rotating cube, if USERMOD_MPU6050_IMU then IMU used for rotation)
- class GamesUsermod (Add the modes/effects and initiates IMU)
*/
#pragma once
#include "wled.h"
/*
* Usermods allow you to add own functionality to WLED more easily
* See: https://github.com/Aircoookie/WLED/wiki/Add-own-functionality
*
* This is an example for a v2 usermod.
* v2 usermods are class inheritance based and can (but don't have to) implement more functions, each of them is shown in this example.
* Multiple v2 usermods can be added to one compilation easily.
*
* Creating a usermod:
* This file serves as an example. If you want to create a usermod, it is recommended to use usermod_v2_empty.h from the usermods folder as a template.
* Please remember to rename the class and file to a descriptive name.
* You may also use multiple .h and .cpp files.
*
* Using a usermod:
* 1. Copy the usermod into the sketch folder (same folder as wled00.ino)
* 2. Register the usermod by adding #include "usermod_filename.h" in the top and registerUsermod(new MyUsermodClass()) in the bottom of usermods_list.cpp
*/
//inspired by https://noobtuts.com/cpp/2d-pong-game
typedef struct PongBall {
float x;// = SEGMENT.virtualWidth() / 2;
@@ -181,94 +175,170 @@ uint16_t mode_pongGame(void) {
static const char _data_FX_MODE_PONGGAME[] PROGMEM = "🎮 Pong@!;!;!;2d";
//https://howtomechatronics.com/tutorials/arduino/arduino-and-mpu6050-accelerometer-and-gyroscope-tutorial/
#define MPU_ADDR 0x68 // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the I2C address will be 0x69.
int16_t accelerometer_x, accelerometer_y, accelerometer_z; // variables for accelerometer raw data
int16_t gyro_x, gyro_y, gyro_z; // variables for gyro raw data
int16_t temperature; // variables for temperature data
uint16_t mode_gyro(void) {
#ifdef USERMOD_MPU6050_IMU
MPU6050Driver *IMU = nullptr;
uint16_t mode_IMUTest(void) {
SEGMENT.fill(BLACK);
uint8_t y = 0;
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (accelerometer_x+INT16_MAX)/(2*INT16_MAX), y+=2, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (accelerometer_y+INT16_MAX)/(2*INT16_MAX), y+=2, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (accelerometer_z+INT16_MAX)/(2*INT16_MAX), y+=2, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (gyro_x+INT16_MAX)/(2*INT16_MAX), y+=2, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (gyro_y+INT16_MAX)/(2*INT16_MAX), y+=2, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (gyro_z+INT16_MAX)/(2*INT16_MAX), y+=2, BLUE);
if (IMU != nullptr) {
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aa.x+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aa.y+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aa.z+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aaReal.x+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aaReal.y+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aaReal.z+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->gy.x+1024)/(2*1024), y+=1, RED);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->gy.y+1024)/(2*1024), y+=1, RED);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->gy.z+1024)/(2*1024), y+=1, RED);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aaWorld.x+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aaWorld.y+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aaWorld.z+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->ypr[0]* 180/M_PI+180)/(2*180), y+=1, RED);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->ypr[1]* 180/M_PI+180)/(2*180), y+=1, RED);
SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->ypr[2]* 180/M_PI+180)/(2*180), y+=1, RED);
}
return FRAMETIME;
}
static const char _data_FX_MODE_GYRO[] PROGMEM = "🎮 Gyro@!;!;!;2d";
static const char _data_FX_MODE_IMUTest[] PROGMEM = "🎮 IMUTest@;;;2d";
#ifndef FLD_PIN_SCL
#define FLD_PIN_SCL i2c_scl
#endif
#ifndef FLD_PIN_SDA
#define FLD_PIN_SDA i2c_sda
#endif
//WLEDSR 3D to 2D mapping
struct Voxel {
float x;
float y;
float z;
uint32_t col;
};
class Frame3D {
private:
std::vector<Voxel> points;
void rotate(float a, float b, float angle, float &x, float &y) {
x = cosf(angle) * a - sinf(angle) * b;
y = sinf(angle) * a + cosf(angle) * b;
}
float yaw;
float pitch;
float roll;
public:
Frame3D(float yaw1, float pitch1, float roll1) {
points.clear();
yaw = yaw1;
pitch = pitch1;
roll = roll1;
}
~Frame3D() {
std::sort(points.begin(), points.end(), [](const Voxel &lhs, const Voxel &rhs) {return lhs.z > rhs.z;});
for(size_t i = 0; i < points.size(); ++i) {
float w = 0.5;//SEGMENT.virtualWidth()/2;
float h = 0.5;//SEGMENT.virtualHeight()/2;
float perspective = SEGMENT.intensity / 64.0;
if(points[i].z > 0) {
float projX, projY;
projX = w+points[i].x/points[i].z*perspective;
projY = h+points[i].y/points[i].z*perspective;
SEGMENT.setPixelColorXY(projX, projY, points[i].col, false); //no aa
}
}
}
void setPixelColorXYZ(Voxel voxel) {
float camx = 0;
float camy = 0;
float camz = -6;
rotate(voxel.x,voxel.z,yaw, voxel.x, voxel.z); // Camera yaw
rotate(voxel.y,voxel.z,pitch, voxel.y, voxel.z); // Camera pitch
rotate(voxel.x,voxel.y,roll, voxel.x, voxel.y); // Camera roll
voxel.x -= camx;
voxel.y -= camy;
voxel.z -= camz;
points.push_back(voxel);
}
void drawLineXYZ(Voxel from, Voxel to, uint32_t col) {
for (float x=MIN(from.x, to.x); x<=MAX(from.x, to.x); x+=.05)
for (float y=MIN(from.y, to.y); y<=MAX(from.y, to.y); y+=.05)
for (float z=MIN(from.z, to.z); z<=MAX(from.z, to.z); z+=.05)
setPixelColorXYZ({x, y, z, col});
}
};
uint16_t mode_3DIMUCube(void) {
SEGMENT.fill(BLACK);
float yaw = 0;
float pitch = 0;
float roll = 0;
#ifdef USERMOD_MPU6050_IMU
if (IMU != nullptr) {
yaw = -IMU->ypr[0];
pitch = IMU->ypr[1];
roll = IMU->ypr[2];
}
#else
//simulate rotation
yaw = (fmod(SEGENV.call, 360)-180) / (180/M_PI); //-180 .. 180
pitch = yaw;
roll = yaw;
#endif
Frame3D frame3D = Frame3D(yaw, pitch, roll);
Voxel leftbottomback = {-1,-1,-1};
Voxel rightbottomback = {1,-1,-1};
Voxel lefttopback = {-1,1,-1};
Voxel righttopback = {1,1,-1};
Voxel leftbottomfront = {-1,-1,1};
Voxel rightbottomfront = {1,-1,1};
Voxel lefttopfront = {-1,1,1};
Voxel righttopfront = {1,1,1};
frame3D.drawLineXYZ(leftbottomback, rightbottomback, SEGMENT.color_from_palette(255/12, false, true, 0));
frame3D.drawLineXYZ(leftbottomback, lefttopback, SEGMENT.color_from_palette(255/12*2, false, true, 0));
frame3D.drawLineXYZ(rightbottomback, righttopback, SEGMENT.color_from_palette(255/12*3, false, true, 0));
frame3D.drawLineXYZ(lefttopback, righttopback, SEGMENT.color_from_palette(255/12*4, false, true, 0));
frame3D.drawLineXYZ(leftbottomfront, leftbottomback, SEGMENT.color_from_palette(255/12*9, false, true, 0));
frame3D.drawLineXYZ(rightbottomfront, rightbottomback, SEGMENT.color_from_palette(255/12*10, false, true, 0));
frame3D.drawLineXYZ(lefttopfront, lefttopback, SEGMENT.color_from_palette(255/12*11, false, true, 0));
frame3D.drawLineXYZ(righttopfront, righttopback, SEGMENT.color_from_palette(255/12*12, false, true, 0));
frame3D.drawLineXYZ(leftbottomfront, rightbottomfront, SEGMENT.color_from_palette(255/12*5, false, true, 0));
frame3D.drawLineXYZ(leftbottomfront, lefttopfront, SEGMENT.color_from_palette(255/12*6, false, true, 0));
frame3D.drawLineXYZ(rightbottomfront, righttopfront, SEGMENT.color_from_palette(255/12*7, false, true, 0));
frame3D.drawLineXYZ(lefttopfront, righttopfront, SEGMENT.color_from_palette(255/12*8, false, true, 0));
return FRAMETIME;
}
static const char _data_FX_MODE_3DIMUCube[] PROGMEM = "🎮 3DIMUCube@,Perspective;!;!;,pal=1,2d"; //random cycle
class GamesUsermod : public Usermod {
private:
bool enabled = true;
int8_t ioPin[5] = {FLD_PIN_SCL, FLD_PIN_SDA, -1, -1, -1}; // I2C pins: SCL, SDA
unsigned long lastUMRun = millis();
public:
//Functions called by WLED
void setup() {
bool isHW;
PinOwner po = PinOwner::UM_Unspecified;
uint8_t hw_scl = i2c_scl<0 ? HW_PIN_SCL : i2c_scl;
uint8_t hw_sda = i2c_sda<0 ? HW_PIN_SDA : i2c_sda;
if (ioPin[0] < 0 || ioPin[1] < 0) {
ioPin[0] = hw_scl;
ioPin[1] = hw_sda;
}
isHW = (ioPin[0]==hw_scl && ioPin[1]==hw_sda);
if (isHW) po = PinOwner::HW_I2C; // allow multiple allocations of HW I2C bus pins
PinManagerPinType pins[2] = { {ioPin[0], true }, { ioPin[1], true } };
if (!pinManager.allocateMultiplePins(pins, 2, po)) { enabled = false; return; }
// PinManagerPinType pins[2] = { { i2c_scl, true }, { i2c_sda, true } };
// if (!pinManager.allocateMultiplePins(pins, 2, PinOwner::HW_I2C)) { enabled = false; return; }
Wire.begin();
Wire.beginTransmission(MPU_ADDR); // Begins a transmission to the I2C slave (GY-521 board)
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
strip.addEffect(255, &mode_pongGame, _data_FX_MODE_PONGGAME);
strip.addEffect(255, &mode_gyro, _data_FX_MODE_GYRO);
#ifdef USERMOD_MPU6050_IMU
IMU = (MPU6050Driver *)usermods.lookup(USERMOD_ID_IMU);
#ifdef WLED_DEBUG
strip.addEffect(255, &mode_IMUTest, _data_FX_MODE_IMUTest);
#endif
#endif
strip.addEffect(255, &mode_3DIMUCube, _data_FX_MODE_3DIMUCube); //works also without IMU
}
/*
* connected() is called every time the WiFi is (re)connected
* Use it to initialize network interfaces
*/
void connected() {
//Serial.println("Connected to WiFi!");
}
void loop() {
if (!enabled || (strip.isUpdating() && (millis() - lastUMRun < 2))) return; // be nice, but not too nice
lastUMRun = millis(); // update time keeping
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2, p.40]
Wire.endTransmission(false); // the parameter indicates that the Arduino will send a restart. As a result, the connection is kept active.
Wire.requestFrom(MPU_ADDR, 7*2); // request a total of 7*2=14 registers
// "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the same variable
accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
accelerometer_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
accelerometer_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40 (ACCEL_ZOUT_L)
temperature = Wire.read()<<8 | Wire.read(); // reading registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
gyro_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
gyro_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
gyro_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
}
void addToJsonState(JsonObject& root)