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Tutoriel 3 : capteur imu
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@ -32,12 +32,11 @@ ACTIVATE = bge.logic.KX_INPUT_ACTIVE
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# Communication avec la carte Arduino
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###############################################################################
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# serial_baud=500000
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serial_baud=115200 # 7 fps
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# serial_baud=38400 # 6 fps
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# serial_baud=9600 # 2 fps
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# serial_comm = serial.Serial('COM4',serial_baud) # Windows
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serial_comm = serial.Serial('/dev/ttyACM0',serial_baud) # GNU/Linux
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# serial_comm = serial.Serial('COM4',serial_baud, timeout=0.016) # Windows
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serial_comm = serial.Serial('/dev/ttyACM0',serial_baud, timeout=0.016) # GNU/Linux
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print (serial_comm)
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###############################################################################
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@ -98,41 +97,27 @@ def capteur(cont):
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serial_comm.close()
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bge.logic.endGame()
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# # Gestion du FPS - Tous les tics
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# milliseconds = int(time.time() * 1000) # Tous les tics
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# if milliseconds != fps_time:
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# fps = int(1000/(milliseconds-fps_time))
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# else:
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# fps = "----"
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# # print ("Durée entre deux tics (16 ms), fps (60) :", milliseconds-fps_time, fps)
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# fps_time = milliseconds
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# Désactivation du capteur pendant la chute
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if scene.objects['Bille']['chute']:
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return
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# else:
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# return
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# Lecture de la liaison série : programme Arduino : 3-labyrinthe-imu.ino
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serial_msg = str(serial_comm.readline()) # Communication série : Arduino -> UPBGE
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txt = serial_msg.split(',',2)
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# print (txt)
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x_txt = txt[0][2:]
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y_txt = txt[1][:-5]
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# print (x_txt, y_txt)
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# obj['IMU x']=-float(x_txt)
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# obj['IMU y']=-float(y_txt)
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# obj['Rx']=obj.worldOrientation.to_euler().x*57.3 # 360 / (2 * pi)
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# obj['Ry']=obj.worldOrientation.to_euler().y*57.3 # 360 / (2 * pi)
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# obj['Rz']=obj.worldOrientation.to_euler().z*57.3 # 360 / (2 * pi)
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serial_msg = str(serial_comm.readline())
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# print (serial_msg)
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if serial_msg.find(",")>0:
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# if ("\r\n") in serial_msg:
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# print (serial_msg)
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txt = serial_msg.split(',',2)
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# print (txt)
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x_txt = txt[0][2:]
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y_txt = txt[1][:-5]
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x=-(float(x_txt)/57.3) * resolution # 1/ 360 / (2 * pi)
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y=-(float(y_txt)/57.3) * resolution # 1/ 360 / (2 * pi)
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x=-(float(x_txt)/57.3) * resolution # 1/ 360 / (2 * pi)
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y=-(float(y_txt)/57.3) * resolution # 1/ 360 / (2 * pi)
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# Roll et Pitch
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# applyRotationTo(scene.objects['Plateau'], x,0, 0)
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applyRotationTo(scene.objects['Plateau'], x,y, 0)
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# obj.applyRotation((0,0,-obj.worldOrientation.to_euler().z), False)
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# Roll et Pitch
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# applyRotationTo(scene.objects['Plateau'], x,0, 0)
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applyRotationTo(scene.objects['Plateau'], x,y, 0)
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# obj.applyRotation((0,0,-obj.worldOrientation.to_euler().z), False)
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###############################################################################
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# Gameplay
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@ -141,7 +126,7 @@ def capteur(cont):
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# Initialisation de la scène
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def init(cont):
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obj = cont.owner # obj est l'objet associé au contrôleur donc 'Bille'
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eevee_qualite(0)
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# eevee_qualite(0)
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# Mémorisation de la position de départ de la bille
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obj['init_x']=obj.worldPosition.x
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@ -171,8 +156,8 @@ def chute(cont):
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print ("Chuuuu.....te")
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# Replacement du plateau (tous les angles à 0 en plusieurs fois)
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while obj_plateau.worldOrientation.to_euler().x != 0 and obj_plateau.worldOrientation.to_euler().y !=0 and obj_plateau.worldOrientation.to_euler().z !=0 :
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obj_plateau.applyRotation((-obj_plateau.worldOrientation.to_euler().x, -obj_plateau.worldOrientation.to_euler().y, -obj_plateau.worldOrientation.to_euler().z), False)
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# while obj_plateau.worldOrientation.to_euler().x != 0 and obj_plateau.worldOrientation.to_euler().y !=0 and obj_plateau.worldOrientation.to_euler().z !=0 :
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# obj_plateau.applyRotation((-obj_plateau.worldOrientation.to_euler().x, -obj_plateau.worldOrientation.to_euler().y, -obj_plateau.worldOrientation.to_euler().z), False)
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# Mettre la bille à la position de départ avec une vitesse nulle
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obj.worldLinearVelocity=(0, 0, 0)
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@ -182,6 +167,7 @@ def chute(cont):
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obj.worldPosition.z = obj['init_z']+0.5 # On repose la bille
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time.sleep(0.1)
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obj['chute']=False
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scene.objects['Plateau']['chute']=False
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# Victoire (colision de la bille avec l'arrivée)
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def victoire(cont):
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@ -41,28 +41,15 @@ float pitch_deg;
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String roll_txt;
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String pitch_txt;
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/******************************************************************************
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* Pupitre
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******************************************************************************/
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// Adressage de la led Arduino
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const int led = 13; // Led de mouvement (onboard)
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const int led_com = 10; // Led de communication modele 3d-> arduino
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/******************************************************************************
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* Initialisation
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******************************************************************************/
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void setup() {
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pinMode(led, OUTPUT); // Led de mouvement
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pinMode(led_com, OUTPUT); // Led de communication modele 3d-> arduino
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digitalWrite(led, LOW);
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digitalWrite(led_com, LOW);
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// Moniteur serie
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// Liaison série
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Serial.begin(115200); // 7 fps
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/* Serial.begin(38400); */ // 6 fps
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/* Serial.begin(38400); */ // 6 fps
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/* Serial.begin(9600); */ // trop lent 2fps
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// I2C
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@ -94,7 +81,7 @@ void loop() {
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pitch_txt = String(pitch_deg);
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/*****
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* Communication : Arduino -> modèle 3d
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* Communication : Arduino -> UPBGE
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*****/
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// Serial.println("Roll (Rx): "+ roll_txt + " Pitch (Ry): " + pitch_txt);
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@ -62,8 +62,8 @@ void setup() {
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// Moniteur serie
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Serial.begin(115200); // 7 fps
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// Serial.begin(9600); // trop lent 2fps
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//Serial.begin(500000);
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// Serial.begin(38400); // 7 fps
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//Serial.begin(9600); // trop lent 2fps
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// I2C
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Wire.begin();
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@ -97,11 +97,7 @@ void loop() {
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* Communication : Arduino -> modèle 3d
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*****/
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// Serial.println("Roll (Rx): "+ roll_txt + " Pitch (Ry): " + pitch_txt);
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Serial.print(roll_txt);
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Serial.print(",");
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Serial.print(pitch_txt);
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Serial.println();
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Serial.println("Roll (Rx): "+ roll_txt + " Pitch (Ry): " + pitch_txt);
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/* delay(300); */
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}
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