Le IMU code

gistfile1.txt

import processing.serial.*; 

Serial myPort; 
float roll, pitch, yaw;

void setup(){
  size(600,600,P3D); 
  myPort= new Serial(this, Serial.list()[0], 115200);
  smooth(); 
frameRate(30);
  
}  

void readSensors(){
  String inString = new String(myPort.readBytesUntil('\n'));
//  println(inString);
  if (inString != null){
       String[] q = splitTokens(inString, "\\\t ");
//       println(q.length + " values found");  // Prints "4 values found"
       roll=float(q[3]);
       pitch=float(q[4]);
       yaw=float(q[5]);
       println("it works");
    
  }
}



void buildBoxShape() {
  //box(60, 10, 40);
  noStroke();
  beginShape(QUADS);
  
  //Z+ (to the drawing area)
  fill(#00ff00);
  vertex(-30, -5, 20);
  vertex(30, -5, 20);
  vertex(30, 5, 20);
  vertex(-30, 5, 20);
  
  //Z-
  fill(#0000ff);
  vertex(-30, -5, -20);
  vertex(30, -5, -20);
  vertex(30, 5, -20);
  vertex(-30, 5, -20);
  
  //X-
  fill(#ff0000);
  vertex(-30, -5, -20);
  vertex(-30, -5, 20);
  vertex(-30, 5, 20);
  vertex(-30, 5, -20);
  
  //X+
  fill(#ffff00);
  vertex(30, -5, -20);
  vertex(30, -5, 20);
  vertex(30, 5, 20);
  vertex(30, 5, -20);
  
  //Y-
  fill(#ff00ff);
  vertex(-30, -5, -20);
  vertex(30, -5, -20);
  vertex(30, -5, 20);
  vertex(-30, -5, 20);
  
  //Y+
  fill(#00ffff);
  vertex(-30, 5, -20);
  vertex(30, 5, -20);
  vertex(30, 5, 20);
  vertex(-30, 5, 20);
  
  endShape();
}


void drawCube() {  
  pushMatrix();
    translate(300, 450, 0);
    scale(4,4,4);
    
    rotateX( radians(-roll));
    rotateZ(radians(pitch));
    
    buildBoxShape();
    
  popMatrix();
}


void draw(){
    readSensors();
    background(#000000);
    fill(#ffffff);
    pushMatrix();
    translate(450, 250, 0);
    stroke(#ffffff);
    popMatrix(); 
    drawCube();
}

void readSensors(){
    readBytes = myPort.readBytesUntil('\n');
    if (readBytes != null){
        String[] q = splitTokens(new String(readBytes), "\\\t ");
//       println(q.length + " values found");  // Prints "4 values found"
        roll=float(q[3]);
        pitch=float(q[4]);
        yaw=float(q[5]);
        println("it works");
    }
}