Robot IMU

gistfile1.txt

import processing.serial.*;

 Serial myPort;  
int count = 1;
float roll1,pitch1,yaw1;
float [] roll_1= new float[999999];
float [] pitch_1= new float[999999];
float [] yaw_1= new float[999999];


///////////////////////////////////////////////////////////////////
//robot variables 

int armAngle = 0;

void setup(){
size(displayWidth, displayHeight); 
background(0);
smooth(); 
frameRate(30);
myPort = new Serial(this, Serial.list()[0], 115200);
 // don't generate a serialEvent() unless you get a newline character:
 myPort.bufferUntil('\n');

}

void draw(){
  background(255);
  pushMatrix();
translate(50,50);
robot();
popMatrix(); 
}

void robot(){
left(); 
right(); 


noStroke();

line(550,0,550,800); 
stroke(255);
line(1100,0,1100,800);
stroke(#F7F000);


//robot body

fill(38, 38, 200);
rect(200,100,150,150);
//abdomen
fill(#EE05FF);
rect(180,560,80,250); 
fill(#044252);
rect(270,560,80,250); 

//end 

stroke(0); 





}
 
void left(){
pushMatrix(); 
translate (150,275); 
rotate(radians(pitch1)); 
rect(-60,0,50,200);
popMatrix(); 
}


void right(){
  fill(#FA0505);
pushMatrix(); 
translate(410,275); 
rotate(radians (-pitch1)); 
rect(0,0,50,200); 
popMatrix(); 

}


void serialEvent( Serial myPort){

String inString = new String(myPort.readBytesUntil('\n'));
//  t =inString.length();
if (inString== null)
{
  println("You got NULL");
}
if (inString != null){
  println("Hello i'm q.length");
  String[] q = splitTokens(inString, "\\\t ");
  println(q.length + " values found");  // Prints "4 values found"
    roll1=float(q[3]);
    pitch1=float(q[4]);
    yaw1=float(q[5]);
//    println(yaw1);
 
}
}