Learn how to visualize the MPU6050 angle data from the i2cdevlib in the Arduino Framework using Processing and Toxiclibs library. In the end, you will have an awesome animation that displays a plane on the screen orienting itself in three-dimensional space as you move around your MPU6050! The animation will appear as follows:
This animation will rotate depending on the orientation of your MPU6050, pretty cool. This is popularly known as the "teapot" example although the animation is no longer a teapot, as you can see it is a plane. This is a continuation of part 1 where we showed how to get angle values yaw, pitch, and roll, for the MPU6050.
Before reading the remainder, be sure to subscribe and support the channel if you have not!
Subscribe:
Support:
https://www.buymeacoffee.com/mmshilleh
Step 1-) Download Processing and Toxiclibs Library:
Processing: https://processing.org/download
ToxicLibs: https://github.com/postspectacular/toxiclibs/releases/tag/0021 (download the complete zip file)
For the toxiclibs library, you only need two subfolders for the example code to run. Once you download the library extract the toxiclibs_p5 and toxiclibscore subdirectories into the Library folder under Processing. Screenshot shown here.
Step 2-) Edit the MPU6050_DMP6 Example
In part 1 we worked with the MPU6050_DMP6 example to print angles on the screen in the serial monitor in PaltformIO. We need to make some modifications to modify the output so that the animation on the Processing side can interpret the angle data. To do so we only need to comment out the line,
#define OUTPUT_READABLE_YAWPITCHROLL,
and uncomment
#define OUTPUT_TEAPOT
Also, be sure the baud rate is 9600 and any delays are removed in the code so that the animation can be smooth. The code looks as follows (with my own offsets which should be different than yours).
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) // 6/21/2012 by Jeff Rowberg <jeff@rowberg.net> // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: // 2019-07-08 - Added Auto Calibration and offset generator // - and altered FIFO retrieval sequence to avoid using blocking code // 2016-04-18 - Eliminated a potential infinite loop // 2013-05-08 - added seamless Fastwire support // - added note about gyro calibration // 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error // 2012-06-20 - improved FIFO overflow handling and simplified read process // 2012-06-19 - completely rearranged DMP initialization code and simplification // 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly // 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING // 2012-06-05 - add gravity-compensated initial reference frame acceleration output // - add 3D math helper file to DMP6 example sketch // - add Euler output and Yaw/Pitch/Roll output formats // 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee) // 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250 // 2012-05-30 - basic DMP initialization working /* ============================================ I2Cdev device library code is placed under the MIT license Copyright (c) 2012 Jeff Rowberg Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. =============================================== */ // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files // for both classes must be in the include path of your project #include "I2Cdev.h" #include "MPU6050_6Axis_MotionApps20.h" //#include "MPU6050.h" // not necessary if using MotionApps include file // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation // is used in I2Cdev.h #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE #include "Wire.h" #endif // class default I2C address is 0x68 // specific I2C addresses may be passed as a parameter here // AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board) // AD0 high = 0x69 MPU6050 mpu; //MPU6050 mpu(0x69); // <-- use for AD0 high /* ========================================================================= NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch depends on the MPU-6050's INT pin being connected to the Arduino's external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is digital I/O pin 2. * ========================================================================= */ /* ========================================================================= NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error when using Serial.write(buf, len). The Teapot output uses this method. The solution requires a modification to the Arduino USBAPI.h file, which is fortunately simple, but annoying. This will be fixed in the next IDE release. For more info, see these links: http://arduino.cc/forum/index.php/topic,109987.0.html http://code.google.com/p/arduino/issues/detail?id=958 * ========================================================================= */ // uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual // quaternion components in a [w, x, y, z] format (not best for parsing // on a remote host such as Processing or something though) //#define OUTPUT_READABLE_QUATERNION // uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles // (in degrees) calculated from the quaternions coming from the FIFO. // Note that Euler angles suffer from gimbal lock (for more info, see // http://en.wikipedia.org/wiki/Gimbal_lock) //#define OUTPUT_READABLE_EULER // uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/ // pitch/roll angles (in degrees) calculated from the quaternions coming // from the FIFO. Note this also requires gravity vector calculations. // Also note that yaw/pitch/roll angles suffer from gimbal lock (for // more info, see: http://en.wikipedia.org/wiki/Gimbal_lock) // #define OUTPUT_READABLE_YAWPITCHROLL // uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration // components with gravity removed. This acceleration reference frame is // not compensated for orientation, so +X is always +X according to the // sensor, just without the effects of gravity. If you want acceleration // compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead. //#define OUTPUT_READABLE_REALACCEL // uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration // components with gravity removed and adjusted for the world frame of // reference (yaw is relative to initial orientation, since no magnetometer // is present in this case). Could be quite handy in some cases. //#define OUTPUT_READABLE_WORLDACCEL // uncomment "OUTPUT_TEAPOT" if you want output that matches the // format used for the InvenSense teapot demo #define OUTPUT_TEAPOT #define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards #define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) bool blinkState = false; // MPU control/status vars bool dmpReady = false; // set true if DMP init was successful uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) uint16_t packetSize; // expected DMP packet size (default is 42 bytes) uint16_t fifoCount; // count of all bytes currently in FIFO uint8_t fifoBuffer[64]; // FIFO storage buffer // orientation/motion vars Quaternion q; // [w, x, y, z] quaternion container VectorInt16 aa; // [x, y, z] accel sensor measurements VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements VectorFloat gravity; // [x, y, z] gravity vector float euler[3]; // [psi, theta, phi] Euler angle container float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector // packet structure for InvenSense teapot demo uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; // ================================================================ // === INTERRUPT DETECTION ROUTINE === // ================================================================ volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high void dmpDataReady() { mpuInterrupt = true; } // ================================================================ // === INITIAL SETUP === // ================================================================ void setup() { // join I2C bus (I2Cdev library doesn't do this automatically) #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(400, true); #endif // initialize serial communication // (115200 chosen because it is required for Teapot Demo output, but it's // really up to you depending on your project) Serial.begin(9600); while (!Serial); // wait for Leonardo enumeration, others continue immediately // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to // the baud timing being too misaligned with processor ticks. You must use // 38400 or slower in these cases, or use some kind of external separate // crystal solution for the UART timer. // initialize device Serial.println(F("Initializing I2C devices...")); mpu.initialize(); pinMode(INTERRUPT_PIN, INPUT); // verify connection Serial.println(F("Testing device connections...")); Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); // wait for ready Serial.println(F("\nSend any character to begin DMP programming and demo: ")); while (Serial.available() && Serial.read()); // empty buffer while (!Serial.available()); // wait for data while (Serial.available() && Serial.read()); // empty buffer again // load and configure the DMP Serial.println(F("Initializing DMP...")); devStatus = mpu.dmpInitialize(); // supply your own gyro offsets here, scaled for min sensitivity mpu.setXGyroOffset(220); mpu.setYGyroOffset(76); mpu.setZGyroOffset(-85); mpu.setZAccelOffset(1788); // 1688 factory default for my test chip // make sure it worked (returns 0 if so) if (devStatus == 0) { // Calibration Time: generate offsets and calibrate our MPU6050 mpu.CalibrateAccel(6); mpu.CalibrateGyro(6); mpu.PrintActiveOffsets(); // turn on the DMP, now that it's ready Serial.println(F("Enabling DMP...")); mpu.setDMPEnabled(true); // enable Arduino interrupt detection Serial.print(F("Enabling interrupt detection (Arduino external interrupt ")); Serial.print(digitalPinToInterrupt(INTERRUPT_PIN)); Serial.println(F(")...")); attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING); mpuIntStatus = mpu.getIntStatus(); // set our DMP Ready flag so the main loop() function knows it's okay to use it Serial.println(F("DMP ready! Waiting for first interrupt...")); dmpReady = true; // get expected DMP packet size for later comparison packetSize = mpu.dmpGetFIFOPacketSize(); } else { // ERROR! // 1 = initial memory load failed // 2 = DMP configuration updates failed // (if it's going to break, usually the code will be 1) Serial.print(F("DMP Initialization failed (code ")); Serial.print(devStatus); Serial.println(F(")")); } // configure LED for output pinMode(LED_PIN, OUTPUT); } // ================================================================ // === MAIN PROGRAM LOOP === // ================================================================ void loop() { // if programming failed, don't try to do anything if (!dmpReady) return; // read a packet from FIFO if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet #ifdef OUTPUT_READABLE_QUATERNION // display quaternion values in easy matrix form: w x y z mpu.dmpGetQuaternion(&q, fifoBuffer); Serial.print("quat\t"); Serial.print(q.w); Serial.print("\t"); Serial.print(q.x); Serial.print("\t"); Serial.print(q.y); Serial.print("\t"); Serial.println(q.z); #endif #ifdef OUTPUT_READABLE_EULER // display Euler angles in degrees mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetEuler(euler, &q); Serial.print("euler\t"); Serial.print(euler[0] * 180/M_PI); Serial.print("\t"); Serial.print(euler[1] * 180/M_PI); Serial.print("\t"); Serial.println(euler[2] * 180/M_PI); #endif #ifdef OUTPUT_READABLE_YAWPITCHROLL // display Euler angles in degrees mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); Serial.print("ypr\t"); Serial.print(ypr[0] * 180/M_PI); Serial.print("\t"); Serial.print(ypr[1] * 180/M_PI); Serial.print("\t"); Serial.println(ypr[2] * 180/M_PI); #endif #ifdef OUTPUT_READABLE_REALACCEL // display real acceleration, adjusted to remove gravity mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetAccel(&aa, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); Serial.print("areal\t"); Serial.print(aaReal.x); Serial.print("\t"); Serial.print(aaReal.y); Serial.print("\t"); Serial.println(aaReal.z); #endif #ifdef OUTPUT_READABLE_WORLDACCEL // display initial world-frame acceleration, adjusted to remove gravity // and rotated based on known orientation from quaternion mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetAccel(&aa, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); Serial.print("aworld\t"); Serial.print(aaWorld.x); Serial.print("\t"); Serial.print(aaWorld.y); Serial.print("\t"); Serial.println(aaWorld.z); #endif #ifdef OUTPUT_TEAPOT // display quaternion values in InvenSense Teapot demo format: teapotPacket[2] = fifoBuffer[0]; teapotPacket[3] = fifoBuffer[1]; teapotPacket[4] = fifoBuffer[4]; teapotPacket[5] = fifoBuffer[5]; teapotPacket[6] = fifoBuffer[8]; teapotPacket[7] = fifoBuffer[9]; teapotPacket[8] = fifoBuffer[12]; teapotPacket[9] = fifoBuffer[13]; Serial.write(teapotPacket, 14); teapotPacket[11]++; // packetCount, loops at 0xFF on purpose #endif // blink LED to indicate activity blinkState = !blinkState; digitalWrite(LED_PIN, blinkState); } }
We can then upload this to the ESP32 or whatever Arduino-supporting microcontroller you are using, the serial monitor will prompt you to enter a character (do not enter a character because the Processing code we will run will enter the char itself).
Step 3-) Run Processing Code Example:
The i2cdevlib also comes with the code we need to run in the Processing IDE. You can find this code in the i2cdevlib examples it is called MPU6050.pde
We can copy this code and paste it into a new sketch in Processing (you should have Processing downloaded at this point).
We only need to change the baud rate and the serial port in the code so that it can find the data being produced on the MPU6050 angle code in PaltformIO (or ArduinoIDE if you are using that). Here is the final code in my example.
// I2C device class (I2Cdev) demonstration Processing sketch for MPU6050 DMP output // 6/20/2012 by Jeff Rowberg <jeff@rowberg.net> // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: // 2012-06-20 - initial release /* ============================================ I2Cdev device library code is placed under the MIT license Copyright (c) 2012 Jeff Rowberg Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. =============================================== */ import processing.serial.*; import processing.opengl.*; import toxi.geom.*; import toxi.processing.*; // NOTE: requires ToxicLibs to be installed in order to run properly. // 1. Download from http://toxiclibs.org/downloads // 2. Extract into [userdir]/Processing/libraries // (location may be different on Mac/Linux) // 3. Run and bask in awesomeness ToxiclibsSupport gfx; Serial port; // The serial port char[] teapotPacket = new char[14]; // InvenSense Teapot packet int serialCount = 0; // current packet byte position int synced = 0; int interval = 0; float[] q = new float[4]; Quaternion quat = new Quaternion(1, 0, 0, 0); float[] gravity = new float[3]; float[] euler = new float[3]; float[] ypr = new float[3]; void setup() { // 300px square viewport using OpenGL rendering size(300, 300, OPENGL); gfx = new ToxiclibsSupport(this); // setup lights and antialiasing lights(); smooth(); // display serial port list for debugging/clarity println(Serial.list()); // get the first available port (use EITHER this OR the specific port code below) // String portName = Serial.list()[0]; // get a specific serial port (use EITHER this OR the first-available code above) String portName = "/dev/cu.usbserial-0001"; // open the serial port port = new Serial(this, portName, 9600); // send single character to trigger DMP init/start // (expected by MPU6050_DMP6 example Arduino sketch) port.write('r'); } void draw() { if (millis() - interval > 1000) { // resend single character to trigger DMP init/start // in case the MPU is halted/reset while applet is running port.write('r'); interval = millis(); } // black background background(0); // translate everything to the middle of the viewport pushMatrix(); translate(width / 2, height / 2); // 3-step rotation from yaw/pitch/roll angles (gimbal lock!) // ...and other weirdness I haven't figured out yet //rotateY(-ypr[0]); //rotateZ(-ypr[1]); //rotateX(-ypr[2]); // toxiclibs direct angle/axis rotation from quaternion (NO gimbal lock!) // (axis order [1, 3, 2] and inversion [-1, +1, +1] is a consequence of // different coordinate system orientation assumptions between Processing // and InvenSense DMP) float[] axis = quat.toAxisAngle(); rotate(axis[0], -axis[1], axis[3], axis[2]); // draw main body in red fill(255, 0, 0, 200); box(10, 10, 200); // draw front-facing tip in blue fill(0, 0, 255, 200); pushMatrix(); translate(0, 0, -120); rotateX(PI/2); drawCylinder(0, 20, 20, 8); popMatrix(); // draw wings and tail fin in green fill(0, 255, 0, 200); beginShape(TRIANGLES); vertex(-100, 2, 30); vertex(0, 2, -80); vertex(100, 2, 30); // wing top layer vertex(-100, -2, 30); vertex(0, -2, -80); vertex(100, -2, 30); // wing bottom layer vertex(-2, 0, 98); vertex(-2, -30, 98); vertex(-2, 0, 70); // tail left layer vertex( 2, 0, 98); vertex( 2, -30, 98); vertex( 2, 0, 70); // tail right layer endShape(); beginShape(QUADS); vertex(-100, 2, 30); vertex(-100, -2, 30); vertex( 0, -2, -80); vertex( 0, 2, -80); vertex( 100, 2, 30); vertex( 100, -2, 30); vertex( 0, -2, -80); vertex( 0, 2, -80); vertex(-100, 2, 30); vertex(-100, -2, 30); vertex(100, -2, 30); vertex(100, 2, 30); vertex(-2, 0, 98); vertex(2, 0, 98); vertex(2, -30, 98); vertex(-2, -30, 98); vertex(-2, 0, 98); vertex(2, 0, 98); vertex(2, 0, 70); vertex(-2, 0, 70); vertex(-2, -30, 98); vertex(2, -30, 98); vertex(2, 0, 70); vertex(-2, 0, 70); endShape(); popMatrix(); } void serialEvent(Serial port) { interval = millis(); while (port.available() > 0) { int ch = port.read(); if (synced == 0 && ch != '$') return; // initial synchronization - also used to resync/realign if needed synced = 1; print ((char)ch); if ((serialCount == 1 && ch != 2) || (serialCount == 12 && ch != '\r') || (serialCount == 13 && ch != '\n')) { serialCount = 0; synced = 0; return; } if (serialCount > 0 || ch == '$') { teapotPacket[serialCount++] = (char)ch; if (serialCount == 14) { serialCount = 0; // restart packet byte position // get quaternion from data packet q[0] = ((teapotPacket[2] << 8) | teapotPacket[3]) / 16384.0f; q[1] = ((teapotPacket[4] << 8) | teapotPacket[5]) / 16384.0f; q[2] = ((teapotPacket[6] << 8) | teapotPacket[7]) / 16384.0f; q[3] = ((teapotPacket[8] << 8) | teapotPacket[9]) / 16384.0f; for (int i = 0; i < 4; i++) if (q[i] >= 2) q[i] = -4 + q[i]; // set our toxilibs quaternion to new data quat.set(q[0], q[1], q[2], q[3]); /* // below calculations unnecessary for orientation only using toxilibs // calculate gravity vector gravity[0] = 2 * (q[1]*q[3] - q[0]*q[2]); gravity[1] = 2 * (q[0]*q[1] + q[2]*q[3]); gravity[2] = q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]; // calculate Euler angles euler[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1); euler[1] = -asin(2*q[1]*q[3] + 2*q[0]*q[2]); euler[2] = atan2(2*q[2]*q[3] - 2*q[0]*q[1], 2*q[0]*q[0] + 2*q[3]*q[3] - 1); // calculate yaw/pitch/roll angles ypr[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1); ypr[1] = atan(gravity[0] / sqrt(gravity[1]*gravity[1] + gravity[2]*gravity[2])); ypr[2] = atan(gravity[1] / sqrt(gravity[0]*gravity[0] + gravity[2]*gravity[2])); // output various components for debugging //println("q:\t" + round(q[0]*100.0f)/100.0f + "\t" + round(q[1]*100.0f)/100.0f + "\t" + round(q[2]*100.0f)/100.0f + "\t" + round(q[3]*100.0f)/100.0f); //println("euler:\t" + euler[0]*180.0f/PI + "\t" + euler[1]*180.0f/PI + "\t" + euler[2]*180.0f/PI); //println("ypr:\t" + ypr[0]*180.0f/PI + "\t" + ypr[1]*180.0f/PI + "\t" + ypr[2]*180.0f/PI); */ } } } } void drawCylinder(float topRadius, float bottomRadius, float tall, int sides) { float angle = 0; float angleIncrement = TWO_PI / sides; beginShape(QUAD_STRIP); for (int i = 0; i < sides + 1; ++i) { vertex(topRadius*cos(angle), 0, topRadius*sin(angle)); vertex(bottomRadius*cos(angle), tall, bottomRadius*sin(angle)); angle += angleIncrement; } endShape(); // If it is not a cone, draw the circular top cap if (topRadius != 0) { angle = 0; beginShape(TRIANGLE_FAN); // Center point vertex(0, 0, 0); for (int i = 0; i < sides + 1; i++) { vertex(topRadius * cos(angle), 0, topRadius * sin(angle)); angle += angleIncrement; } endShape(); } // If it is not a cone, draw the circular bottom cap if (bottomRadius != 0) { angle = 0; beginShape(TRIANGLE_FAN); // Center point vertex(0, tall, 0); for (int i = 0; i < sides + 1; i++) { vertex(bottomRadius * cos(angle), tall, bottomRadius * sin(angle)); angle += angleIncrement; } endShape(); } }
I changed the baud rate to 9600 and also changed the serial port according to the ESP32 serial port on my Macbook. The format of serial ports is different for Windows or Linux so keep that in mind.
Once you have that setup you should be able to run the example you added into the Processing sketch, give it a moment and an animation will appear on the screen, let your MPU6050 settle for about 10 seconds, and begin to move it. Enjoy the magic!
Conclusion
Hope these steps were clear and they worked for you! If you enjoyed this be sure to subscribe to the channel as we are almost at 1000 subscribers and would love for you to stick along with ShillehTek as it grows bigger and bigger. Thanks for everyone’s support and please comment here or preferably on YouTube if you have any questions because I know we went through a lot. Thanks everybody for reading.