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手搓VR的一些尝试
本文章参考以下项目
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WARNING由于本人完全没学过cpp 所以本文会引用部分AI编写的程序
准备材料
- Arduino nano
- MPU6050 GY-521 (待定)
- OpenTrace (软件)
- Freepie
- ESP32
- 摄像头
- HDMI屏幕
HMD
首先，使用arduino开发板连接GY521
并且写入程序
#include "I2Cdev.h"#include "MPU6050_6Axis_MotionApps20.h"#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE#include "Wire.h"#endifMPU6050 mpu;#define INTERRUPT_PIN 2
bool dmpReady = false;
uint8_t mpuIntStatus;
uint8_t devStatus;
uint16_t packetSize;
uint16_t fifoCount;
uint8_t fifoBuffer[64];
Quaternion q;
VectorFloat gravity;
float ypr[3];
volatile bool mpuInterrupt = false;
void dmpDataReady() {
mpuInterrupt = true;
}
typedef struct
{
int16_t Begin;
uint16_t Cpt;
float YPR[3];
float XYZ[3];
int16_t End;
} type_hat;
type_hat hat;
float yaw0=0, pitch0=0, roll0=0;
bool calibrated=false;
void setup() {
Wire.begin();
Wire.setClock(400000);
Serial.begin(115200);
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
devStatus = mpu.dmpInitialize();
mpu.setXGyroOffset(164);
mpu.setYGyroOffset(-151);
mpu.setZGyroOffset(-16);
mpu.setXAccelOffset(-2174);
mpu.setYAccelOffset(-162);
mpu.setZAccelOffset(785);
if (devStatus == 0) {
mpu.setDMPEnabled(true);
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
dmpReady = true;
packetSize = mpu.dmpGetFIFOPacketSize();
}
hat.Begin = 0xAAAA;
hat.End = 0x5555;
hat.Cpt = 0;
delay(2000); // 让传感器稳定
}
void calibrateZero()
{
float sumYaw=0,sumPitch=0,sumRoll=0;
for(int i=0;i<200;i++)
{
while (!mpuInterrupt);
mpuInterrupt=false;
fifoCount = mpu.getFIFOCount();
if(fifoCount<packetSize) continue;
mpu.getFIFOBytes(fifoBuffer, packetSize);
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
sumYaw+=ypr[0];
sumPitch+=ypr[1];
sumRoll+=ypr[2];
delay(5);
}
yaw0=sumYaw/200;
pitch0=sumPitch/200;
roll0=sumRoll/200;
calibrated=true;
}
void loop() {
if (!dmpReady) return;
if (!mpuInterrupt && fifoCount < packetSize) return;
mpuInterrupt=false;
mpuIntStatus = mpu.getIntStatus();
fifoCount = mpu.getFIFOCount();
if ((mpuIntStatus & _BV(MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {
mpu.resetFIFO();
return;
}
if (mpuIntStatus & _BV(MPU6050_INTERRUPT_DMP_INT_BIT)) {
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
mpu.getFIFOBytes(fifoBuffer, packetSize);
fifoCount -= packetSize;
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
float yaw = ypr[0] * 180 / M_PI;
float pitch = ypr[1] * 180 / M_PI;
float roll = ypr[2] * 180 / M_PI;
if(!calibrated)
{
calibrateZero();
}
hat.YPR[0] = yaw - yaw0;
hat.YPR[1] = pitch - pitch0;
hat.YPR[2] = roll - roll0;
hat.XYZ[0] = 0;
hat.XYZ[1] = 0;
hat.XYZ[2] = 0;
hat.Cpt++;
if(hat.Cpt>999) hat.Cpt=0;
Serial.write((byte*)&hat,30);
}
}True open VR里那个程序我嫌太麻烦了还要校准，所以用这个直接上手了
然后安装opentrace选hatire arduino
根据情况调整反转
一个VR HMD的旋转装置就做好了
注： 由于GY521没有磁力加速计所以会导致轻微便宜，也因此我在GY521后加了待定
Controller
由于线不能太多于是选择ESP32进行开发
刚好ESP32支持microPython，我可以更方便的写程序（不用依赖AI了）
（以下还未完成，后续会继续写）