#include <Wire.h>
#include <Adafruit_SSD1306.h>
#include <Adafruit_GFX.h>
#include <Adafruit_NeoPixel.h>
Adafruit_SSD1306 display( 128, 64); // 128 pixels width, 64 pixels height
#define LED_PIN 6
#define LED_COUNT 1
Adafruit_NeoPixel neoPixel( LED_COUNT, LED_PIN, NEO_GRB + NEO_KHZ800);
const int mpuAddress = 0x68; // I2C address of the MPU-6050
float xByGyro, yByGyro, zByGyro; // Global variables for the rotation by gyro
// Set the origin in the middle of the display
const int xOrigin = 64;
const int yOrigin = 32;
const float viewDistance = 150.0; // higher for less perspective, lower for more.
// Vertices for a cube
// A cube has 8 corners and each coordinate has x,y,z values.
#define NUM_VERTICES 8
const int cube_vertex[NUM_VERTICES][3] =
{
{ -20, -20, 20 }, // x, y, z
{ 20, -20, 20 },
{ 20, 20, 20 },
{ -20, 20, 20 },
{ -20, -20, -20 },
{ 20, -20, -20 },
{ 20, 20, -20 },
{ -20, 20, -20 }
};
// The wirefram is to display the lines on the OLED display
// It contains the corners of the shape in 2D coordinates
int wireframe[NUM_VERTICES][2];
// 'INDOBOT-LOGO-kecil', 128x64px
const unsigned char indo_bitmap_INDOBOT_LOGO_kecil [] PROGMEM = {
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xc7, 0x03, 0xff, 0x1c, 0x00, 0x1f, 0xff, 0xf3, 0xff, 0xc0, 0x00, 0x07, 0xf0, 0x1f, 0x80, 0x01,
0xc7, 0x00, 0xff, 0x1c, 0x00, 0x0f, 0xff, 0x73, 0xff, 0xc0, 0x00, 0x07, 0xe0, 0x0f, 0x80, 0x01,
0xc7, 0x00, 0x3f, 0x1c, 0x00, 0x07, 0xfe, 0x73, 0xdf, 0xc0, 0x00, 0x07, 0xc0, 0x07, 0x80, 0x01,
0xc7, 0x10, 0x1f, 0x1c, 0x7f, 0x83, 0xfc, 0x73, 0xcf, 0xc7, 0xff, 0xc7, 0x83, 0x83, 0xfe, 0x7f,
0xc7, 0x3e, 0x0f, 0x1c, 0x7f, 0xe1, 0xfc, 0x73, 0xcf, 0xcf, 0xff, 0xc7, 0x0f, 0xe1, 0xfe, 0x7f,
0xc7, 0x3f, 0x87, 0x1c, 0x7f, 0xf1, 0xf8, 0x73, 0xc7, 0xcf, 0xff, 0xcf, 0x1f, 0xf1, 0xfe, 0x7f,
0xc7, 0x3f, 0xc3, 0x1c, 0x7f, 0xf8, 0xf8, 0xf3, 0xc7, 0xcf, 0xff, 0x8e, 0x3f, 0xf8, 0xfe, 0x7f,
0xc7, 0x3f, 0xe1, 0x1c, 0x7f, 0xf8, 0xf1, 0xf3, 0xe3, 0xcf, 0xff, 0x8e, 0x3f, 0xf8, 0xfe, 0x7f,
0xc7, 0x3f, 0xf1, 0x1c, 0x7f, 0xfc, 0x71, 0xf3, 0xe3, 0xcf, 0xff, 0x1e, 0x7f, 0xfc, 0xfe, 0x7f,
0xc7, 0x3f, 0xf8, 0x1c, 0x7f, 0xfc, 0x71, 0xf3, 0xf3, 0xcf, 0xfe, 0x1c, 0x7f, 0xfc, 0x7e, 0x7f,
0xc7, 0x3f, 0xf8, 0x1c, 0x7f, 0xfc, 0x73, 0xf3, 0xf1, 0xcf, 0xfc, 0x3c, 0x7f, 0xfc, 0x7e, 0x7f,
0xc7, 0x3f, 0xfc, 0x1c, 0x7f, 0xfe, 0x73, 0xf3, 0xf1, 0xc0, 0x00, 0x7c, 0xff, 0xfc, 0x7e, 0x7f,
0xc7, 0x3f, 0xfc, 0x1c, 0x7f, 0xfe, 0x73, 0xf3, 0xf1, 0xc0, 0x00, 0x7c, 0xff, 0xfe, 0x7e, 0x7f,
0xc7, 0x3f, 0xfe, 0x1c, 0x7f, 0xfe, 0x73, 0xf3, 0xf1, 0xc0, 0x00, 0x7c, 0xff, 0xfe, 0x7e, 0x7f,
0xc7, 0x3f, 0xfe, 0x1c, 0x7f, 0xfe, 0x73, 0xff, 0xf1, 0xc0, 0x00, 0x3c, 0xff, 0xfc, 0x7e, 0x7f,
0xc7, 0x3f, 0xfe, 0x1c, 0x7f, 0xfc, 0x73, 0xff, 0xf3, 0xcf, 0xfe, 0x1c, 0x7f, 0xfc, 0x7e, 0x7f,
0xc7, 0x3f, 0xff, 0x1c, 0x7f, 0xfc, 0x71, 0xff, 0xf3, 0xcf, 0xff, 0x1c, 0x7f, 0xfc, 0x7e, 0x7f,
0xc7, 0x3f, 0xff, 0x1c, 0x7f, 0xfc, 0xf1, 0xff, 0xe3, 0xcf, 0xff, 0x0e, 0x7f, 0xfc, 0xfe, 0x7f,
0xc7, 0x3f, 0xff, 0x1c, 0x7f, 0xf8, 0xf8, 0xff, 0xe3, 0xcf, 0xff, 0x8e, 0x3f, 0xf8, 0xfe, 0x7f,
0xc7, 0x3f, 0xff, 0x1c, 0x7f, 0xf8, 0xf8, 0xff, 0xc7, 0xcf, 0xff, 0x8e, 0x3f, 0xf0, 0xfe, 0x7f,
0xc7, 0x3f, 0xff, 0x1c, 0x7f, 0xf1, 0xf8, 0x7f, 0x87, 0xcf, 0xff, 0xc7, 0x1f, 0xf1, 0xfe, 0x7f,
0xc7, 0x3f, 0xff, 0x1c, 0x7f, 0xe1, 0xfc, 0x3f, 0x0f, 0xcf, 0xff, 0xc7, 0x0f, 0xc1, 0xfe, 0x7f,
0xc7, 0x3f, 0xff, 0x1c, 0x00, 0x03, 0xfe, 0x00, 0x0f, 0xc0, 0x00, 0x07, 0x80, 0x03, 0xfe, 0x7f,
0xc7, 0x3f, 0xff, 0x1c, 0x00, 0x07, 0xff, 0x00, 0x3f, 0xc0, 0x00, 0x07, 0xc0, 0x07, 0xfe, 0x7f,
0xc7, 0x3f, 0xff, 0x1c, 0x00, 0x0f, 0xff, 0x80, 0x7f, 0xc0, 0x00, 0x07, 0xe0, 0x0f, 0xfe, 0x7f,
0xc7, 0x3f, 0xff, 0x1c, 0x00, 0x7f, 0xff, 0xe1, 0xff, 0xc0, 0x00, 0x07, 0xfc, 0x7f, 0xfe, 0x7f,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xf8, 0xff, 0xfe, 0x07, 0xff, 0xc7, 0xff, 0xc0, 0x7f, 0xfc, 0x03, 0xfe, 0x7f, 0x8f, 0xf3, 0xf3,
0xf8, 0xff, 0xfc, 0x03, 0xff, 0xc7, 0xff, 0xc0, 0x1f, 0xfc, 0x03, 0xfe, 0x7f, 0x8f, 0xf1, 0xf3,
0xf8, 0x7f, 0xf8, 0x63, 0xff, 0x83, 0xff, 0xc0, 0x1f, 0xfc, 0xff, 0xfe, 0x3f, 0x0f, 0xf9, 0xe7,
0xf0, 0x7f, 0xf8, 0xfb, 0xff, 0x83, 0xff, 0xcf, 0x8f, 0xfc, 0xff, 0xfe, 0x3f, 0x0f, 0xf9, 0xe7,
0xf2, 0x7f, 0xf1, 0xff, 0xff, 0x93, 0xff, 0xcf, 0xcf, 0xfc, 0xff, 0xfe, 0x1f, 0x0f, 0xf8, 0xcf,
0xf2, 0x3f, 0xf1, 0xff, 0xff, 0x11, 0xff, 0xcf, 0xc7, 0xfc, 0xff, 0xfe, 0x1e, 0x0f, 0xfc, 0xcf,
0xe3, 0x3f, 0xf3, 0xff, 0xff, 0x39, 0xff, 0xcf, 0xe7, 0xfc, 0x07, 0xfe, 0x0e, 0x0f, 0xfc, 0x0f,
0xe7, 0x3f, 0xf3, 0xff, 0xff, 0x39, 0xff, 0xcf, 0xe7, 0xfc, 0x07, 0xfe, 0x4c, 0x8f, 0xfe, 0x1f,
0xe7, 0x1f, 0xf3, 0xff, 0xfe, 0x38, 0xff, 0xcf, 0xe7, 0xfc, 0x07, 0xfe, 0x44, 0x8f, 0xfe, 0x1f,
0xc0, 0x1f, 0xf1, 0xff, 0xfe, 0x00, 0xff, 0xcf, 0xc7, 0xfc, 0xff, 0xfe, 0x60, 0x8f, 0xff, 0x3f,
0xc0, 0x1f, 0xf1, 0xff, 0xfe, 0x00, 0xff, 0xcf, 0xc7, 0xfc, 0xff, 0xfe, 0x61, 0x8f, 0xff, 0x3f,
0xc0, 0x0f, 0xf8, 0xff, 0xfc, 0x00, 0xff, 0xcf, 0x8f, 0xfc, 0xff, 0xfe, 0x71, 0x8f, 0xff, 0x3f,
0x8f, 0xcf, 0xf8, 0x73, 0xfc, 0x7e, 0x7f, 0xcf, 0x0f, 0xfc, 0xff, 0xfe, 0x73, 0x8f, 0xff, 0x3f,
0x9f, 0xcf, 0xfc, 0x03, 0xfc, 0xfe, 0x7f, 0xc0, 0x1f, 0xfc, 0x03, 0xfe, 0x7b, 0x8f, 0xff, 0x3f,
0x9f, 0xc7, 0xfe, 0x07, 0xfc, 0xfe, 0x7f, 0xc0, 0x7f, 0xfc, 0x03, 0xfe, 0x7f, 0x8f, 0xff, 0x3f,
0xff, 0xff, 0xff, 0x9f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xbd, 0x7b, 0xb7, 0x6d, 0xdd, 0x7b, 0xf9, 0xdd, 0xff, 0xd2, 0xea, 0xfc, 0xbd, 0xb6, 0xcb, 0xbf,
0xfd, 0x7b, 0xf7, 0x7d, 0xdd, 0x7f, 0x7f, 0x6d, 0xff, 0x7e, 0xbe, 0x7b, 0xfd, 0xbf, 0xfb, 0xed,
0xf5, 0x79, 0xdb, 0x6e, 0xdf, 0x95, 0xbf, 0x6d, 0xff, 0x7e, 0xbe, 0xfb, 0xdf, 0x2f, 0x7b, 0xbb,
0xfd, 0x7b, 0x1d, 0x7f, 0x5e, 0x91, 0xff, 0x7d, 0xff, 0x7e, 0xee, 0xbb, 0xfe, 0xa3, 0xfb, 0x9f,
0xff, 0x7f, 0xff, 0x7f, 0xfe, 0xff, 0xff, 0xbd, 0xff, 0xbf, 0xf7, 0xfd, 0xff, 0xbf, 0xff, 0xff
};
// Array of all bitmaps for convenience. (Total bytes used to store images in PROGMEM = 1040)
const int indo_bitmap_allArray_LEN = 1;
const unsigned char* indo_bitmap_allArray[1] = {
indo_bitmap_INDOBOT_LOGO_kecil
};
void setup()
{
Serial.begin( 115200);
Wire.begin();
// Initialize the OLED display and test if it is connected.
if( !display.begin( SSD1306_SWITCHCAPVCC, 0x3C))
{
Serial.println(F( "SSD1306 allocation failed"));
for(;;); // halt the sketch if error encountered
}
// Initialize the MPU-6050 and test if it is connected.
Wire.beginTransmission( mpuAddress);
Wire.write( 0x6B); // PWR_MGMT_1 register
Wire.write( 0); // set to zero (wakes up the MPU-6050)
auto error = Wire.endTransmission();
if( error != 0)
{
Serial.println(F( "Error, MPU-6050 not found"));
for(;;); // halt the sketch if error encountered
}
// Initialize the NeoPixel
neoPixel.begin();
display.clearDisplay();
display.drawBitmap(0, 0, indo_bitmap_INDOBOT_LOGO_kecil, 128, 64, WHITE);
display.display();
delay(5000);
}
void loop()
{
Wire.beginTransmission( mpuAddress);
Wire.write( 0x3B); // Starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission( false); // No stop condition for a repeated start
// The MPU-6050 has the values as signed 16-bit integers.
// There are 7 values in 14 registers.
int16_t AcX, AcY, AcZ, Tmp, GyX, GyY, GyZ;
Wire.requestFrom( mpuAddress, 14); // request a total of 14 bytes
AcX = Wire.read()<<8 | Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AcY = Wire.read()<<8 | Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AcZ = Wire.read()<<8 | Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp = Wire.read()<<8 | Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyX = Wire.read()<<8 | Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyY = Wire.read()<<8 | Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyZ = Wire.read()<<8 | Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
// The acceleration is directly mapped into the angles.
// That is rather artificial.
// The combined gravity could be used for an angle, while ignoring the strength.
//
// The gyro sets the rotation speed.
// The angle created by the rotation speed is added to angle by the accelerometer.
//
// The conversion from the sensor values to the rotation is just a value
// that makes it look good on the display.
float xByAccel = (float) AcX * 0.0001; // static angle by accelerometer
float yByAccel = (float) AcY * 0.0001;
float zByAccel = (float) AcZ * 0.0001;
xByGyro += (float) GyX * 0.00001; // moving angle by gyro
yByGyro += (float) GyY * 0.00001;
zByGyro += (float) GyZ * 0.00001;
float x = xByAccel + xByGyro; // combine both angles
float y = yByAccel + yByGyro;
float z = zByAccel + zByGyro;
// Keep the radians in range (although the cos/sin functions accept every value)
if( x < 0.0)
x += 2.0 * M_PI;
else if( x > 2.0 * M_PI)
x -= 2.0 * M_PI;
if( y < 0.0)
y += 2.0 * M_PI;
else if( y > 2.0 * M_PI)
y -= 2.0 * M_PI;
if( z < 0.0)
z += 2.0 * M_PI;
else if( z > 2.0 * M_PI)
z -= 2.0 * M_PI;
// Draw 3D picture
for (int i = 0; i < NUM_VERTICES; i++)
{
// Rotate Y
float rotx = cube_vertex[i][2] * sin(y) + cube_vertex[i][0] * cos(y);
float roty = cube_vertex[i][1];
float rotz = cube_vertex[i][2] * cos(y) - cube_vertex[i][0] * sin(y);
// Rotate X
float rotxx = rotx;
float rotyy = roty * cos(x) - rotz * sin(x);
float rotzz = roty * sin(x) + rotz * cos(x);
// Rotate Z
float rotxxx = rotxx * cos(z) - rotyy * sin(z);
float rotyyy = rotxx * sin(z) + rotyy * cos(z);
float rotzzz = rotzz;
// Add depth perspective
rotxxx *= viewDistance / (viewDistance + rotzzz);
rotyyy *= viewDistance / (viewDistance + rotzzz);
// Bring to middle of screen
rotxxx += (float) xOrigin;
rotyyy += (float) yOrigin;
// Store new vertices values for wireframe drawing
wireframe[i][0] = (int) rotxxx;
wireframe[i][1] = (int) rotyyy;
wireframe[i][2] = (int) rotzzz;
}
draw_wireframe();
// Set the color of the NeoPixel according to the temperature
// Temperature by the MPU-6050 is -40 to 85.
// According to the datasheet:
// Temperature in Celsius = (raw_value / 340) + 36.53
// The Hue range for the NeoPixel is the full uint16_t range.
float Celsius = ((float) Tmp / 340.00) + 36.53;
float hue = (Celsius + 40.0) / 125.0 * 65535.0;
uint32_t rgbcolor = neoPixel.ColorHSV( (uint16_t) hue);
neoPixel.setPixelColor( 0, rgbcolor);
neoPixel.show(); // update new values to NeoPixel
}
void draw_wireframe(void)
{
// Start with a empty buffer
display.clearDisplay();
// A cube has 8 points and 12 sides.
// The wireframe contains the 8 points, and the 12 lines are drawn here.
display.drawLine( wireframe[0][0], wireframe[0][1], wireframe[1][0], wireframe[1][1], SSD1306_WHITE);
display.drawLine( wireframe[1][0], wireframe[1][1], wireframe[2][0], wireframe[2][1], SSD1306_WHITE);
display.drawLine( wireframe[2][0], wireframe[2][1], wireframe[3][0], wireframe[3][1], SSD1306_WHITE);
display.drawLine( wireframe[3][0], wireframe[3][1], wireframe[0][0], wireframe[0][1], SSD1306_WHITE);
display.drawLine( wireframe[4][0], wireframe[4][1], wireframe[5][0], wireframe[5][1], SSD1306_WHITE);
display.drawLine( wireframe[5][0], wireframe[5][1], wireframe[6][0], wireframe[6][1], SSD1306_WHITE);
display.drawLine( wireframe[6][0], wireframe[6][1], wireframe[7][0], wireframe[7][1], SSD1306_WHITE);
display.drawLine( wireframe[7][0], wireframe[7][1], wireframe[4][0], wireframe[4][1], SSD1306_WHITE);
display.drawLine( wireframe[0][0], wireframe[0][1], wireframe[4][0], wireframe[4][1], SSD1306_WHITE);
display.drawLine( wireframe[1][0], wireframe[1][1], wireframe[5][0], wireframe[5][1], SSD1306_WHITE);
display.drawLine( wireframe[2][0], wireframe[2][1], wireframe[6][0], wireframe[6][1], SSD1306_WHITE);
display.drawLine( wireframe[3][0], wireframe[3][1], wireframe[7][0], wireframe[7][1], SSD1306_WHITE);
// Extra cross face on one side
display.drawLine( wireframe[1][0], wireframe[1][1], wireframe[3][0], wireframe[3][1], SSD1306_WHITE);
display.drawLine( wireframe[0][0], wireframe[0][1], wireframe[2][0], wireframe[2][1], SSD1306_WHITE);
// Write the new picture to the display
display.display();
}