Hello guys, i wan't to calibrate my 9DUF, accelerometer, magnetometer and gyroscope.
I have succesfully calibrated the accelerometer so far, but when calibrating the magnetometer I'm receiving some errors which I'm not able to solve.
The EJML library is imported correctly as mentioned in the tutorial provided by the designer of the software:
https://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs/wiki/Tutorial#Extended-magnetometer-calibration
I hope someone can help me out.
Here is the beginning code i'm trying to compile which gives me errors:
It seems that the import is going wrong, but I can't figure out why.
System: Windows 7 x64 ultimate
Arduino: 1.0.4 and 1.5.1 tested, does the same
import org.ejml.data.*;
import org.ejml.simple.*;
import org.ejml.ops.*;
final static int SERIAL_PORT_NUM = 3;
import processing.opengl.*;
import processing.serial.*;
final static int SERIAL_PORT_BAUD_RATE = 57600;
final static int NUM_MAGN_SAMPLES = 10000;
float magnetom[][] = new float[NUM_MAGN_SAMPLES][3];
int magnetomIndex = 0;
PFont font;
Serial serial;
boolean synched = false;
// Skip incoming serial stream data until token is found
boolean readToken(Serial serial, String token) {
// Wait until enough bytes are available
if (serial.available() < token.length())
return false;
// Check if incoming bytes match token
for (int i = 0; i < token.length(); i++) {
if (serial.read() != token.charAt(i))
return false;
}
return true;
}
// Global setup
void setup() {
// Setup graphics
size(800, 800, OPENGL);
smooth();
noStroke();
frameRate(50);
colorMode(HSB);
// Load font
font = loadFont("Univers-66.vlw");
textFont(font);
// Setup serial port I/O
println("AVAILABLE SERIAL PORTS:");
println(Serial.list());
String portName = Serial.list()[SERIAL_PORT_NUM];
println();
println("HAVE A LOOK AT THE LIST ABOVE AND SET THE RIGHT SERIAL PORT NUMBER IN THE CODE!");
println(" -> Using port " + SERIAL_PORT_NUM + ": " + portName);
serial = new Serial(this, portName, SERIAL_PORT_BAUD_RATE);
}
void setupRazor() {
println("Trying to setup and synch Razor...\n");
// On Mac OSX and Linux (Windows too?) the board will do a reset when we connect, which is really bad.
// See "Automatic (Software) Reset" on http://www.arduino.cc/en/Main/ArduinoBoardProMini
// So we have to wait until the bootloader is finished and the Razor firmware can receive commands.
// To prevent this, disconnect/cut/unplug the DTR line going to the board. This also has the advantage,
// that the angles you receive are stable right from the beginning.
delay(3000); // 3 seconds should be enough
// Set Razor output parameters
serial.write("#osrb"); // Turn on binary output of raw sensor data
serial.write("#o1"); // Turn on continuous streaming output
serial.write("#oe0"); // Disable error message output
// Synch with Razor
serial.clear(); // Clear input buffer up to here
serial.write("#s00"); // Request synch token
}
float readFloat(Serial s) {
// Convert from little endian (Razor) to big endian (Java) and interpret as float
return Float.intBitsToFloat(s.read() + (s.read() << 8) + (s.read() << 16) + (s.read() << 24));
}
Magnetometer_calibration:2: error: expected `)' before 'serial'
Magnetometer_calibration:2: error: expected primary-expression before 'token'
Magnetometer_calibration:2: error: initializer expression list treated as compound expression
Magnetometer_calibration:5: error: expected `)' before 's'
Magnetometer_calibration:6: error: variable or field 'skipBytes' declared void
Magnetometer_calibration:6: error: expected `)' before 's'
Magnetometer_calibration:6: error: expected primary-expression before 'int'
Magnetometer_calibration:1: error: 'import' does not name a type
Magnetometer_calibration:2: error: 'import' does not name a type
Magnetometer_calibration:3: error: 'import' does not name a type
Magnetometer_calibration:5: error: expected constructor, destructor, or type conversion before 'static'
Magnetometer_calibration:7: error: 'import' does not name a type
Magnetometer_calibration:8: error: 'import' does not name a type
Magnetometer_calibration:10: error: expected constructor, destructor, or type conversion before 'static'
Magnetometer_calibration:12: error: expected constructor, destructor, or type conversion before 'static'
Magnetometer_calibration:13: error: declaration of 'magnetom' as multidimensional array must have bounds for all dimensions except the first
Magnetometer_calibration:13: error: 'NUM_MAGN_SAMPLES' was not declared in this scope
Magnetometer_calibration:16: error: 'PFont' does not name a type
Magnetometer_calibration:17: error: 'Serial' does not name a type
Magnetometer_calibration:22: error: redefinition of 'boolean readToken'
Magnetometer_calibration:2: error: 'boolean readToken' previously defined here
Magnetometer_calibration:22: error: expected `)' before 'serial'
Magnetometer_calibration:22: error: expected primary-expression before 'token'
