https://github.com/t-k-233/dual-mpu6050-motion-sync
https://github.com/t-k-233/dual-mpu6050-motion-sync
Last synced: 7 months ago
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- Host: GitHub
- URL: https://github.com/t-k-233/dual-mpu6050-motion-sync
- Owner: T-K-233
- License: gpl-3.0
- Created: 2022-04-02T19:02:34.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2023-06-13T11:08:48.000Z (over 2 years ago)
- Last Synced: 2025-02-28T03:22:20.379Z (7 months ago)
- Language: Python
- Homepage:
- Size: 29 MB
- Stars: 62
- Watchers: 3
- Forks: 13
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Motion Sync
## Prerequisite
Requires [I2CDev Library](https://github.com/jrowberg/i2cdevlib) for reading MPU6050 on Arduino.
## Usage
1. Connect hardware. The wiring diagram is documented inside Arduino script. Should be straghtforward, just an Arduino controller + two MPU6050s connected with I2C wires. The wires cannot be too long (I'm using a total length of ~600mm).
2. Upload Arduino code to MCU.
3. Open Blender and change the `MCU_COM_PORT` value to what Arduino is currently using (can be checked in Device Manager, or just Arduino IDE).
4. Run the script. The MPU6050 needs ~8 seconds to initialize before start transmitting data, so initially the armature won't move, and the script will prompt something like `2023-01-25 18:01:28 WARNING [BPY]: Invalid joint data `
5. Press ESC at the main Blender window to stop the script.
## Packet Format
Data is streamed from the sensor to the host computer in JSON key-value pair encoding format.
### Joint Data Message
```json
{"key": "/joint/joint_name", "value": [0, 0, 0, 0]}\n
```
where `pos` is in format `[x, y, z]`, and `rot` is in format `[w, x, y, z]`.
### System Log Message
```json
{"key": "/log", "value": "INFO: log message"}\n
```
#### Note: all the newline character in the data should be escaped with NLSM encoding.
## Video
[Bilibili](https://www.bilibili.com/video/BV1jZ4y1z7R7/)
[Youtube](https://www.youtube.com/watch?v=F1IdRtIDdIs)
## License
Code in this repository is under MIT License and GPLv3 License.
Model in Blender file is under Attribution-NonCommercial 3.0 Unported (CC BY-NC 3.0) License.