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708 lines
279 KiB
708 lines
279 KiB
5 years ago
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<!DOCTYPE html>
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<html lang="en">
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<head>
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<meta name="generator" content="Asciidoctor 2.0.10">
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<meta name="description" content="Intro and Install">
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<meta name="keywords" content="doc, Quick">
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<meta name="author" content="Aristeidis Mileti 141285">
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<title>3D_IMU PROJECT</title>
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table.tableblock.fit-content>caption.title{white-space:nowrap;width:0}
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table.tableblock #preamble>.sectionbody>[class="paragraph"]:first-of-type p{font-size:inherit}
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.exampleblock>.content{border-style:solid;border-width:1px;border-color:#e6e6e6;margin-bottom:1.25em;padding:1.25em;background:#fff;-webkit-border-radius:4px;border-radius:4px}
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.exampleblock>.content>:first-child{margin-top:0}
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.sidebarblock{border-style:solid;border-width:1px;border-color:#dbdbd6;margin-bottom:1.25em;padding:1.25em;background:#f3f3f2;-webkit-border-radius:4px;border-radius:4px}
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@media screen and (min-width:768px){.literalblock pre,.listingblock>.content>pre{font-size:.90625em}}
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.listingblock>.content{position:relative}
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pre.prettyprint .linenums{line-height:1.45;margin-left:2em}
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pre.prettyprint li code[data-lang]::before{opacity:1}
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pre.prettyprint li:not(:first-child) code[data-lang]::before{display:none}
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table.linenotable{border-collapse:separate;border:0;margin-bottom:0;background:none}
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table.linenotable td[class]{color:inherit;vertical-align:top;padding:0;line-height:inherit;white-space:normal}
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table.linenotable td.code{padding-left:.75em}
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table.linenotable td.linenos{border-right:1px solid currentColor;opacity:.35;padding-right:.5em}
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pre.pygments .lineno{border-right:1px solid currentColor;opacity:.35;display:inline-block;margin-right:.75em}
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pre.pygments .lineno::before{content:"";margin-right:-.125em}
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.quoteblock .attribution{margin-top:.75em;margin-right:.5ex;text-align:right}
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.verseblock{margin:0 1em 1.25em}
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table.tableblock{max-width:100%;border-collapse:separate}
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p.tableblock:last-child{margin-bottom:0}
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td.tableblock>.content>:last-child{margin-bottom:-1.25em}
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td.tableblock>.content>:last-child.sidebarblock{margin-bottom:0}
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table.tableblock,th.tableblock,td.tableblock{border:0 solid #dedede}
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table.grid-all>thead>tr>.tableblock,table.grid-all>tbody>tr>.tableblock{border-width:0 1px 1px 0}
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table.grid-all>tfoot>tr>.tableblock{border-width:1px 1px 0 0}
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table.grid-cols>*>tr>.tableblock{border-width:0 1px 0 0}
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table.grid-rows>thead>tr>.tableblock,table.grid-rows>tbody>tr>.tableblock{border-width:0 0 1px}
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table.grid-rows>tfoot>tr>.tableblock{border-width:1px 0 0}
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table.grid-all>*>tr>.tableblock:last-child,table.grid-cols>*>tr>.tableblock:last-child{border-right-width:0}
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table.grid-all>tbody>tr:last-child>.tableblock,table.grid-all>thead:last-child>tr>.tableblock,table.grid-rows>tbody>tr:last-child>.tableblock,table.grid-rows>thead:last-child>tr>.tableblock{border-bottom-width:0}
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table.frame-all{border-width:1px}
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table.frame-sides{border-width:0 1px}
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table.frame-topbot,table.frame-ends{border-width:1px 0}
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table.stripes-all tr,table.stripes-odd tr:nth-of-type(odd),table.stripes-even tr:nth-of-type(even),table.stripes-hover tr:hover{background:#f8f8f7}
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th.halign-left,td.halign-left{text-align:left}
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th.halign-right,td.halign-right{text-align:right}
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th.halign-center,td.halign-center{text-align:center}
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th.valign-top,td.valign-top{vertical-align:top}
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th.valign-bottom,td.valign-bottom{vertical-align:bottom}
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th.valign-middle,td.valign-middle{vertical-align:middle}
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table thead th,table tfoot th{font-weight:bold}
|
||
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tbody tr th{display:table-cell;line-height:1.6;background:#f7f8f7}
|
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tbody tr th,tbody tr th p,tfoot tr th,tfoot tr th p{color:rgba(0,0,0,.8);font-weight:bold}
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p.tableblock>code:only-child{background:none;padding:0}
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p.tableblock{font-size:1em}
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ol{margin-left:1.75em}
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ul li ol{margin-left:1.5em}
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||
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dl dd{margin-left:1.125em}
|
||
|
|
dl dd:last-child,dl dd:last-child>:last-child{margin-bottom:0}
|
||
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ol>li p,ul>li p,ul dd,ol dd,.olist .olist,.ulist .ulist,.ulist .olist,.olist .ulist{margin-bottom:.625em}
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ul.checklist,ul.none,ol.none,ul.no-bullet,ol.no-bullet,ol.unnumbered,ul.unstyled,ol.unstyled{list-style-type:none}
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ul.no-bullet,ol.no-bullet,ol.unnumbered{margin-left:.625em}
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ul.unstyled,ol.unstyled{margin-left:0}
|
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ul.checklist{margin-left:.625em}
|
||
|
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ul.checklist li>p:first-child>.fa-square-o:first-child,ul.checklist li>p:first-child>.fa-check-square-o:first-child{width:1.25em;font-size:.8em;position:relative;bottom:.125em}
|
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ul.checklist li>p:first-child>input[type="checkbox"]:first-child{margin-right:.25em}
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ul.inline{display:-ms-flexbox;display:-webkit-box;display:flex;-ms-flex-flow:row wrap;-webkit-flex-flow:row wrap;flex-flow:row wrap;list-style:none;margin:0 0 .625em -1.25em}
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ul.inline>li{margin-left:1.25em}
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ol.arabic{list-style-type:decimal}
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ol.decimal{list-style-type:decimal-leading-zero}
|
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|
|
ol.loweralpha{list-style-type:lower-alpha}
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||
|
|
ol.upperalpha{list-style-type:upper-alpha}
|
||
|
|
ol.lowerroman{list-style-type:lower-roman}
|
||
|
|
ol.upperroman{list-style-type:upper-roman}
|
||
|
|
ol.lowergreek{list-style-type:lower-greek}
|
||
|
|
.hdlist>table,.colist>table{border:0;background:none}
|
||
|
|
.hdlist>table>tbody>tr,.colist>table>tbody>tr{background:none}
|
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|
|
td.hdlist1,td.hdlist2{vertical-align:top;padding:0 .625em}
|
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|
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td.hdlist1{font-weight:bold;padding-bottom:1.25em}
|
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.literalblock+.colist,.listingblock+.colist{margin-top:-.5em}
|
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|
||
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.colist td:not([class]):first-child img{max-width:none}
|
||
|
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.colist td:not([class]):last-child{padding:.25em 0}
|
||
|
|
.thumb,.th{line-height:0;display:inline-block;border:solid 4px #fff;-webkit-box-shadow:0 0 0 1px #ddd;box-shadow:0 0 0 1px #ddd}
|
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|
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.imageblock.left{margin:.25em .625em 1.25em 0}
|
||
|
|
.imageblock.right{margin:.25em 0 1.25em .625em}
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.imageblock>.title{margin-bottom:0}
|
||
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.imageblock.thumb,.imageblock.th{border-width:6px}
|
||
|
|
.imageblock.thumb>.title,.imageblock.th>.title{padding:0 .125em}
|
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.image.left,.image.right{margin-top:.25em;margin-bottom:.25em;display:inline-block;line-height:0}
|
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.image.left{margin-right:.625em}
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.image.right{margin-left:.625em}
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a.image{text-decoration:none;display:inline-block}
|
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|
a.image object{pointer-events:none}
|
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sup.footnote,sup.footnoteref{font-size:.875em;position:static;vertical-align:super}
|
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sup.footnote a,sup.footnoteref a{text-decoration:none}
|
||
|
|
sup.footnote a:active,sup.footnoteref a:active{text-decoration:underline}
|
||
|
|
#footnotes{padding-top:.75em;padding-bottom:.75em;margin-bottom:.625em}
|
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|
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#footnotes hr{width:20%;min-width:6.25em;margin:-.25em 0 .75em;border-width:1px 0 0}
|
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|
|
#footnotes .footnote{padding:0 .375em 0 .225em;line-height:1.3334;font-size:.875em;margin-left:1.2em;margin-bottom:.2em}
|
||
|
|
#footnotes .footnote a:first-of-type{font-weight:bold;text-decoration:none;margin-left:-1.05em}
|
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|
|
#footnotes .footnote:last-of-type{margin-bottom:0}
|
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|
|
#content #footnotes{margin-top:-.625em;margin-bottom:0;padding:.75em 0}
|
||
|
|
.gist .file-data>table{border:0;background:#fff;width:100%;margin-bottom:0}
|
||
|
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.gist .file-data>table td.line-data{width:99%}
|
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|
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div.unbreakable{page-break-inside:avoid}
|
||
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|
.big{font-size:larger}
|
||
|
|
.small{font-size:smaller}
|
||
|
|
.underline{text-decoration:underline}
|
||
|
|
.overline{text-decoration:overline}
|
||
|
|
.line-through{text-decoration:line-through}
|
||
|
|
.aqua{color:#00bfbf}
|
||
|
|
.aqua-background{background:#00fafa}
|
||
|
|
.black{color:#000}
|
||
|
|
.black-background{background:#000}
|
||
|
|
.blue{color:#0000bf}
|
||
|
|
.blue-background{background:#0000fa}
|
||
|
|
.fuchsia{color:#bf00bf}
|
||
|
|
.fuchsia-background{background:#fa00fa}
|
||
|
|
.gray{color:#606060}
|
||
|
|
.gray-background{background:#7d7d7d}
|
||
|
|
.green{color:#006000}
|
||
|
|
.green-background{background:#007d00}
|
||
|
|
.lime{color:#00bf00}
|
||
|
|
.lime-background{background:#00fa00}
|
||
|
|
.maroon{color:#600000}
|
||
|
|
.maroon-background{background:#7d0000}
|
||
|
|
.navy{color:#000060}
|
||
|
|
.navy-background{background:#00007d}
|
||
|
|
.olive{color:#606000}
|
||
|
|
.olive-background{background:#7d7d00}
|
||
|
|
.purple{color:#600060}
|
||
|
|
.purple-background{background:#7d007d}
|
||
|
|
.red{color:#bf0000}
|
||
|
|
.red-background{background:#fa0000}
|
||
|
|
.silver{color:#909090}
|
||
|
|
.silver-background{background:#bcbcbc}
|
||
|
|
.teal{color:#006060}
|
||
|
|
.teal-background{background:#007d7d}
|
||
|
|
.white{color:#bfbfbf}
|
||
|
|
.white-background{background:#fafafa}
|
||
|
|
.yellow{color:#bfbf00}
|
||
|
|
.yellow-background{background:#fafa00}
|
||
|
|
span.icon>.fa{cursor:default}
|
||
|
|
a span.icon>.fa{cursor:inherit}
|
||
|
|
.admonitionblock td.icon [class^="fa icon-"]{font-size:2.5em;text-shadow:1px 1px 2px rgba(0,0,0,.5);cursor:default}
|
||
|
|
.admonitionblock td.icon .icon-note::before{content:"\f05a";color:#19407c}
|
||
|
|
.admonitionblock td.icon .icon-tip::before{content:"\f0eb";text-shadow:1px 1px 2px rgba(155,155,0,.8);color:#111}
|
||
|
|
.admonitionblock td.icon .icon-warning::before{content:"\f071";color:#bf6900}
|
||
|
|
.admonitionblock td.icon .icon-caution::before{content:"\f06d";color:#bf3400}
|
||
|
|
.admonitionblock td.icon .icon-important::before{content:"\f06a";color:#bf0000}
|
||
|
|
.conum[data-value]{display:inline-block;color:#fff!important;background:rgba(0,0,0,.8);-webkit-border-radius:100px;border-radius:100px;text-align:center;font-size:.75em;width:1.67em;height:1.67em;line-height:1.67em;font-family:"Open Sans","DejaVu Sans",sans-serif;font-style:normal;font-weight:bold}
|
||
|
|
.conum[data-value] *{color:#fff!important}
|
||
|
|
.conum[data-value]+b{display:none}
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||
|
|
.conum[data-value]::after{content:attr(data-value)}
|
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|
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pre .conum[data-value]{position:relative;top:-.125em}
|
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|
|
b.conum *{color:inherit!important}
|
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|
|
.conum:not([data-value]):empty{display:none}
|
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|
|
dt,th.tableblock,td.content,div.footnote{text-rendering:optimizeLegibility}
|
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|
|
h1,h2,p,td.content,span.alt{letter-spacing:-.01em}
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|
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p strong,td.content strong,div.footnote strong{letter-spacing:-.005em}
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p,blockquote,dt,td.content,span.alt{font-size:1.0625rem}
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|
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p{margin-bottom:1.25rem}
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.sidebarblock p,.sidebarblock dt,.sidebarblock td.content,p.tableblock{font-size:1em}
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|
|
.exampleblock>.content{background:#fffef7;border-color:#e0e0dc;-webkit-box-shadow:0 1px 4px #e0e0dc;box-shadow:0 1px 4px #e0e0dc}
|
||
|
|
.print-only{display:none!important}
|
||
|
|
@page{margin:1.25cm .75cm}
|
||
|
|
@media print{*{-webkit-box-shadow:none!important;box-shadow:none!important;text-shadow:none!important}
|
||
|
|
html{font-size:80%}
|
||
|
|
a{color:inherit!important;text-decoration:underline!important}
|
||
|
|
a.bare,a[href^="#"],a[href^="mailto:"]{text-decoration:none!important}
|
||
|
|
a[href^="http:"]:not(.bare)::after,a[href^="https:"]:not(.bare)::after{content:"(" attr(href) ")";display:inline-block;font-size:.875em;padding-left:.25em}
|
||
|
|
abbr[title]::after{content:" (" attr(title) ")"}
|
||
|
|
pre,blockquote,tr,img,object,svg{page-break-inside:avoid}
|
||
|
|
thead{display:table-header-group}
|
||
|
|
svg{max-width:100%}
|
||
|
|
p,blockquote,dt,td.content{font-size:1em;orphans:3;widows:3}
|
||
|
|
h2,h3,#toctitle,.sidebarblock>.content>.title{page-break-after:avoid}
|
||
|
|
#toc,.sidebarblock,.exampleblock>.content{background:none!important}
|
||
|
|
#toc{border-bottom:1px solid #dddddf!important;padding-bottom:0!important}
|
||
|
|
body.book #header{text-align:center}
|
||
|
|
body.book #header>h1:first-child{border:0!important;margin:2.5em 0 1em}
|
||
|
|
body.book #header .details{border:0!important;display:block;padding:0!important}
|
||
|
|
body.book #header .details span:first-child{margin-left:0!important}
|
||
|
|
body.book #header .details br{display:block}
|
||
|
|
body.book #header .details br+span::before{content:none!important}
|
||
|
|
body.book #toc{border:0!important;text-align:left!important;padding:0!important;margin:0!important}
|
||
|
|
body.book #toc,body.book #preamble,body.book h1.sect0,body.book .sect1>h2{page-break-before:always}
|
||
|
|
.listingblock code[data-lang]::before{display:block}
|
||
|
|
#footer{padding:0 .9375em}
|
||
|
|
.hide-on-print{display:none!important}
|
||
|
|
.print-only{display:block!important}
|
||
|
|
.hide-for-print{display:none!important}
|
||
|
|
.show-for-print{display:inherit!important}}
|
||
|
|
@media print,amzn-kf8{#header>h1:first-child{margin-top:1.25rem}
|
||
|
|
.sect1{padding:0!important}
|
||
|
|
.sect1+.sect1{border:0}
|
||
|
|
#footer{background:none}
|
||
|
|
#footer-text{color:rgba(0,0,0,.6);font-size:.9em}}
|
||
|
|
@media amzn-kf8{#header,#content,#footnotes,#footer{padding:0}}
|
||
|
|
</style>
|
||
|
|
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/4.7.0/css/font-awesome.min.css">
|
||
|
|
</head>
|
||
|
|
<body class="article toc2 toc-right">
|
||
|
|
<div id="header">
|
||
|
|
<h1>3D_IMU PROJECT</h1>
|
||
|
|
<div class="details">
|
||
|
|
<span id="author" class="author">Aristeidis Mileti 141285</span><br>
|
||
|
|
</div>
|
||
|
|
<div id="toc" class="toc2">
|
||
|
|
<div id="toctitle">Πίνακας περιεχομένων</div>
|
||
|
|
<ul class="sectlevel1">
|
||
|
|
<li><a href="#cheat-Ascii">1. Χρήση του Arduino</a></li>
|
||
|
|
<li><a href="#cheat-useadoc">2. Κώδικας του Arduino</a></li>
|
||
|
|
<li><a href="#_σύνδεση_με_raspberry">3. Σύνδεση με raspberry</a></li>
|
||
|
|
<li><a href="#_μοντελοποίση_με_το_sketch_test3d_js">4. Μοντελοποίση με το sketch-test3D.js</a></li>
|
||
|
|
</ul>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<div id="content">
|
||
|
|
<div id="preamble">
|
||
|
|
<div class="sectionbody">
|
||
|
|
<div class="paragraph">
|
||
|
|
<p><br></p>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<div class="sect1">
|
||
|
|
<h2 id="cheat-Ascii">1. Χρήση του Arduino</h2>
|
||
|
|
<div class="sectionbody">
|
||
|
|
<div class="paragraph">
|
||
|
|
<p><a href="https://git.swarmlab.io:3000/arismileti/3d_IMU.git" class="bare">https://git.swarmlab.io:3000/arismileti/3d_IMU.git</a></p>
|
||
|
|
</div>
|
||
|
|
<div class="imageblock">
|
||
|
|
<div class="content">
|
||
|
|
<img src="data:image/webp;base64,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
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<div class="paragraph">
|
||
|
|
<p>Χρειαζόμαστε τις εξής βιβλιοθήκες πρώτα
|
||
|
|
<a href="https://maker.pro/files/MPU6050.zip" class="bare">https://maker.pro/files/MPU6050.zip</a>
|
||
|
|
<a href="https://maker.pro/files/I2Cdev.zip" class="bare">https://maker.pro/files/I2Cdev.zip</a></p>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<div class="sect1">
|
||
|
|
<h2 id="cheat-useadoc">2. Κώδικας του Arduino</h2>
|
||
|
|
<div class="sectionbody">
|
||
|
|
<div class="listingblock">
|
||
|
|
<div class="title">copy-paste source</div>
|
||
|
|
<div class="content">
|
||
|
|
<pre class="highlight"><code class="language-asciidoc" data-lang="asciidoc">// 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.h"
|
||
|
|
#include "ArduinoJson.h"
|
||
|
|
|
||
|
|
// 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 InvenSense evaluation board)
|
||
|
|
// AD0 high = 0x69
|
||
|
|
MPU6050 accelgyro;
|
||
|
|
//MPU6050 accelgyro(0x69); // <-- use for AD0 high
|
||
|
|
|
||
|
|
int16_t ax, ay, az;
|
||
|
|
int16_t gx, gy, gz;
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated
|
||
|
|
// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,
|
||
|
|
// not so easy to parse, and slow(er) over UART.
|
||
|
|
#define OUTPUT_READABLE_ACCELGYRO
|
||
|
|
|
||
|
|
// uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit
|
||
|
|
// binary, one right after the other. This is very fast (as fast as possible
|
||
|
|
// without compression or data loss), and easy to parse, but impossible to read
|
||
|
|
// for a human.
|
||
|
|
//#define OUTPUT_BINARY_ACCELGYRO
|
||
|
|
|
||
|
|
|
||
|
|
#define LED_PIN 13
|
||
|
|
bool blinkState = false;
|
||
|
|
|
||
|
|
void setup() {
|
||
|
|
// join I2C bus (I2Cdev library doesn't do this automatically)
|
||
|
|
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
|
||
|
|
Wire.begin();
|
||
|
|
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
|
||
|
|
Fastwire::setup(400, true);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// initialize serial communication
|
||
|
|
// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
|
||
|
|
// it's really up to you depending on your project)
|
||
|
|
Serial.begin(38400);
|
||
|
|
|
||
|
|
// initialize device
|
||
|
|
//Serial.println("Initializing I2C devices...");
|
||
|
|
accelgyro.initialize();
|
||
|
|
|
||
|
|
// verify connection
|
||
|
|
//Serial.println("Testing device connections...");
|
||
|
|
//Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
|
||
|
|
//create JSON Document
|
||
|
|
|
||
|
|
// use the code below to change accel/gyro offset values
|
||
|
|
/*
|
||
|
|
Serial.println("Updating internal sensor offsets...");
|
||
|
|
// -76 -2359 1688 0 0 0
|
||
|
|
Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
|
||
|
|
Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
|
||
|
|
Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
|
||
|
|
Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
|
||
|
|
Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
|
||
|
|
Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
|
||
|
|
Serial.print("\n");
|
||
|
|
accelgyro.setXGyroOffset(220);
|
||
|
|
accelgyro.setYGyroOffset(76);
|
||
|
|
accelgyro.setZGyroOffset(-85);
|
||
|
|
Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
|
||
|
|
Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
|
||
|
|
Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
|
||
|
|
Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
|
||
|
|
Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
|
||
|
|
Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
|
||
|
|
Serial.print("\n");
|
||
|
|
*/
|
||
|
|
|
||
|
|
// configure Arduino LED for
|
||
|
|
pinMode(LED_PIN, OUTPUT);
|
||
|
|
}
|
||
|
|
|
||
|
|
void loop() {
|
||
|
|
// read raw accel/gyro measurements from device
|
||
|
|
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
|
||
|
|
|
||
|
|
// these methods (and a few others) are also available
|
||
|
|
//accelgyro.getAcceleration(&ax, &ay, &az);
|
||
|
|
//accelgyro.getRotation(&gx, &gy, &gz);
|
||
|
|
|
||
|
|
#ifdef OUTPUT_READABLE_ACCELGYRO
|
||
|
|
// display tab-separated accel/gyro x/y/z values
|
||
|
|
// Create a JsonObject
|
||
|
|
const size_t capacity = JSON_OBJECT_SIZE(4);
|
||
|
|
DynamicJsonBuffer jsonBuffer(capacity);
|
||
|
|
//MORFI JSON
|
||
|
|
JsonObject& sens = jsonBuffer.createObject();
|
||
|
|
sens["sensor"] = "accelerometer";
|
||
|
|
sens["X"] = ax;
|
||
|
|
sens["Y"] = ay;
|
||
|
|
sens["Z"] = az;
|
||
|
|
//PRINT ACCELEROMETER OBJECT
|
||
|
|
delay(100);
|
||
|
|
sens.printTo(Serial);
|
||
|
|
Serial.print(",");
|
||
|
|
sens["sensor"] = "gyroscope";
|
||
|
|
sens["X"] = gx;
|
||
|
|
sens["Y"] = gy;
|
||
|
|
sens["Z"] = gz;
|
||
|
|
delay(100);
|
||
|
|
sens.printTo(Serial);
|
||
|
|
Serial.print(",");
|
||
|
|
Serial.print("\n");
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifdef OUTPUT_BINARY_ACCELGYRO
|
||
|
|
Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));
|
||
|
|
Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
|
||
|
|
Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
|
||
|
|
Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));
|
||
|
|
Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));
|
||
|
|
Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// blink LED to indicate activity
|
||
|
|
blinkState = !blinkState;
|
||
|
|
digitalWrite(LED_PIN, blinkState);
|
||
|
|
}</code></pre>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<div class="sect1">
|
||
|
|
<h2 id="_σύνδεση_με_raspberry">3. Σύνδεση με raspberry</h2>
|
||
|
|
<div class="sectionbody">
|
||
|
|
<div class="admonitionblock note">
|
||
|
|
<table>
|
||
|
|
<tr>
|
||
|
|
<td class="icon">
|
||
|
|
<i class="fa icon-note" title="Note"></i>
|
||
|
|
</td>
|
||
|
|
<td class="content">
|
||
|
|
Συνδέουμε με usb το arduino με το raspberry και τρέχουμε το python
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
</table>
|
||
|
|
</div>
|
||
|
|
<div class="listingblock">
|
||
|
|
<div class="title">python code</div>
|
||
|
|
<div class="content">
|
||
|
|
<pre class="highlight"><code class="language-python" data-lang="python">import serial
|
||
|
|
|
||
|
|
from time import sleep
|
||
|
|
|
||
|
|
ser = serial.Serial('/dev/ttyACM0', 38400)
|
||
|
|
sleep(1)
|
||
|
|
|
||
|
|
file = open("dataset", "a")
|
||
|
|
file.write("[")
|
||
|
|
|
||
|
|
for i in range(1000):
|
||
|
|
s = ser.readline()
|
||
|
|
print(s)
|
||
|
|
file.write(str(s))
|
||
|
|
|
||
|
|
file.write("]")
|
||
|
|
file.close()</code></pre>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<div class="paragraph">
|
||
|
|
<p>Embedded Youtube video</p>
|
||
|
|
</div>
|
||
|
|
<div class="videoblock">
|
||
|
|
<div class="content">
|
||
|
|
<iframe src="https://www.youtube.com/embed/e79QMBqKm3M?rel=0" frameborder="0" allowfullscreen></iframe>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<div class="literalblock">
|
||
|
|
<div class="content">
|
||
|
|
<pre> Διαβάζει τα δεδομένα που δίνει το arduino και τα γράφει σε αρχείο
|
||
|
|
προς μοντελοποίηση</pre>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<div class="sect1">
|
||
|
|
<h2 id="_μοντελοποίση_με_το_sketch_test3d_js">4. Μοντελοποίση με το sketch-test3D.js</h2>
|
||
|
|
<div class="sectionbody">
|
||
|
|
<div class="paragraph">
|
||
|
|
<p>Στο git Υπάρχει ο κώδικας που μοντελοποιεί τα δεδομένα του dataset</p>
|
||
|
|
</div>
|
||
|
|
<div class="imageblock">
|
||
|
|
<div class="content">
|
||
|
|
<img src="data:image/png;base64,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
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<div class="paragraph">
|
||
|
|
<p>Ωστόσο παρουσιάζει πρόβλημα στα μαθηματικά και βγάζει ΝαΝ</p>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<div id="footer">
|
||
|
|
<div id="footer-text">
|
||
|
|
Last updated 2020-01-22 13:53:01 UTC
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</body>
|
||
|
|
</html>
|