Java Myo类代码示例

import com.thalmic.myo.Myo; //导入依赖的package包/类
public void onDemoPressed(View v)
{
    final Hub hub = Hub.getInstance();
    Thread t1 = new Thread(new Runnable() {
        public void run() {
            if(hub.getConnectedDevices().isEmpty())
            {
                Log.e("Logue_SSJ", "device not found");
            }
            else
            {
                com.thalmic.myo.Myo myo = hub.getConnectedDevices().get(0);
                startVibrate(myo, hub);
            }
        }
    });
    t1.start();
}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
@Override
public void onOrientationData(Myo myo, long l, Quaternion quaternion)
{
       orientationW = quaternion.w();
       orientationX = quaternion.x();
       orientationY = quaternion.y();
       orientationZ = quaternion.z();

	float roll = (float) Math.atan2(2.0 * (quaternion.w() * quaternion.x() + quaternion.y() * quaternion.z()), 1.0 - 2.0 * (quaternion.x() * quaternion.x() + quaternion.y() * quaternion.y()));
	float pitch = (float) Math.asin(Math.max(-1.0, Math.min(1.0, 2.0 * (quaternion.w() * quaternion.y() - quaternion.z() * quaternion.x()))));
	float yaw = (float) Math.atan2(2.0 * (quaternion.w() * quaternion.z() + quaternion.x() * quaternion.y()), 1.0 - 2.0 * (quaternion.y() * quaternion.y() + quaternion.z() * quaternion.z()));

	// Convert the floating point angles in radians to a scale from 0 to 18.
	rollW = (int) ((roll + (float) Math.PI) / (Math.PI * 2.0) * 18);
	pitchW = (int) ((pitch + (float) Math.PI / 2.0) / Math.PI * 18);
	yawW = (int) ((yaw + (float) Math.PI) / (Math.PI * 2.0) * 18);
}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
@Override
public void onOrientationData(Myo myo, long timestamp, Quaternion rotation) {
    // Calculate Euler angles (roll, pitch, and yaw) from the quaternion.
    double roll = Math.toDegrees(Quaternion.roll(rotation));
    double pitch = Math.toDegrees(Quaternion.pitch(rotation));
    double yaw = Math.toDegrees(Quaternion.yaw(rotation));
    // Adjust roll and pitch for the orientation of the Myo on the arm.
    if (myo.getXDirection() == XDirection.TOWARD_ELBOW) {
        roll *= -1;
        pitch *= -1;
    }

    MyoOrientationDataFrame frame = new MyoOrientationDataFrame(MyoSensor.this, timestamp, roll, pitch, yaw);

    sendNewData(frame);
}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
public static void main(String[] args) {
	try {
		Hub hub = new Hub("com.example.emg-data-sample");

		System.out.println("Attempting to find a Myo...");
		Myo myo = hub.waitForMyo(10000);

		if (myo == null) {
			throw new RuntimeException("Unable to find a Myo!");
		}

		System.out.println("Connected to a Myo armband!");
		myo.setStreamEmg(StreamEmgType.STREAM_EMG_ENABLED);
		DeviceListener dataCollector = new EmgDataCollector();
		hub.addListener(dataCollector);

		while (true) {
			hub.run(1000 / 20);
			System.out.println(dataCollector);
		}
	} catch (Exception e) {
		System.err.println("Error: ");
		e.printStackTrace();
		System.exit(1);
	}
}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
public static void main(String[] args) {
	try {
		Hub hub = new Hub("com.example.hello-myo");

		System.out.println("Attempting to find a Myo...");
		Myo myo = hub.waitForMyo(10000);

		if (myo == null) {
			throw new RuntimeException("Unable to find a Myo!");
		}

		System.out.println("Connected to a Myo armband!");
		DeviceListener dataCollector = new DataCollector();
		hub.addListener(dataCollector);

		while (true) {
			hub.run(1000 / 20);
			System.out.print(dataCollector);
		}
	} catch (Exception e) {
		System.err.println("Error: ");
		e.printStackTrace();
		System.exit(1);
	}
}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
@Override
public void processData(Myo myo, long timestamp, Vector3 vector, DataType type) {
	super.processData(myo, timestamp, vector, type);
	
	if(type.equals(DataType.GYROSCOPE)) {
		
		if (timestamp - formTimeDiff > TIME_DIFF) {

			//Log.i("BicepCurl", "Gyro x: "+vector.x());
			//Log.i("BicepCurl", "Gyro y: "+vector.y());
			//Log.i("BicepCurl","Gyro z: "+vector.z());
		
			if(started) {
				if (vector.x() > formThreshold) {
					myo.vibrate(VibrationType.SHORT);
					formTimeDiff = timestamp;
					form = false;
				}
			}
		
		}
		
	}

}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
@Override
public void onOrientationData(Myo myo, long timestamp, Quaternion rotation) {
  
  Quaternion normalized = rotation.normalized();

  double roll = Math.atan2(2.0f * (normalized.getW() * normalized.getX() + normalized.getY() * normalized.getZ()),
      1.0f - 2.0f * (normalized.getX() * normalized.getX() + normalized.getY() * normalized.getY()));
  double pitch = Math.asin(2.0f * (normalized.getW() * normalized.getY() - normalized.getZ() * normalized.getX()));
  double yaw = Math.atan2(2.0f * (normalized.getW() * normalized.getZ() + normalized.getX() * normalized.getY()),
      1.0f - 2.0f * (normalized.getY() * normalized.getY() + normalized.getZ() * normalized.getZ()));

  rollW = Math.round((roll + Math.PI) / (Math.PI * 2.0) * scale);
  pitchW = Math.round((pitch + Math.PI / 2.0) / Math.PI * scale);
  yawW = Math.round((yaw + Math.PI) / (Math.PI * 2.0) * scale);

  delta = (myodata.roll - rollW != 0) || (myodata.pitch - pitchW != 0) || (myodata.yaw - yawW != 0);

  if (delta) {
    myodata.roll = rollW;
    myodata.pitch = pitchW;
    myodata.yaw = yawW;

    myodata.timestamp = timestamp;
    invoke("publishMyoData", myodata);
  }
}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
@Override
public void onDisconnect(Myo myo, long l)
{
	Log.i("Disconnected from Myo");

	reset();
}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
@Override
public void onAccelerometerData(Myo myo, long l, Vector3 vector3)
{
	accelerationX = (float) vector3.x();
	accelerationY = (float) vector3.y();
	accelerationZ = (float) vector3.z();
}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
public void vibrate(Myo myo,
                    int duration1, byte strength1,
                    int duration2, byte strength2,
                    int duration3, byte strength3,
                    int duration4, byte strength4,
                    int duration5, byte strength5,
                    int duration6, byte strength6) {
    byte[] vibrate2Command = createForVibrate2(duration1, strength1, duration2, strength2, duration3, strength3, duration4, strength4, duration5, strength5, duration6, strength6);
    this.writeControlCommand(myo.getMacAddress(), vibrate2Command);
}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
@Test
public void testChannels() throws Exception
{
    //setup
    Pipeline frame = Pipeline.getInstance();
    frame.options.bufferSize.set(10.0f);
    //sensor
    hcm.ssj.myo.Myo sensor = new hcm.ssj.myo.Myo();

    frame.addConsumer(new Logger(), frame.addSensor(sensor, new AccelerationChannel()), 1, 0);
    frame.addConsumer(new Logger(), frame.addSensor(sensor, new DynAccelerationChannel()), 1, 0);
    frame.addConsumer(new Logger(), frame.addSensor(sensor, new EMGChannel()), 1, 0);

    //start framework
    frame.start();

    //run test
    long end = System.currentTimeMillis() + TestHelper.DUR_TEST_NORMAL;
    try
    {
        while (System.currentTimeMillis() < end)
        {
            Thread.sleep(1);
        }
    }
    catch (Exception e)
    {
        e.printStackTrace();
    }

    frame.stop();
    frame.clear();
}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
@Override
public void onConnect(Myo myo, long timestamp) {
    // Set the text color of the text view to cyan when a Myo connects.
    //mTextView.setTextColor(Color.CYAN);
    MyoSensor.this.mDeviceAddress = myo.getMacAddress();
    sendNotification("Connected to " + myo.getMacAddress());
    sendConnected();
}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
@Override
public void onDisconnect(Myo myo, long timestamp) {
    // Set the text color of the text view to red when a Myo disconnects.
    //mTextView.setTextColor(Color.RED);
    MyoSensor.this.mDeviceAddress = null;
    sendNotification("Disconnected from " + myo.getMacAddress());

    // TODO: Check that!
    // we unregistered the listener in MyoSensor.disconnect(),
    // so we should only receive a callback if there was any failure, not
    // if the user terminated the connection
    sendConnectionLost();
}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
@Override
public void onOrientationData(Myo myo, long timestamp, Quaternion rotation) {

	Quaternion normalized = rotation.normalized();

	double roll = Math.atan2(2.0f * (normalized.getW() * normalized.getX() + normalized.getY() * normalized.getZ()),
			1.0f - 2.0f * (normalized.getX() * normalized.getX() + normalized.getY() * normalized.getY()));
	double pitch = Math.asin(2.0f * (normalized.getW() * normalized.getY() - normalized.getZ() * normalized.getX()));
	double yaw = Math.atan2(2.0f * (normalized.getW() * normalized.getZ() + normalized.getX() * normalized.getY()),
			1.0f - 2.0f * (normalized.getY() * normalized.getY() + normalized.getZ() * normalized.getZ()));

	rollW = ((roll + Math.PI) / (Math.PI * 2.0) * SCALE);
	pitchW = ((pitch + Math.PI / 2.0) / Math.PI * SCALE);
	yawW = ((yaw + Math.PI) / (Math.PI * 2.0) * SCALE);
}
 

import com.thalmic.myo.Myo; //导入依赖的package包/类
@Override
public void onPose(Myo myo, long timestamp, Pose pose) {
	currentPose = pose;
	if (currentPose.getType() == PoseType.FIST) {
		myo.vibrate(VibrationType.VIBRATION_MEDIUM);
	}		
	invoke("publishPose", pose);
}