Towards a blinky simulator
It’d be convenient if the simulator allowed us to test the projection algorithm. To do this, there should be coloured spheres “stuck” to the facets of the icosahedron, arranged much like the holes in my last post‘s triangle. I haven’t written the sphere layout algorithm yet, but as a proof-of-concept, I put a sphere above the icosahedron and made it orbit the icosahedron when it is rotated. It is done by rotating its position vector using the incoming quaternion. Once all LEDoids are created, for each input quaternion, the software will have to loop through all the spheres and make them rotate around the icosahedron, so that they appear not to move in its frame of reference.
That’s a scene graph: the LEDs are children of the icosahedron, and making the icosahedron rotate makes the LEDs rotate. PyQtGraph doesn’t include scene graph handling, but this is a pretty simple one, so doing it manually will probably be less hassle than picking another library for this (VisPy, for instance).
In the end, the simulated projection algorithm should be able to change the spheres’ colours: this will allow us to test it.
First ideas for a projection algorithm
There is one physical icosahedron, and a virtual, stable icosahedric image, that we’ll call V. To find what facet of V a LED is in, rotate the LED’s position vector using the quaternions from the sensor fusion algorithm, normalize it and find the facet of V whose normalized normal (rolls off the tongue, huh ?) vector has the highest cross-product with our normalized LED position vector.
Once the facet of V is known remains the task of finding the right colour, but I haven’t given it too much thought yet. Finding this triangle for each of the 2000+ LEDs is going to be really computationally expensive, so perhaps we could do some kind of dichotomy algorithm, using a first dot product to find which hemisphere we’re interested in.
So far, we’d like to use a STM32F7 MCU, especially for its FPU and L1 cache (16KB+16KB for instructions and cache in STM32F7x8/9 MCUs !). A specific STM32F7 MCU has not been chosen yet.