Erro no Processing

NinjaIST

Folding Member
Boas estou a tentar por um Sensor de 6DOF IMU a funcionar num Arduino Mega e embora o código no Arduino não tenha erros, o do Processing dá-me este log:

Stable Library
=========================================
Native lib Version = RXTX-2.1-7
Java lib Version = RXTX-2.1-7
java.lang.NullPointerException
at processing.serial.Serial.write(Serial.java:521)
at processing.serial.Serial.write(Serial.java:544)
at FreeSix_cube.setup(FreeSix_cube.java:65)
at processing.core.PApplet.handleDraw(PApplet.java:1608)
at processing.core.PApplet.run(PApplet.java:1530)
at java.lang.Thread.run(Thread.java:680)
Experimental: JNI_OnLoad called.

Já reinstalei o Java e neste momento não sei o que fazer.
OS: Mac OSX Mountain Lion
Code:
Código:
import processing.serial.*;


Serial myPort;  // Create object from Serial class


final String serialPort = "/dev/tty.usbmodem641"; // replace this with your serial port. On windows you will need something like "COM1".


float [] q = new float [4];
float [] hq = null;
float [] Euler = new float [3]; // psi, theta, phi


int lf = 10; // 10 is '\n' in ASCII
byte[] inBuffer = new byte[22]; // this is the number of chars on each line from the Arduino (including /r/n)


PFont font;
final int VIEW_SIZE_X = 800, VIEW_SIZE_Y = 600;




void setup() 
{
  size(VIEW_SIZE_X, VIEW_SIZE_Y, P3D);
  myPort = new Serial(this, serialPort, 115200);  


  font = createFont("Courier", 32); 
  


  /*
  float [] axis = new float[3];
   axis[0] = 0.0;
   axis[1] = 0.0;
   axis[2] = 1.0;
   float angle = PI/2.0;
   
   hq = quatAxisAngle(axis, angle);
   
   hq = new float[4];
   hq[0] = 0.0;
   hq[1] = 0.0;
   hq[2] = 0.0;
   hq[3] = 1.0;
   */


  delay(100);
  myPort.clear();
  myPort.write("1");
}




float decodeFloat(String inString) {
  byte [] inData = new byte[4];


  if (inString.length() == 8) {
    inData[0] = (byte) unhex(inString.substring(0, 2));
    inData[1] = (byte) unhex(inString.substring(2, 4));
    inData[2] = (byte) unhex(inString.substring(4, 6));
    inData[3] = (byte) unhex(inString.substring(6, 8));
  }


  int intbits = (inData[3] << 24) | ((inData[2] & 0xff) << 16) | ((inData[1] & 0xff) << 8) | (inData[0] & 0xff);
  return Float.intBitsToFloat(intbits);
}














void readQ() {
  if (myPort.available() >= 18) {
    String inputString = myPort.readStringUntil('\n');
    //print(inputString);
    if (inputString != null && inputString.length() > 0) {
      String [] inputStringArr = split(inputString, ",");
      if (inputStringArr.length >= 5) { // q1,q2,q3,q4,\r\n so we have 5 elements
        q[0] = decodeFloat(inputStringArr[0]);
        q[1] = decodeFloat(inputStringArr[1]);
        q[2] = decodeFloat(inputStringArr[2]);
        q[3] = decodeFloat(inputStringArr[3]);
      }
    }
  }
}




void buildBoxShape() {
  //box(60, 10, 40);
  noStroke();
  beginShape(QUADS);


  //Z+ (to the drawing area)
  fill(#00ff00);
  vertex(-30, -5, 20);
  vertex(30, -5, 20);
  vertex(30, 5, 20);
  vertex(-30, 5, 20);


  //Z-
  fill(#0000ff);
  vertex(-30, -5, -20);
  vertex(30, -5, -20);
  vertex(30, 5, -20);
  vertex(-30, 5, -20);


  //X-
  fill(#ff0000);
  vertex(-30, -5, -20);
  vertex(-30, -5, 20);
  vertex(-30, 5, 20);
  vertex(-30, 5, -20);


  //X+
  fill(#ffff00);
  vertex(30, -5, -20);
  vertex(30, -5, 20);
  vertex(30, 5, 20);
  vertex(30, 5, -20);


  //Y-
  fill(#ff00ff);
  vertex(-30, -5, -20);
  vertex(30, -5, -20);
  vertex(30, -5, 20);
  vertex(-30, -5, 20);


  //Y+
  fill(#00ffff);
  vertex(-30, 5, -20);
  vertex(30, 5, -20);
  vertex(30, 5, 20);
  vertex(-30, 5, 20);


  endShape();
}




void drawCube() {  
  pushMatrix();
  translate(VIEW_SIZE_X/2, VIEW_SIZE_Y/2 + 50, 0);
  scale(5, 5, 5);


  // a demonstration of the following is at 
  // http://www.varesano.net/blog/fabio/ahrs-sensor-fusion-orientation-filter-3d-graphical-rotating-cube
  rotateZ(-Euler[2]);
  rotateX(-Euler[1]);
  rotateY(-Euler[0]);


  buildBoxShape();


  popMatrix();
}




void draw() {
  background(#000000);
  fill(#ffffff);


  readQ();


  if (hq != null) { // use home quaternion
    quaternionToEuler(quatProd(hq, q), Euler);
    text("Disable home position by pressing \"n\"", 20, VIEW_SIZE_Y - 30);
  }
  else {
    quaternionToEuler(q, Euler);
    text("Point FreeIMU's X axis to your monitor then press \"h\"", 20, VIEW_SIZE_Y - 30);
  }


  textFont(font, 20);
  textAlign(LEFT, TOP);
  text("Q:\n" + q[0] + "\n" + q[1] + "\n" + q[2] + "\n" + q[3], 20, 20);
  text("Euler Angles:\nYaw (psi)  : " + degrees(Euler[0]) + "\nPitch (theta): " + degrees(Euler[1]) + "\nRoll (phi)  : " + degrees(Euler[2]), 200, 20);


  drawCube();
}




void keyPressed() {
  if (key == 'h') {
    println("pressed h");


    // set hq the home quaternion as the quatnion conjugate coming from the sensor fusion
    hq = quatConjugate(q);
  }
  else if (key == 'n') {
    println("pressed n");
    hq = null;
  }
}


// See Sebastian O.H. Madwick report 
// "An efficient orientation filter for inertial and intertial/magnetic sensor arrays" Chapter 2 Quaternion representation


void quaternionToEuler(float [] q, float [] euler) {
  euler[0] = atan2(2 * q[1] * q[2] - 2 * q[0] * q[3], 2 * q[0]*q[0] + 2 * q[1] * q[1] - 1); // psi
  euler[1] = -asin(2 * q[1] * q[3] + 2 * q[0] * q[2]); // theta
  euler[2] = atan2(2 * q[2] * q[3] - 2 * q[0] * q[1], 2 * q[0] * q[0] + 2 * q[3] * q[3] - 1); // phi
}


float [] quatProd(float [] a, float [] b) {
  float [] q = new float[4];


  q[0] = a[0] * b[0] - a[1] * b[1] - a[2] * b[2] - a[3] * b[3];
  q[1] = a[0] * b[1] + a[1] * b[0] + a[2] * b[3] - a[3] * b[2];
  q[2] = a[0] * b[2] - a[1] * b[3] + a[2] * b[0] + a[3] * b[1];
  q[3] = a[0] * b[3] + a[1] * b[2] - a[2] * b[1] + a[3] * b[0];


  return q;
}


// returns a quaternion from an axis angle representation
float [] quatAxisAngle(float [] axis, float angle) {
  float [] q = new float[4];


  float halfAngle = angle / 2.0;
  float sinHalfAngle = sin(halfAngle);
  q[0] = cos(halfAngle);
  q[1] = -axis[0] * sinHalfAngle;
  q[2] = -axis[1] * sinHalfAngle;
  q[3] = -axis[2] * sinHalfAngle;


  return q;
}


// return the quaternion conjugate of quat
float [] quatConjugate(float [] quat) {
  float [] conj = new float[4];


  conj[0] = quat[0];
  conj[1] = -quat[1];
  conj[2] = -quat[2];
  conj[3] = -quat[3];


  return conj;
}
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