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Michael Allwright allsey87

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@allsey87
allsey87 / bebot-dualcamera-devicetree
Created April 2, 2015 15:07
BeBot device tree snippet containing configuration for dual camera input
ov5640_1_osc: oscillator {
compatible = "fixed-clock";
#clock-cells = <1>;
clock-frequency = <24000000>;
clock-output-names = "ov5640_1_osc";
};
ov5640_1_clk : clock {
compatible = "gpio-gate-clock";
clocks = <&ov5640_1_osc>;
@allsey87
allsey87 / main.cxx
Created April 16, 2016 16:07
Adding a column using the vector of vectors approach
#include <iostream>
#include <vector>
using namespace std;
template <class T>
using table = vector<vector<T> >;
template <class T>
ostream& operator<<(ostream& stream, const table<T>& tbl) {
@allsey87
allsey87 / images-to-h264.sh
Created April 20, 2016 09:08
Convert images with timestamps in filename to h264 video
#!/bin/bash
WORKING_DIR=temp
OUTPUT=output
#create working directory
if [[ -d $WORKING_DIR ]]
then
echo "Directory '$WORKING_DIR' already exists"
exit
else
@allsey87
allsey87 / sbuffer.cc
Created May 10, 2016 14:56
Using smart pointers to cleanly integrate object orientated C libraries into a C++ application
struct SBuffer {
/* shared pointers to pixel data */
std::shared_ptr<image_u8_t> Y, U, V;
/* index (set by capture thread) */
unsigned int Index = -1;
/* capture time */
std::chrono::time_point<std::chrono::steady_clock> Timestamp;
/* default constructor */
SBuffer() :
Y(image_u8_create(0, 0), image_u8_destroy),
@allsey87
allsey87 / plot_data_from_csv.sce
Last active December 11, 2023 16:59
How to plot data in Scilab from a CSV file (with first line as the header)
clear parse_my_data
clear path
clear inputs
clear index
function parse_my_data(f_data_path)
csv_data = read_csv(f_data_path);
num_data = strtod(csv_data(2:$,1:$));
num_data_points = size(num_data,1);
my_plot = figure();
@allsey87
allsey87 / smartblock.xml
Last active July 25, 2016 03:07
ARGoS Definition of the Smartblock
<prototype id="smartblock">
<body position="0.0,0.0,0.01" orientation="0,0,0"/>
<bodies reference_body="block">
<body id="block" geometry="box" size="0.055,0.055,0.055" mass="0.25">
<offset/>
<coordinates/>
</body>
<body id="magnet_tq1" geometry="sphere" radius="0.003" mass="0.001">
<offset position="0.0225,0.0225,0.047" orientation="1,0,0"/>
<coordinates/>
@allsey87
allsey87 / composite.sh
Created January 28, 2017 02:36
Create an image from two images by composing the first onto the second every time the file changes
#!/bin/bash
while inotifywait underlay.png
do
until composite -gravity center overlay.png underlay.png /tmp/out.png
do
sleep 0.25
done
sleep 0.25
done
@allsey87
allsey87 / bebotctrl.sh
Created April 23, 2017 02:34
Bash script for controlling the DuoVero-based BeBots
#!/bin/bash
# required programs: gnu parallel, sshpass
OPENWRT_IP='192.168.1.1'
OPENWRT_PASS='amadeus0247'
OPENWRT_USER='root'
OPENWRT_GET_LEASES='cat /tmp/dhcp.leases'
BEBOT_MAC_START='00:19:88'
BEBOT_CONN_TEST_ATTEMPTS=10
@allsey87
allsey87 / magnetism_plugin_test_code.cxx
Created April 20, 2018 12:57
Damping in the magnetism plug-in
/* start test code here */
/* Link 0 */
CDynamics3DMultiBodyObjectModel::CLink* pcLink0 =
dynamic_cast<CDynamics3DMultiBodyObjectModel::CLink*>(itDipole0->Body);
btMultiBodyLinkCollider& col0 = pcLink0->m_cMultiBodyLink;
btScalar* vel0 = col0.m_multiBody->getJointVelMultiDof(col0.m_link);
btVector3 cDampingTorque0(vel0[0],vel0[1],vel0[2]);
@allsey87
allsey87 / dump_ktermios.c
Created July 24, 2018 11:47
Print the configuration of a serial port from the Linux kernel in stty -g style
static void dump_ktermios(struct device* dev, struct ktermios* ktermios, const char* func) {
char buf[128];
unsigned int idx = 0;
size_t i = 0;
idx += snprintf(buf + idx, 128 - idx, "%lx:%lx:%lx:%lx",
(unsigned long int) ktermios->c_iflag,
(unsigned long int) ktermios->c_oflag,
(unsigned long int) ktermios->c_cflag,
(unsigned long int) ktermios->c_lflag);
for(i = 0; i < NCCS; ++i)