[posted] Predator costume with active 3D head tracking by the plasma cannon

[arkhipenko]

Hi,

I chose Teensy 3.5 because of the incredible power of the mc (120MHz!) and a math coprocessor.
Active head tracking requires a lot of float match to be performed repeatedly and very very quickly to keep the quaternions updated.
Teensy does the job beatifully and is the central brain of the costume animatronics.

About the project:
This is a full-body costume of a Predator with a lot of animatronics, two sound systems, laser sights, etc.
The full project description is available here.
The full source code is here.

A few pictures:

 

[arkhipenko]

I forgot to mention that in the process of developing this, I modified two libraries to make them Teensy-friendly:

https://github.com/arkhipenko/PWM-Servo-Driver-Library_t3
https://github.com/arkhipenko/MPU9250

Enjoy!

 

[arkhipenko]

Here is a picture of teensy 3.5 located in the backpack part of the costume.

 

[lerxstrulz]

Thanks for the modded PCA9685 lib! Going to try it later this week with a Teensy 3.2. Did you have to use the resistors on the RX line between the PCA and the Teensy?

 

[arkhipenko]

Did you have to use the resistors on the RX line between the PCA and the Teensy?

Yes, I used 2x4.7k pullups for SDA/SCL lines as recommended for the Teensy 3.5 (it is said to have "weak" ones internally).
https://www.pjrc.com/teensy/td_libs_Wire.html

 

[PaulStoffregen]

This project, one of my all-time favorites, was posted on the PJRC website years ago, but didn't follow up on the forum. Here's the link.

https://www.pjrc.com/predator-costume-with-head-tracking-plasma-cannon/