127 lines
2.8 KiB
C++
127 lines
2.8 KiB
C++
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/*
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Motion.cpp - Motion library
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Copyright (c) 2012 Copenhagen Institute of Interaction Design.
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All right reserved.
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This library is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser Public License for more details.
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You should have received a copy of the GNU Lesser Public License
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along with Foobar. If not, see <http://www.gnu.org/licenses/>.
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+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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+ author: dviid
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+ contact: dviid@labs.ciid.dk
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*/
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#include "Motion.h"
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <stdlib.h>
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#define PB0 PORTB0
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bool motion_reg_init = false;
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Motion MotionA(MOTIONA);
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Motion MotionB(MOTIONB);
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uint8_t lb;
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uint8_t hb;
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float T = N * 0.004f; // 4ms (see TCNT1)
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int xin, dx;
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float MAX_POS = 1023;
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float MAX_VEL = MAX_POS / T;
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float MAX_ACC = MAX_VEL / T;
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Motion::Motion(MOTION m){
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_m = m;
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_i = false;
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_fcb = NULL;
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};
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void Motion::init(INPUT sensor)
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{
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if(!motion_reg_init){
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TCNT1 = 1000; //4 ms (TCNT1)
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TIMSK1 = (1 << TOIE1);
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motion_reg_init = true;
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}
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_i = true;
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_s = sensor;
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// initial values
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d = 0;
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k = 1;
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m = 1;
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}
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void Motion::set_force_callback(force_callback fcb, PHY physics) {
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_fcb = fcb;
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_fcb_phy = physics;
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}
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// clocked at 4ms period
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ISR(TIMER1_OVF_vect) {
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TCNT1 = 1000;
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if(MotionA._i) {
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ADMUX = MotionA._s & 0x07;
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ADCSRA |= (1 << ADSC);
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while (ADCSRA & (1 << ADSC));
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lb = ADCL;
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hb = ADCH;
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xin = (hb << 8) | lb;
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MotionA.Xin = xin;
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MotionA.F = MotionA.k * (xin - MotionA.X) - (MotionA.d * MotionA.V);
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//MotionA.A = MotionA.F / MotionA.m;
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MotionA.V += (MotionA.F / MotionA.m) * T;
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MotionA.X += MotionA.V * T;
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}
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/*
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if(MotionB._i) {
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ADMUX = MotionB._s & 0x07;
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ADCSRA |= (1 << ADSC);
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while (ADCSRA & (1 << ADSC));
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lb = ADCL;
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hb = ADCH;
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x = (hb << 8) | lb;
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MotionB._xv[MotionB._ix] = x;
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MotionB._ix++;
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MotionB._ix %= N;
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xx = x - MotionB._x;
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if(abs(xx) < 2) {
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v = 0;
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} else {
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v = xx / T;
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}
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MotionB._a = (v - MotionB._v) / T;
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MotionB._v = v;
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MotionB._x = x;
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}
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*/
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}
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