Goldsmiths

software/lib/MMM/examples/Motion/_1_Pulse_Beat/_1_Pulse_Beat.ino

@@ -7,7 +7,7 @@
 #include <Music.h>
 
 void setup(){
-  MotorB.init();
+  MotorA.init();
   Music.init();
   
   Music.setWaveform(SINE);
@@ -18,17 +18,15 @@ void setup(){
 }
 
 void loop(){
-  //for (int i; i < 512; i + 100){
-    MotorB.torque(40);
+    MotorA.torque(200);
     Music.noteOn(map(analogRead(A3),0,1023,30,60));
     delay (20);
-    Music.noteOff();MotorB.torque(0);
+    Music.noteOff();MotorA.torque(0);
     delay (150);
-    MotorB.torque(-70);
+    MotorA.torque(-200);
     Music.noteOn(map(analogRead(A3),0,1023,35,65));
     delay (40);
-    Music.noteOff();MotorB.torque(0);
-    MotorB.torque(0);
+    Music.noteOff();MotorA.torque(0);
+    MotorA.torque(0);
     delay (750);
-  //}
 }

software/lib/MMM/examples/Motion/_2_CenterDoubleToggle/_2_CenterDoubleToggle.ino

@@ -0,0 +1,25 @@
+// Center - both motors A and B
+// feels like "Double Toggle"!
+
+#include <Motor.h>
+
+int duty, count, fout;
+int xA, xB, foutA, foutB;
+
+void setup(){
+  Serial.begin(9600);
+  MotorA.init();
+  MotorB.init();
+}
+
+void loop(){
+   
+  xA = analogRead(A0); 
+  xB = analogRead(A3);
+  foutA = 6*(xB-512); // this will peak at x=1024/6
+  MotorA.torque(foutA);  // 1/4 or 1/2 ?
+
+  foutB = 6*(xA-512); // this will peak at x=1024/6
+  MotorB.torque(foutB);  // 1/4 or 1/2 ?
+
+}

software/lib/MMM/examples/Motion/_3_CenterDoubleSlave/_3_CenterDoubleSlave.ino

@@ -0,0 +1,41 @@
+// CenterAB - both motors
+// xA->Freqequency1, xB->Frequency2
+//CenterA at xB, CenterB at xA
+//feels like "Slave"
+
+#include <Motor.h>
+#include <Music.h>
+#define BIT_DEPTH 8
+#define NUM_OSCILLATORS 2
+
+int duty, count, fout;
+int xA, xB, foutA, foutB;
+
+void setup(){
+  Serial.begin(9600);
+  MotorA.init();
+  MotorB.init();
+  Music.init();
+  Music.setWaveform1(0);//8bit default?
+  Music.setWaveform2(0);
+  Music.setGain1(1.0f);
+  Music.setGain2(1.0f);
+}
+
+void loop(){
+   
+  xA = analogRead(A0);
+  Music.setFrequency1(map (xA, 0, 1023, 40, 2000)); 
+  
+  xB = analogRead(A3);
+  Music.setFrequency2(map (xB, 0, 1023, 40, 2000)); 
+  
+  foutA = -6*(xA-xB); // this will peak at x=1024/6
+  MotorA.torque(foutA);  // 1/4 or 1/2 ?
+
+  foutB = -6*(xB-xA); // this will peak at x=1024/6
+  MotorB.torque(foutB);  // 1/4 or 1/2 ?
+
+  Music.setGain(float(abs(xA-xB))/1024.0f);
+
+}

software/lib/MMM/examples/Motion/_4_Theremin/_4_Theremin.ino

@@ -0,0 +1,36 @@
+// Theremin
+// A: pitch, B: volume
+
+#include <Music.h>
+int xA, xB; //10bit A/D gives 0-1023
+float p; //midi note number 0-127
+double frequency, volume;
+byte c; //print every 256 cycles
+
+void setup(){
+  Music.init();
+  Serial.begin(9600);
+}
+void loop(){
+  xA = analogRead(A3); // A position
+  p = float(xA)/8; //pitch (midi)
+  
+  p = 80.*(p/128.)+20.;
+  // p = map(p, 0,127,20,100);
+  //linear mapping of p
+  //The map() function uses integer math so will
+  //not generate fractions, when the math might
+  //indicate that it should do so. Fractional
+  //remainders are truncated, and are not rounded 
+  //or averaged. 
+  //
+  frequency = pow(2,((p-69.)/12.))*440; //midi 69 -> 440hz
+  Music.setFrequency(frequency);
+  
+  xB = analogRead(A0);
+  volume = -float(xB)/256.; // B position
+  volume = pow(10,volume);
+  Music.setGain(volume);
+  
+}
+  

software/lib/MMM/examples/Motion/_5_Pluck/_5_Pluck.ino

@@ -0,0 +1,48 @@
+//Pluck: one pluck at x=512
+
+int x, fout, count;
+float f;
+float w = 50; //width of pluck
+float h = 500; //height of pluck
+float slope = h/w;
+boolean forward = true;
+
+#include <Motor.h>
+
+void setup(){
+  MotorA.init();
+  MotorB.init();
+  Serial.begin(9600);
+}
+
+void loop(){
+  x = analogRead(A0) - 512;
+  if (forward){
+    if (x <= - w/2) f = 0;
+    if (x > -w/2 && x< w/2) f = - slope*(x + w/2);
+    if (x > w/2){
+      f = 0;
+      forward = false;
+      Serial.println("pluck forward");
+    }
+  }
+  else
+  {
+    if (x > w/2) f = 0;
+    if (x < w/2 && x > -w/2) f = - slope*(x - w/2);
+    if (x < -w/2){
+      f = 0;
+      forward = true;
+      Serial.println("pluck back");
+    }
+  }
+  fout = int(f);
+  MotorA.torque(fout);
+  
+  if(count++>=0){
+    count=-1000; // wait 1000 loops before print
+    Serial.print(x,DEC);
+    Serial.print(" ");
+    Serial.println(fout,DEC);
+  }
+}

software/lib/MMM/examples/Motion/_6_Bumps/_6_Bumps.ino

@@ -0,0 +1,66 @@
+//Plucks - four bumps / three notes (400,500,600hz)
+#define NUM_OSCILLATORS 3
+#include <Music.h>
+#include <Motor.h>
+
+int x, xold, xt, F; // input position x, output force F
+int K = 10; // slope constant
+byte count; //for print count-down
+
+void setup(){
+  Music.init();
+  Music.setFrequency1(200);
+  Music.setFrequency2(250);
+  Music.setFrequency3(300);  
+  
+  MotorA.init();
+  
+  Serial.begin(9600);
+  x = analogRead(A0); // initialize x
+}
+
+void loop(){
+  
+  xold = x;
+  x =  analogRead(A0);
+
+if (((xold <= 125) && (x > 125)) || ((xold >= 125) && (x < 125))){
+  Music.setGain1(1.0f);
+}
+if (((xold <= 375) && (x > 375)) || ((xold >= 375) && (x < 375))){
+  Music.setGain2(1.0f);
+}
+if (((xold <= 625) && (x > 625)) || ((xold >= 625) && (x < 625))){
+  Music.setGain3(1.0f);
+}
+if (((xold <= 875) && (x > 875)) || ((xold >= 875) && (x < 875))){
+  Music.setGain1(1.0f);
+  }
+  else{
+    Music.setGain1(0.995f*Music.getGain1());
+    Music.setGain2(0.995f*Music.getGain2());
+    Music.setGain3(0.995f*Music.getGain3());
+  }
+  
+
+
+  xt = x % 250; //same force for each 250 ranage
+  F = 0;
+  if (xt > 60) F = - K * (xt - 60);
+  if (xt > 80) F = - K * (100 - xt);
+  if (xt > 120) F =  K * (140 - xt);
+  if (xt > 140) F = 0;
+  MotorA.torque(F);
+  
+ 
+ // print every 256 cycles
+  if(count++==0){
+    Serial.print(x);
+    Serial.print(" ");
+    Serial.print(xt);
+    Serial.print(" ");
+    Serial.println(F);
+  }
+
+}
+    

software/lib/MMM/examples/Motion/_7_Oscilliator/_7_Oscilliator.ino

@@ -0,0 +1,86 @@
+/*
+This sketch runs with Processing sketch Oscilloscope.pde
+*/
+
+#include <Motion.h>
+#include <Motor.h>
+#include <Music.h>
+
+char buf[16] = "";
+
+char b = 'x';
+String  inputString = "";
+boolean stringComplete = false;
+
+float k, m, d;
+
+int cnt = 0;
+
+void setup() {
+  
+  // MOTOR
+  MotorA.init();
+  
+  // MUSIC 
+  Music.init();
+  
+  // MOTION
+  MotionA.init(INPUTA0);
+  MotionA.k = 5.2f;   // spring
+  MotionA.m = 1.0f;   // mass
+  MotionA.d = 8.02f;  // damping
+
+  // Serial
+  Serial.begin(9600);  
+}
+
+void loop() {
+  
+  MotionA.update_mass_spring_damper();
+  
+  MotorA.torque(MotionA.F);
+  
+  int f = map(abs(MotionA.F), 0, 512, 64, 76);
+  Music.noteOn(f);
+  
+  cnt++;
+  
+  if(cnt == 10) {  
+    sprintf(buf, "%d %d %d %d", (int)MotionA.F, (int)MotionA.V, (int)MotionA.X, (int)MotionA.Xin);
+    Serial.println(buf);
+    cnt = 0;
+  }  
+  
+  if(stringComplete) {
+    if(b == 'k') {
+      MotionA.k = convertToFloat(inputString);
+    } else if(b == 'm') {
+      MotionA.m = convertToFloat(inputString);
+    } else if(b == 'd') {
+      MotionA.d = convertToFloat(inputString);
+    }    
+    b = 'x';
+    stringComplete = false;
+    inputString = "";
+  }
+}
+
+void serialEvent() {
+  while (Serial.available()) {
+    char inChar = (char)Serial.read();     
+    if(inChar == 'k' || inChar == 'm' || inChar == 'd') {
+      b = inChar;
+    } else {
+      if (inChar == ';') {
+        stringComplete = true;
+      } else       
+        inputString += inChar;
+    }
+  }
+}
+
+float convertToFloat(String str) {
+    char buf[16] = "";
+    str.toCharArray(buf, str.length() + 1);
+    return atof(buf);  
+}

software/lib/MMM/examples/Motion/_8_FM/_8_FM.ino

@@ -0,0 +1,30 @@
+//FM synthes of a sort
+//hang on! (it's unstable and wants to limit cycle)
+
+#include <Music.h>
+#define BIT_DEPTH 8 // gives us 16 Waveforms
+
+#include <Motor.h>
+
+byte cnt;
+float xf, vf; //
+float k = 10.0; // increase FM frequency
+float b = 0.40; // increase
+float Tf = .030 ; //integration time
+
+void setup(){
+  Serial.begin(9600);
+  Music.init();
+  Music.setWaveform(0);
+  Music.setGain(1.0f);
+  MotorA.init();
+}
+
+void loop(){
+  xf += vf * Tf;
+  vf += (k * (analogRead(A0) - xf) - b*vf) * Tf;
+  Music.setFrequency(100+vf);
+  Music.setGain(.001*abs(vf));
+  MotorA.torque(-500+xf);
+  //if(cnt++==0)Serial.println(.001*abs(vf));
+}

software/lib/MMM/examples/Motor/_1_FlipFlop/_1_FlipFlop.ino

@@ -0,0 +1,12 @@
+#include <Motor.h>
+
+void setup() {
+  MotorA.init();
+}
+
+void loop() {
+  MotorA.torque(500);
+  delay(2000);
+  MotorA.torque(-500);
+  delay(2000);
+}

software/lib/MMM/examples/Motor/_2_ForceProfile/_2_ForceProfile.ino

@@ -0,0 +1,67 @@
+
+#include <Motion.h>
+#include <Motor.h>
+
+#define NEW '!'
+#define OK '*'
+#define PRINT '&'
+
+int table[800];
+int len = 800;
+
+char buf[32] = "";
+int cnt = 0;
+
+void setup() {
+  Serial.begin(9600);
+  MotorA.init();
+  MotionA.init(INPUTA0);
+}
+
+void loop() {  
+  MotionA.update_position();
+  int i = (int) (((float) MotionA.Xin / 1023.0) * len);
+  int f = table[i];
+  MotorA.torque(f);
+  
+  // TODO - send position back to interface
+  /* 
+  cnt++;
+  if(cnt == 1000) {
+    sprintf(buf, "%d %d %d", MotionA.Xin, i, f);
+    Serial.println(buf);
+    cnt = 0;
+  }
+  */
+}
+
+
+void serialEvent() {
+  
+  if(Serial.available()) {
+    char in = (char)Serial.read();
+    if(in == NEW) {
+      Serial.print(OK);
+      len = serial_read();
+      for(int i = 0; i < len; i++) {
+        table[i] = serial_read();  
+      }
+    } else if(in == PRINT) {
+      Serial.println(len);
+      for(int i = 0; i < len; i++) {        
+        Serial.print(table[i]);
+        Serial.print(';');
+      }
+      Serial.print('#');
+    }
+  }  
+}
+
+
+int serial_read() {
+  while(Serial.available() < 2);
+  int l = Serial.read();
+  int h = Serial.read();
+  Serial.write(OK);
+  return (h * 256) + l;          
+}

software/lib/MMM/keywords.txt

@@ -7,7 +7,10 @@
 #######################################
 
 Music	KEYWORD1
-Motor	KEYWORD1
+MotorA	KEYWORD1
+MotorB	KEYWORD1
+MotionA	KEYWORD1
+MotionB	KEYWORD1
 Midi	KEYWORD1
 
 #######################################
@@ -49,6 +52,13 @@ setAttack	KEYWORD2
 setDecay	KEYWORD2
 setSustain	KEYWORD2
 setRelease	KEYWORD2
+update_position	KEYWORD2
+update_mass_spring_damper	KEYWORD2
+torque		KEYWORD2
+direction	KEYWORD2
+stop		KEYWORD2
+start		KEYWORD2
+restart		KEYWORD2
 
 
 #######################################