From 4c9e2ee7485a8d364dd0a3c7c612c3ec06b0f2c9 Mon Sep 17 00:00:00 2001 From: Bill Verplank Date: Fri, 7 Dec 2012 08:15:45 -0800 Subject: [PATCH] Getting Synched First time after a lot of tries. -Bill --- GitHowTo.rtf | 28 + hardware/supplies.rtf | 27 + software/apps/Motion/CenterA/CenterA.ino | 36 + software/apps/Motion/CenterB/CenterB.ino | 36 + .../Damp1/Damp1.ino} | 2 +- .../{ => Damp using Velocity}/Damp2/Damp2.ino | 0 .../DampK/DampK.ino} | 0 .../DiffDelayPlot.maxpat} | 0 .../Damp using Velocity/Graph2/Graph2.ino | 28 + .../Damp using Velocity/Graph2/Graph2.maxpat | 1460 +++++++++++++++++ .../Damp using Velocity/HaywardFOAWvel.pdf | Bin 0 -> 175483 bytes .../VelocityPlot/VelocityPlot.ino | 29 + .../VelocityPlot/VelocityPlot.maxpat} | 438 +---- .../VelositySend/VelositySend.ino | 41 + software/apps/Motion/Damp3/Damp3/Damp3.ino | 48 - software/apps/Motion/DampEuler/DampEuler.ino | 24 - .../Motion/DampMass/DampMass/DampMass.ino | 1 - software/apps/Motion/HelloApps.rtf | 26 + .../apps/Motion/PendulumMM_2/PendulumMM_2.ino | 2 +- software/apps/Motion/SandFSR/SandFSR.ino | 26 + software/apps/Motor/motortest/motortest.ino | 20 + software/apps/Motor/postest/postest.ino | 14 + software/apps/Music/Minimal/Minimal.ino | 2 +- 23 files changed, 1849 insertions(+), 439 deletions(-) create mode 100644 GitHowTo.rtf create mode 100644 hardware/supplies.rtf create mode 100644 software/apps/Motion/CenterA/CenterA.ino create mode 100644 software/apps/Motion/CenterB/CenterB.ino rename software/apps/Motion/{Damp/Damp/Damp.ino => Damp using Velocity/Damp1/Damp1.ino} (90%) rename software/apps/Motion/{ => Damp using Velocity}/Damp2/Damp2.ino (100%) rename software/apps/Motion/{Damp4/Damp4.ino => Damp using Velocity/DampK/DampK.ino} (100%) rename software/apps/Motion/{Damp3/DampMax.maxpat => Damp using Velocity/DiffDelayPlot.maxpat} (100%) create mode 100644 software/apps/Motion/Damp using Velocity/Graph2/Graph2.ino create mode 100644 software/apps/Motion/Damp using Velocity/Graph2/Graph2.maxpat create mode 100644 software/apps/Motion/Damp using Velocity/HaywardFOAWvel.pdf create mode 100644 software/apps/Motion/Damp using Velocity/VelocityPlot/VelocityPlot.ino rename software/apps/Motion/{Damp3/Damp3.maxpat => Damp using Velocity/VelocityPlot/VelocityPlot.maxpat} (73%) create mode 100644 software/apps/Motion/Damp using Velocity/VelositySend/VelositySend.ino delete mode 100644 software/apps/Motion/Damp3/Damp3/Damp3.ino delete mode 100644 software/apps/Motion/DampEuler/DampEuler.ino delete mode 100644 software/apps/Motion/DampMass/DampMass/DampMass.ino create mode 100644 software/apps/Motion/HelloApps.rtf create mode 100644 software/apps/Motion/SandFSR/SandFSR.ino create mode 100644 software/apps/Motor/motortest/motortest.ino create mode 100644 software/apps/Motor/postest/postest.ino diff --git a/GitHowTo.rtf b/GitHowTo.rtf new file mode 100644 index 0000000..8e8a17f --- /dev/null +++ b/GitHowTo.rtf @@ -0,0 +1,28 @@ +{\rtf1\ansi\ansicpg1252\cocoartf1138\cocoasubrtf510 +{\fonttbl\f0\froman\fcharset0 Times-Roman;} +{\colortbl;\red255\green255\blue255;} +\margl1440\margr1440\vieww10800\viewh8400\viewkind0 +\deftab720 +\pard\pardeftab720 + +\f0\fs28 \cf0 I'll write it down so we can refer to this "how-to" in the future :-)\ +\ +Github is two things (1) an application on your mac, (2) a server on the web (were all the copies are synced)\ +\ +In order to get the most recent code, you need to follow these steps:\ +\ +A. Open the application on your mac\ +B. You will be presented with the interface - \'a0click "My Repositories" on the left bar menu\ +C. You will see a repo called "gauthiier/M-M-M" which you click on the arrow on the right.\ +D. This will bring you to the "Changes" mode of the repo (ilustrated on right bar).\ +E. Click on the "Sync Branch" on the top right of the repo window - this will fetch the code from the server.\ +F. If there is a problem fetching the code, this may be because you have un-commited code (code you worked on since we worked together). If this is the case, you simply need to commit your code by entering a "Commit summary" and by pressing the "Commit" button. After committing you can go to step E and "Sync Branch" again.\ +G. When the branch is in sync the code will be on your machine. To view wich version you have, simply click on "History" button in the right bar. The most recent code I've committed is entitled "Update Motion library and added an example how-to in apps folder".\ +H. To view where the code is on your computer, go back to "Changes" (button in the right bar) and the folder where the repo is placed on your computer should be displayed in a list (below the "Select All" checkbox)\ +\ +Let me know if you are still experiencing problems (and we will skype).\ +\ +Hope you are well Bill, and sunshine in Menlo Park! (here it is snowing, which is very nice :-)\ +\ +Daviid\ +} \ No newline at end of file diff --git a/hardware/supplies.rtf b/hardware/supplies.rtf new file mode 100644 index 0000000..842eb40 --- /dev/null +++ b/hardware/supplies.rtf @@ -0,0 +1,27 @@ +{\rtf1\ansi\ansicpg1252\cocoartf1138\cocoasubrtf510 +{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\margl1440\margr1440\vieww14840\viewh6880\viewkind0 +\pard\tx720\tx1440\tx2160\tx2880\tx3600\tx4320\tx5040\tx5760\tx6480\tx7200\tx7920\tx8640\pardirnatural + +\f0\fs24 \cf0 list of supplies and suppliers --by bilver 4Nov12\ +\ +M&M&M board - CiiD Labs\ +Cables\ +- USB mini\ +- 10-conductor ribbon cable with IDC socket and headers\ +- audio mini-plug 3.5mm mono (stereo head-phones work)\ +Motors\ +- disk-drive head-positioner voice-coil motor (scavenged)\ +- motorized fader\ + mfg:\ + Penny & Giles - http://www.pennyandgiles.com/Audio-and-Video-Controllers-pg-27,2,,.php\ + Alps - http://www.alps.com/WebObjects/catalog.woa/E/HTML/Potentiometer/SlidePotentiometers/RSN1M/RSN1M_list.html\ + Sparkfun - https://www.sparkfun.com/products/10734\ +\ + distributors:\ + Sparkfun - https://www.sparkfun.com/products/10734\ + Digi-Key\ + Mouser\ + Jameco\ + Futurelec} \ No newline at end of file diff --git a/software/apps/Motion/CenterA/CenterA.ino b/software/apps/Motion/CenterA/CenterA.ino new file mode 100644 index 0000000..73896ed --- /dev/null +++ b/software/apps/Motion/CenterA/CenterA.ino @@ -0,0 +1,36 @@ +//Center +//uses a variable force (pwm duty) +//If it feels like a "mountain" - pushing away from center, then +//reverse the motor leads to make it feel like a "valley" +//or for a quick fix in the code: change if(f < 0) to if (f > 0) + +#include + +int pos; // position from analogRead +int force; // computed from pos and k +int k = 1; // spring constant +int duty; // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution + +void setup() +{ + + MotorA.torque(100); //is this necessary? + +} + +void loop() +{ + + pos = analogRead(A3); + + force = k * (512 - pos); + duty = abs(force); + duty = min(511, duty); + + MotorA.torque(duty); + + if(force < 0) MotorA.direction(FORWARD); + else MotorA.direction(BACKWARD); + +} + diff --git a/software/apps/Motion/CenterB/CenterB.ino b/software/apps/Motion/CenterB/CenterB.ino new file mode 100644 index 0000000..d9a21f2 --- /dev/null +++ b/software/apps/Motion/CenterB/CenterB.ino @@ -0,0 +1,36 @@ +//Center +//uses a variable force (pwm duty) +//If it feels like a "mountain" - pushing away from center, then +//reverse the motor leads to make it feel like a "valley" +//or for a quick fix in the code: change if(f < 0) to if (f > 0) + +#include + +int pos; // position from analogRead +int force; // computed from pos and k +int k = 1; // spring constant +int duty; // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution + +void setup() +{ + + MotorB.torque(100); //is this necessary? + +} + +void loop() +{ + + pos = analogRead(A3); + + force = k * (512 - pos); + duty = abs(force); + duty = min(1023, duty); + + MotorB.torque(duty); + + if(force < 0) MotorB.direction(FORWARD); + else MotorB.direction(BACKWARD); + +} + diff --git a/software/apps/Motion/Damp/Damp/Damp.ino b/software/apps/Motion/Damp using Velocity/Damp1/Damp1.ino similarity index 90% rename from software/apps/Motion/Damp/Damp/Damp.ino rename to software/apps/Motion/Damp using Velocity/Damp1/Damp1.ino index 5b4e94b..45c36b0 100644 --- a/software/apps/Motion/Damp/Damp/Damp.ino +++ b/software/apps/Motion/Damp using Velocity/Damp1/Damp1.ino @@ -1,6 +1,6 @@ //Damp - measure velocity then f=Bv #import -int x; //position measured +int x; //position measured - then filtered float v, f, t, xold; //velocity, force, time delta byte c; //for debug print every 256th loop diff --git a/software/apps/Motion/Damp2/Damp2.ino b/software/apps/Motion/Damp using Velocity/Damp2/Damp2.ino similarity index 100% rename from software/apps/Motion/Damp2/Damp2.ino 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b/software/apps/Motion/Damp using Velocity/VelocityPlot/VelocityPlot.ino @@ -0,0 +1,29 @@ +int x, v, t; //position velocity time +#define n 10 +int xtab[n]; //table of x +int i; // index for table + +void setup() +{ + // start serial port at 9600 bps: + Serial.begin(9600); +} + +void loop() +{ + // if we get a valid byte, read analog ins: + //if (Serial.available() > 0) { + x = analogRead(A0)/4; //just for this test + xtab[i] = x; //put it in array of x + i = i + 1; //index to last x (9 times ago) + if(i>9)i=0; //increment index + v = x - xtab[i]; //difference x vs old x + t = (t+1)%256; + // send sensor values: + Serial.print(x); // sends one byte [0-255] + Serial.print(","); + Serial.print(v+128); + Serial.print(","); + Serial.println(t); +} + diff --git a/software/apps/Motion/Damp3/Damp3.maxpat b/software/apps/Motion/Damp using Velocity/VelocityPlot/VelocityPlot.maxpat similarity index 73% rename from software/apps/Motion/Damp3/Damp3.maxpat rename to software/apps/Motion/Damp using Velocity/VelocityPlot/VelocityPlot.maxpat index 801debc..edbf85d 100644 --- a/software/apps/Motion/Damp3/Damp3.maxpat +++ b/software/apps/Motion/Damp using Velocity/VelocityPlot/VelocityPlot.maxpat @@ -7,7 +7,7 @@ "revision" : 5 } , - "rect" : [ 0.0, 44.0, 1280.0, 706.0 ], + "rect" : [ 350.0, 44.0, 901.0, 670.0 ], "bglocked" : 0, "openinpresentation" : 0, "default_fontsize" : 12.0, @@ -27,6 +27,55 @@ "digest" : "", "tags" : "", "boxes" : [ { + "box" : { + "fontname" : "Arial", + "fontsize" : 12.0, + "id" : "obj-42", + "maxclass" : "newobj", + "numinlets" : 2, + "numoutlets" : 1, + "outlettype" : [ "int" ], + "patching_rect" : [ 826.0, 620.0, 38.0, 20.0 ], + "text" : "- 127" + } + + } +, { + "box" : { + "hint" : "x 186 y 210", + "id" : "obj-40", + "maxclass" : "itable", + "name" : "", + "numinlets" : 2, + "numoutlets" : 2, + "outlettype" : [ "int", "bang" ], + "parameter_enable" : 0, + "patching_rect" : [ 128.0, 762.0, 706.0, 121.0 ], + "range" : 128, + "signed" : 1, + "size" : 255, + 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"patching_rect" : [ 128.0, 663.0, 706.0, 114.0 ], + "range" : 255, + "size" : 255, + "table_data" : [ 0, 115, 115, 115, 115, 115, 115, 115, 115, 115, 116, 115, 115, 115, 115, 115, 115, 115, 115, 115, 116, 115, 115, 115, 115, 115, 115, 116, 115, 115, 115, 115, 116, 115, 115, 116, 115, 115, 115, 115, 115, 115, 115, 116, 115, 115, 115, 115, 116, 115, 115, 115, 115, 116, 115, 115, 115, 115, 115, 115, 115, 116, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 116, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 116, 115, 115, 115, 116, 116, 115, 115, 115, 115, 115, 115, 116, 115, 115, 115, 116, 115, 115, 116, 115, 116, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 116, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 115, 116, 115, 115, 115, 115, 116, 115, 115, 115, 115, 115, 115, 115, 116, 115, 115, 115, 115, 115, 115, 115, 116, 115, 115, 115, 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xtab[i]; //difference x vs old x + t = (t+1)%256; + // send sensor values: + Serial.write(x); + Serial.write(","); + Serial.write(v+128); + Serial.write(","); + Serial.write(t); + } +} + +void establishContact() { + while (Serial.available() <= 0) { + Serial.println("0,0,0"); // send an initial string + delay(300); + } +} + diff --git a/software/apps/Motion/Damp3/Damp3/Damp3.ino b/software/apps/Motion/Damp3/Damp3/Damp3.ino deleted file mode 100644 index 9c5e0a3..0000000 --- a/software/apps/Motion/Damp3/Damp3/Damp3.ino +++ /dev/null @@ -1,48 +0,0 @@ - -int firstSensor = 0; // first analog sensor -int secondSensor = 0; // second analog sensor -int thirdSensor = 0; // digital sensor -int inByte = 0; // incoming serial byte - -void setup() -{ - // start serial port at 9600 bps and wait for port to open: - Serial.begin(9600); - while (!Serial) { - ; // wait for serial port to connect. Needed for Leonardo only - } - - - pinMode(2, INPUT); // digital sensor is on digital pin 2 - establishContact(); // send a byte to establish contact until receiver responds -} - -void loop() -{ - // if we get a valid byte, read analog ins: - if (Serial.available() > 0) { - // get incoming byte: - inByte = Serial.read(); - // read first analog input: - firstSensor = analogRead(A0); - // read second analog input: - secondSensor = analogRead(A1); - // read switch, map it to 0 or 255L - thirdSensor = map(digitalRead(2), 0, 1, 0, 255); - // send sensor values: - Serial.print(firstSensor); - Serial.print(","); - Serial.print(secondSensor); - Serial.print(","); - Serial.println(thirdSensor); - } -} - -void establishContact() { - while (Serial.available() <= 0) { - Serial.println("0,0,0"); // send an initial string - delay(300); - } -} - - diff --git a/software/apps/Motion/DampEuler/DampEuler.ino b/software/apps/Motion/DampEuler/DampEuler.ino deleted file mode 100644 index 6926080..0000000 --- a/software/apps/Motion/DampEuler/DampEuler.ino +++ /dev/null @@ -1,24 +0,0 @@ -//Damp Euler - -#define n 10 //number in buffer "window size" -// finite difference with n samples between x(i) -int x[n]; //last n samples of position -int index = 0; -float v; // estimate of velocity -byte c; - -void setup(){ - Serial.begin(9600); - for(int i=0; i n-1) index = 0; - v = buff[index] - buff[(index-n)%n]; - if(c++==0)Serial.println(v); -} - - - diff --git a/software/apps/Motion/DampMass/DampMass/DampMass.ino b/software/apps/Motion/DampMass/DampMass/DampMass.ino deleted file mode 100644 index 7fef7ab..0000000 --- a/software/apps/Motion/DampMass/DampMass/DampMass.ino +++ /dev/null @@ -1 +0,0 @@ -//DampMass diff --git a/software/apps/Motion/HelloApps.rtf b/software/apps/Motion/HelloApps.rtf new file mode 100644 index 0000000..058343b --- /dev/null +++ b/software/apps/Motion/HelloApps.rtf @@ -0,0 +1,26 @@ +{\rtf1\ansi\ansicpg1252\cocoartf1138\cocoasubrtf510 +{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\margl1440\margr1440\vieww10800\viewh8400\viewkind0 +\pard\tx720\tx1440\tx2160\tx2880\tx3600\tx4320\tx5040\tx5760\tx6480\tx7200\tx7920\tx8640\pardirnatural + +\f0\fs24 \cf0 "Hello, World" Apps\ +\ +Wall (spring with and without damping) - how stiff without instability? - does damping help?\ +Center (full range of force and position) - \ +\ +Music -\ +position -> pitch (linear, non-linear)\ +gain -> FSR (second device?)\ +\ +Motor -\ +timed (open-loop) - "tick" "rumble" "\ + ramp - up,stay,dn,stay, etc.\ + rhythm - march, waltz, \'85\ +position - table/function (no time dependence) [ is this part of Motion?]\ +\ +Motion - \ +spring (position)\ +damping (velocity)\ +inertia (acceleration)\ +} \ No newline at end of file diff --git a/software/apps/Motion/PendulumMM_2/PendulumMM_2.ino b/software/apps/Motion/PendulumMM_2/PendulumMM_2.ino index b4f24ad..4f661d1 100644 --- a/software/apps/Motion/PendulumMM_2/PendulumMM_2.ino +++ b/software/apps/Motion/PendulumMM_2/PendulumMM_2.ino @@ -44,7 +44,7 @@ void loop(){ vf += ff*tf; xf += vf*tf; - if(c++==0) // when c gets to 255 it next == 0 and send data + if(c++==0) // when c gets to 255 it's next == 0 and sends data { Serial.print(x); Serial.print(" "); diff --git a/software/apps/Motion/SandFSR/SandFSR.ino b/software/apps/Motion/SandFSR/SandFSR.ino new file mode 100644 index 0000000..5a7f522 --- /dev/null +++ b/software/apps/Motion/SandFSR/SandFSR.ino @@ -0,0 +1,26 @@ +#include + +float pos, fin, finmax, fout; +byte c; // used as a counter from 0 to 255 +int duty; + +void setup(){ + digitalWrite(A4,HIGH); + digitalWrite(A5,LOW); + pinMode(A4, INPUT); + pinMode(A5, OUTPUT); + //MotorB._period(32); +} + +void loop(){ + fin += .01*(analogRead(A4)-fin); + fout = 0.5*fin*(1024+random(1024)); + duty = min(1024,fout); + duty = abs(duty); + //duty = min(duty,1024); + MotorB.torque(duty); + if(fout<0)MotorB.direction(FORWARD); + else MotorB.direction(BACKWARD); + } + + diff --git a/software/apps/Motor/motortest/motortest.ino b/software/apps/Motor/motortest/motortest.ino new file mode 100644 index 0000000..e315554 --- /dev/null +++ b/software/apps/Motor/motortest/motortest.ino @@ -0,0 +1,20 @@ +//motortest +//.5 sec forward, .5 sec back + +#include + +int led = 13; + +void setup() +{ + MotorA.torque(511); //what is max torque? + pinMode(13, OUTPUT); +} + +void loop() +{ + MotorA.direction(FORWARD); + delay(500); + MotorA.direction(BACKWARD); + delay(500); +} diff --git a/software/apps/Motor/postest/postest.ino b/software/apps/Motor/postest/postest.ino new file mode 100644 index 0000000..c260e55 --- /dev/null +++ b/software/apps/Motor/postest/postest.ino @@ -0,0 +1,14 @@ +//position +//sends A0 (MotorA), A3 (MotorB) to Serial Monitor + +void setup() +{ + Serial.begin(9600); +} + +void loop() +{ + Serial.print(analogRead(A3)); + Serial.print(" "); + Serial.println(analogRead(A0)); +} diff --git a/software/apps/Music/Minimal/Minimal.ino b/software/apps/Music/Minimal/Minimal.ino index 6511d20..a36503a 100644 --- a/software/apps/Music/Minimal/Minimal.ino +++ b/software/apps/Music/Minimal/Minimal.ino @@ -11,7 +11,7 @@ void setup() { // We initialise the sound engine by calling Music.init() which outputs a tone Music.init(); - Music.setSquare(); + Music.setSine(); }