Getting Synched

First time after a lot of tries. -Bill

GitHowTo.rtf

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+\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\
+}

hardware/supplies.rtf

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+\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}

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 <Motor.h>
+
+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);
+    
+}
+  

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 <Motor.h>
+
+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);
+    
+}
+  

software/apps/Motion/Damp using Velocity/Damp1/Damp1.ino

@@ -1,6 +1,6 @@
 //Damp - measure velocity then f=Bv
 #import <Motor.h>
-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
 

software/apps/Motion/Damp using Velocity/Graph2/Graph2.ino

@@ -0,0 +1,28 @@
+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.write(x); // sends one byte [0-255]
+    Serial.write(v+128);
+    Serial.write(t);              
+  }
+}
+

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);
+}
+

software/apps/Motion/Damp using Velocity/VelocityPlot/VelocityPlot.maxpat

@@ -7,7 +7,7 @@
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-
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 , 			{
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@@ -321,327 +356,6 @@
 					"text" : "checks for the ascii value of newline to begin communication.  After initial communication is made, this block shuts down.  A byte is sent back to the Arduino, indicating the patch is ready to receive information."
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-									"hidden" : 0,
-									"source" : [ "obj-47", 0 ]
-								}
-
-							}
-, 							{
-								"patchline" : 								{
-									"destination" : [ "obj-41", 0 ],
-									"disabled" : 0,
-									"hidden" : 0,
-									"source" : [ "obj-58", 0 ]
-								}
-
-							}
-, 							{
-								"patchline" : 								{
-									"destination" : [ "obj-43", 0 ],
-									"disabled" : 0,
-									"hidden" : 0,
-									"source" : [ "obj-58", 0 ]
-								}
-
-							}
-, 							{
-								"patchline" : 								{
-									"destination" : [ "obj-42", 0 ],
-									"disabled" : 0,
-									"hidden" : 0,
-									"source" : [ "obj-59", 0 ]
-								}
-
-							}
-, 							{
-								"patchline" : 								{
-									"destination" : [ "obj-43", 1 ],
-									"disabled" : 0,
-									"hidden" : 0,
-									"source" : [ "obj-59", 0 ]
-								}
-
-							}
-, 							{
-								"patchline" : 								{
-									"destination" : [ "obj-45", 0 ],
-									"disabled" : 0,
-									"hidden" : 0,
-									"source" : [ "obj-60", 0 ]
-								}
-
-							}
- ],
-						"dependency_cache" : [  ]
-					}
-,
-					"patching_rect" : [ 128.0, 636.0, 269.0, 19.0 ],
-					"saved_object_attributes" : 					{
-						"fontface" : 0,
-						"fontsize" : 10.0,
-						"default_fontface" : 0,
-						"digest" : "",
-						"default_fontname" : "Verdana",
-						"fontname" : "Verdana",
-						"tags" : "",
-						"default_fontsize" : 10.0,
-						"description" : "",
-						"globalpatchername" : ""
-					}
-,
-					"text" : "p \"draw the circle\""
-				}
-
 			}
 , 			{
 				"box" : 				{
@@ -724,17 +438,6 @@
 					"text" : "sel 10"
 				}
 
-			}
-, 			{
-				"box" : 				{
-					"id" : "obj-39",
-					"maxclass" : "lcd",
-					"numinlets" : 1,
-					"numoutlets" : 4,
-					"outlettype" : [ "list", "list", "int", "" ],
-					"patching_rect" : [ 128.0, 673.0, 1000.0, 1000.0 ]
-				}
-
 			}
 , 			{
 				"box" : 				{
@@ -759,7 +462,7 @@
 					"numinlets" : 1,
 					"numoutlets" : 0,
 					"patching_rect" : [ 449.0, 596.0, 37.0, 21.0 ],
-					"text" : "val3"
+					"text" : "t"
 				}
 
 			}
@@ -786,7 +489,7 @@
 					"numinlets" : 1,
 					"numoutlets" : 0,
 					"patching_rect" : [ 321.0, 596.0, 37.0, 21.0 ],
-					"text" : "val2"
+					"text" : "v"
 				}
 
 			}
@@ -799,7 +502,7 @@
 					"numinlets" : 1,
 					"numoutlets" : 0,
 					"patching_rect" : [ 193.0, 596.0, 37.0, 21.0 ],
-					"text" : "val1"
+					"text" : "x"
 				}
 
 			}
@@ -1182,7 +885,7 @@
 			}
 , 			{
 				"patchline" : 				{
-					"destination" : [ "obj-62", 1 ],
+					"destination" : [ "obj-42", 0 ],
 					"disabled" : 0,
 					"hidden" : 0,
 					"source" : [ "obj-22", 0 ]
@@ -1191,7 +894,7 @@
 			}
 , 			{
 				"patchline" : 				{
-					"destination" : [ "obj-62", 0 ],
+					"destination" : [ "obj-41", 1 ],
 					"disabled" : 0,
 					"hidden" : 0,
 					"source" : [ "obj-23", 0 ]
@@ -1249,7 +952,16 @@
 			}
 , 			{
 				"patchline" : 				{
-					"destination" : [ "obj-62", 2 ],
+					"destination" : [ "obj-40", 0 ],
+					"disabled" : 0,
+					"hidden" : 0,
+					"source" : [ "obj-3", 0 ]
+				}
+
+			}
+, 			{
+				"patchline" : 				{
+					"destination" : [ "obj-41", 0 ],
 					"disabled" : 0,
 					"hidden" : 0,
 					"source" : [ "obj-3", 0 ]
@@ -1371,6 +1083,15 @@
 					"source" : [ "obj-4", 0 ]
 				}
 
+			}
+, 			{
+				"patchline" : 				{
+					"destination" : [ "obj-40", 1 ],
+					"disabled" : 0,
+					"hidden" : 0,
+					"source" : [ "obj-42", 0 ]
+				}
+
 			}
 , 			{
 				"patchline" : 				{
@@ -1456,15 +1177,6 @@
 					"source" : [ "obj-6", 0 ]
 				}
 
-			}
-, 			{
-				"patchline" : 				{
-					"destination" : [ "obj-39", 0 ],
-					"disabled" : 0,
-					"hidden" : 0,
-					"source" : [ "obj-62", 0 ]
-				}
-
 			}
 , 			{
 				"patchline" : 				{

software/apps/Motion/Damp using Velocity/VelositySend/VelositySend.ino

@@ -0,0 +1,41 @@
+// Velosity sends only one byte values
+
+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);
+  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) {
+    x = analogRead(A0)/4;
+    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.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);
+  }
+}
+

software/apps/Motion/Damp3/Damp3/Damp3.ino

@@ -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);
-  }
-}
-
-

software/apps/Motion/DampEuler/DampEuler.ino

@@ -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; i++) x[i]=analogRead(A0);
-}
-
-void loop(){
-  x[index] = analogRead(A0); //position measured
-  v = (x[index] - x[index++%n])/n;
-  if(index > n-1) index = 0;
-  v = buff[index] - buff[(index-n)%n];
-  if(c++==0)Serial.println(v);
-}
-  
-
-

software/apps/Motion/DampMass/DampMass/DampMass.ino

@@ -1 +0,0 @@
-//DampMass

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)\
+}

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(" ");

software/apps/Motion/SandFSR/SandFSR.ino

@@ -0,0 +1,26 @@
+#include <Motor.h>
+
+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);
+  }
+
+

software/apps/Motor/motortest/motortest.ino

@@ -0,0 +1,20 @@
+//motortest
+//.5 sec forward, .5 sec back
+
+#include <Motor.h>
+
+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);
+}

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));
+}

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();
 
 }