TEI Studio
This commit is contained in:
dviid
@@ -1,22 +0,0 @@
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// Click within the image to change
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// the value of the rectangle
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int value = 20;
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void setup(){
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size(300,400);
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stroke(value);
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background(250);
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}
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void draw(){
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value = mouseX;
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fill(value);
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stroke(value-100);
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}
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void mouseReleased() {
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ellipse(mouseX,mouseY,20,20);
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}
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@@ -1,34 +0,0 @@
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int[] altitude = { 10, 20, 30, 40, 50, 40, 30, 20, 10, 0 };
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int i;
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int s = 80;
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void setup() {
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size(800,100);
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}
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void draw(){
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background(200);
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stroke(150);
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line(0,50,799,50);
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stroke(0);
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for (i = 0; i < 9; i = i+1) {
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line(s*i,altitude[i],s*(i+1),altitude[i+1]);
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}
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line(s*9, altitude[9], s*10-1, 50);
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for (i = 0; i < 9; i = i+1) {
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ellipse(s*(i+1),altitude[i+1], 10, 10);
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}
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if (mousePressed == true) {
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int pos = (mouseX+40)/s;
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altitude[pos]=mouseY;
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}
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}
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void mouseReleased() {
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int pos = mouseX/s;
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altitude[pos]=mouseY;
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}
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@@ -1,59 +0,0 @@
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// two-dimensional array?
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// i = 1, 8;
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// int F[], // shown an height
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// x[i], //
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// constrain x[i]<x[i+1]??
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int F[] = {0,0,0,0,0,0,0,0,0,0,0};
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int x[] = {1,2,3,4,5,6,7,8,9,10,11};
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int i, ibest;
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float dist;
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void setup(){
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noFill();
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size(800,800);
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for(i=0;i<11;i=i+1){
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F[i]=int(random(-100,100));
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x[i]=80*i;
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}
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}
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void draw(){
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background(200);
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stroke(150);
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line(0,100,width,100);
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line(0,200,width,200);
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for (i = 1; i < 10; i = i+1){
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line (i*80,0,i*80,200);
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}
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stroke(0);
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for (i = 0; i < 10;i= i+1){
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line(x[i],F[i]+100,x[i+1],F[i+1]+100);
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}
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//test every F,x pair to see who is closest call it ibest;
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ibest = 1;
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dist = sq(F[0]+100-mouseY)+sq(x[0]-mouseX);
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for (i=1;i<10;i=i+1){
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if(dist > sq(F[i]+100-mouseY)+sq(x[i]-mouseX)){
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ibest = i;
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dist = sq(F[i]+100-mouseY)+sq(x[i]-mouseX);
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}
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}
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ellipse(x[ibest],F[ibest]+100,20,20);
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text (Integer.toString(ibest), mouseX+10, mouseY-12);
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text (Integer.toString(F[ibest]), mouseX+10, mouseY);
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text (Integer.toString(x[ibest]), mouseX+10, mouseY+12);
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if (mousePressed == true){
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//now use ibest to move to mouseX, mouseY
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x[ibest] = min(x[ibest+1],max(x[ibest-1],mouseX));
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F[ibest] = mouseY-100;
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}
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}
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-83
@@ -1,83 +0,0 @@
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// two-dimensional array?
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// i = 1, 8;
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// int F[], // shown an height
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// x[i], //
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// constrain x[i]<x[i+1]??
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int F[] = {0,0,0,0,0,0,0,0,0,0,0};
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int x[] = {1,2,3,4,5,6,7,8,9,10,11};
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int i, j, ibest;
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int s = 80;
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int n = 10;
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float dist;
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float FF; // forces interpolated
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float top; // terrain value (integral of forces)
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float inc; // interpolated slope ( F[i+1] - F[i] ) / s
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void setup(){
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noFill();
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size(800,800);
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for(i=0;i<11;i=i+1){
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F[i]=0;
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x[i]=80*i;
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}
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}
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void draw(){
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background(200);
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stroke(150);
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line(0,100,width,100);
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line(0,200,width,200);
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for (i = 1; i < 10; i = i+1){
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line (i*80,0,i*80,200);
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}
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stroke(0);
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for (i = 0; i < 10;i= i+1){
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line(x[i],F[i]+100,x[i+1],F[i+1]+100);
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}
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//test every F,x pair to see who is closest call it ibest;
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ibest = 1;
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dist = sq(F[0]+100-mouseY)+sq(x[0]-mouseX);
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for (i=1;i<10;i=i+1){
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if(dist > sq(F[i]+100-mouseY)+sq(x[i]-mouseX)){
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ibest = i;
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dist = sq(F[i]+100-mouseY)+sq(x[i]-mouseX);
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}
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}
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ellipse(x[ibest],F[ibest]+100,20,20);
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text (Integer.toString(ibest), mouseX+10, mouseY-12);
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text (Integer.toString(F[ibest]), mouseX+10, mouseY);
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text (Integer.toString(x[ibest]), mouseX+10, mouseY+12);
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if (mousePressed == true){
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//now use ibest to move to mouseX, mouseY
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x[ibest] = min(x[ibest+1],max(x[ibest-1],mouseX));
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F[ibest] = mouseY-100;
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}
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//plot "terrain" assuming 80 point separation of F[]'s
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pushMatrix();
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translate(0,height/2);
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/*for (i = 0; i<n; i = i+1){
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line(i*s,0,(i+1)*s,0);
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}*/
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top = 0;
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FF = F[0];
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for (i = 0; i < n; i = i+1) {
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inc = 0.001*(F[i+1]-F[i]); // increment used for plotting
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for (j = 0; j < s; j = j+1) {
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FF = FF + inc;
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top = top + FF; // j increments of inc = F diff.
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line(i*s+j,height,i*s+j,top);
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}
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}
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popMatrix();
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}
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-96
@@ -1,96 +0,0 @@
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// arrow keys for one-pixel motion
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// two-dimensional array?
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// i = 1, 8;
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// int F[], // shown an height
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// x[i], //
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// constrain x[i]<x[i+1]??
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int F[] = {0,0,0,0,0,0,0,0,0,0,0};
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int x[] = {1,2,3,4,5,6,7,8,9,10,11};
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int i, j, ibest;
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int s = 80;
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int n = 10;
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float dist;
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float FF; // forces interpolated
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float top; // terrain value (integral of forces)
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float inc; // interpolated slope ( F[i+1] - F[i] ) / s
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void setup(){
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noFill();
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size(800,800);
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for(i=0;i<11;i=i+1){
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F[i]=0;
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x[i]=80*i;
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}
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}
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void draw(){
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background(200);
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stroke(150);
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line(0,100,width,100);
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line(0,200,width,200);
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for (i = 1; i < 10; i = i+1){
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line (i*80,0,i*80,200);
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}
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stroke(0);
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for (i = 0; i < 10;i= i+1){
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line(x[i],F[i]+100,x[i+1],F[i+1]+100);
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}
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//test every F,x pair to see who is closest call it ibest;
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ibest = 1;
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dist = sq(F[0]+100-mouseY)+sq(x[0]-mouseX);
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for (i=1;i<10;i=i+1){
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if(dist > sq(F[i]+100-mouseY)+sq(x[i]-mouseX)){
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ibest = i;
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dist = sq(F[i]+100-mouseY)+sq(x[i]-mouseX);
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}
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}
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ellipse(x[ibest],F[ibest]+100,20,20);
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text (Integer.toString(ibest), mouseX+10, mouseY-12);
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text (Integer.toString(F[ibest]), mouseX+10, mouseY);
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text (Integer.toString(x[ibest]), mouseX+10, mouseY+12);
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if (mousePressed == true){
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//now use ibest to move to mouseX, mouseY
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x[ibest] = min(x[ibest+1],max(x[ibest-1],mouseX));
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F[ibest] = mouseY-100;
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}
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//plot "terrain" assuming 80 point separation of F[]'s
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pushMatrix();
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translate(0,height/2);
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/*for (i = 0; i<n; i = i+1){
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line(i*s,0,(i+1)*s,0);
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}*/
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top = 0;
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FF = F[0];
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for (i = 0; i < n; i = i+1) {
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inc = -0.001*(F[i+1]-F[i]); // increment used for plotting
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//s = x[i+1] - x[i] + 1; // variable widths!
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s = x[i+1] - x[i]; // number of increments
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for (j = 0; j < s; j = j+1) {
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FF = FF + inc;
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top = top + FF; // j increments of inc = F diff.
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line(x[i]+j,height,x[i]+j,top);
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}
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}
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popMatrix();
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}
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void keyPressed() {
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if (key == CODED) {
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if (keyCode == UP) --F[ibest];
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if (keyCode == DOWN) ++F[ibest];
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if (keyCode == RIGHT) ++x[ibest];
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if (keyCode == LEFT) --x[ibest];
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}
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}
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-83
@@ -1,83 +0,0 @@
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// two-dimensional array?
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// i = 1, 8;
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// int F[], // shown an height
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// x[i], //
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// constrain x[i]<x[i+1]??
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int F[] = {0,0,0,0,0,0,0,0,0,0,0};
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int x[] = {1,2,3,4,5,6,7,8,9,10,11};
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int i, j, ibest;
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int s = 80;
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int n = 10;
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float dist;
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float FF; // forces interpolated
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float top; // terrain value (integral of forces)
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float inc; // interpolated slope ( F[i+1] - F[i] ) / s
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void setup(){
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noFill();
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size(800,800);
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for(i=0;i<11;i=i+1){
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F[i]=0;
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x[i]=80*i;
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}
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}
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void draw(){
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background(200);
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stroke(150);
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line(0,100,width,100);
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line(0,200,width,200);
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for (i = 1; i < 10; i = i+1){
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line (i*80,0,i*80,200);
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}
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stroke(0);
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for (i = 0; i < 10;i= i+1){
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line(x[i],F[i]+100,x[i+1],F[i+1]+100);
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}
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//test every F,x pair to see who is closest call it ibest;
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ibest = 1;
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dist = sq(F[0]+100-mouseY)+sq(x[0]-mouseX);
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for (i=1;i<10;i=i+1){
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if(dist > sq(F[i]+100-mouseY)+sq(x[i]-mouseX)){
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ibest = i;
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dist = sq(F[i]+100-mouseY)+sq(x[i]-mouseX);
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}
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}
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ellipse(x[ibest],F[ibest]+100,20,20);
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text (Integer.toString(ibest), mouseX+10, mouseY-12);
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text (Integer.toString(F[ibest]), mouseX+10, mouseY);
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text (Integer.toString(x[ibest]), mouseX+10, mouseY+12);
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if (mousePressed == true){
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//now use ibest to move to mouseX, mouseY
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x[ibest] = min(x[ibest+1],max(x[ibest-1],mouseX));
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F[ibest] = mouseY - 100;
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if (mouseY < 0) F[ibest] = -100;
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if (mouseY > 200) F[ibest] = 100;
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}
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//plot "terrain" assuming 80 point separation of F[]'s
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pushMatrix();
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translate(0,height/2);
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top = 0;
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FF = F[0];
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for (i = 0; i < n; i = i+1) {
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s = x[i+1]-x[i]+1; // increment used for plotting
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inc = 0.01*(F[i+1]-F[i])/s;
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for (j = 0; j < s; j = j+1) {
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FF = FF + inc;
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top = top + FF; // j increments of inc = F diff.
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line(x[i]+j,height,x[i]+j,top);
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}
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}
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popMatrix();
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}
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||||
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||||
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-91
@@ -1,91 +0,0 @@
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// two-dimensional array?
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||||
// i = 1, 8;
|
||||
// int F[], // shown an height
|
||||
// x[i], //
|
||||
|
||||
// constrain x[i]<x[i+1]??
|
||||
|
||||
int F[] = {0,0,0,0,0,0,0,0,0,0,0};
|
||||
int x[] = {1,2,3,4,5,6,7,8,9,10,11};
|
||||
int i, j, ibest;
|
||||
int s = 80;
|
||||
int n = 10;
|
||||
float dist;
|
||||
float FF; // forces interpolated
|
||||
float top; // terrain value (integral of forces)
|
||||
float inc; // interpolated slope ( F[i+1] - F[i] ) / s
|
||||
|
||||
|
||||
void setup(){
|
||||
noFill();
|
||||
size(800,800);
|
||||
for(i=0;i<11;i=i+1){
|
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F[i]=0;
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x[i]=80*i;
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||||
}
|
||||
}
|
||||
|
||||
void draw(){
|
||||
background(200);
|
||||
stroke(150);
|
||||
line(0,100,width,100);
|
||||
line(0,200,width,200);
|
||||
for (i = 1; i < 10; i = i+1){
|
||||
line (i*80,0,i*80,200);
|
||||
}
|
||||
stroke(0);
|
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for (i = 0; i < 10;i= i+1){
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line(x[i],F[i]+100,x[i+1],F[i+1]+100);
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}
|
||||
|
||||
//test every F,x pair to see who is closest call it ibest;
|
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ibest = 1;
|
||||
dist = sq(F[0]+100-mouseY)+sq(x[0]-mouseX);
|
||||
for (i=1;i<10;i=i+1){
|
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if(dist > sq(F[i]+100-mouseY)+sq(x[i]-mouseX)){
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ibest = i;
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||||
dist = sq(F[i]+100-mouseY)+sq(x[i]-mouseX);
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}
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}
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ellipse(x[ibest],F[ibest]+100,20,20);
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text (Integer.toString(ibest), mouseX+10, mouseY-12);
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text (Integer.toString(F[ibest]), mouseX+10, mouseY);
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text (Integer.toString(x[ibest]), mouseX+10, mouseY+12);
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||||
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||||
if (mousePressed == true){
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||||
//now use ibest to move to mouseX, mouseY
|
||||
x[ibest] = min(x[ibest+1],max(x[ibest-1],mouseX));
|
||||
F[ibest] = mouseY - 100;
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||||
if (mouseY < 0) F[ibest] = -100;
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||||
if (mouseY > 200) F[ibest] = 100;
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}
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||||
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||||
//plot "terrain" assuming 80 point separation of F[]'s
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pushMatrix();
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translate(0,height/2);
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||||
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top = 0;
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FF = F[0];
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for (i = 0; i < n; i = i+1) {
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s = x[i+1]-x[i]+1; // increment used for plotting
|
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inc = 0.01*(F[i+1]-F[i])/s;
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for (j = 0; j < s; j = j+1) {
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FF = FF + inc;
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top = top + FF; // j increments of inc = F diff.
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||||
line(x[i]+j,height,x[i]+j,top);
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||||
}
|
||||
}
|
||||
popMatrix();
|
||||
}
|
||||
|
||||
void keyPressed() {
|
||||
if (key == CODED) {
|
||||
if (keyCode == UP) --F[ibest];
|
||||
if (keyCode == DOWN) ++F[ibest];
|
||||
if (keyCode == RIGHT) ++x[ibest];
|
||||
if (keyCode == LEFT) --x[ibest];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
-50
@@ -1,50 +0,0 @@
|
||||
// Profile of forces and terrain
|
||||
|
||||
int n = 10; //number of values of F calculated for each s
|
||||
int s = 80; //number of samples for each n
|
||||
int[] F = new int[11]; //course Force values
|
||||
float[] FF = new float[800]; //fine Forces interpolated
|
||||
int i,j;
|
||||
//int s = 80;
|
||||
//int n = 10;
|
||||
int pos;
|
||||
|
||||
void setup() {
|
||||
size(800,200); // double height to see what interpolation looks like
|
||||
}
|
||||
|
||||
|
||||
void draw() {
|
||||
background(200);
|
||||
stroke(150);
|
||||
line(0,50,n*s-1,50);
|
||||
stroke(0);
|
||||
|
||||
for (i = 0; i <n; i = i+1 ) {
|
||||
line(s*i, F[i], s*(i+1), F[i+1]);
|
||||
}
|
||||
|
||||
// line(s*(n-1), F[n-1], s*n, 0);
|
||||
|
||||
for (i = 0; i <9; i = i+1) {
|
||||
ellipse(s*(i+1),F[i+1], 10, 10);
|
||||
}
|
||||
|
||||
if (mousePressed == true) {
|
||||
pos = (mouseX+s/2)/s;
|
||||
F[pos]=mouseY;
|
||||
}
|
||||
// plot seg ments of curving terrain (interpolating force?)
|
||||
for (i = 0; i <n; i = i+1) {
|
||||
line(i*s,height-F[i],(i+1)*s,height);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void mouseReleased(){
|
||||
for (i = 0; i<n; i = i+1){
|
||||
line(i,height,i+s,height-j);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,49 +0,0 @@
|
||||
Ctrl c1, c2, c3;
|
||||
|
||||
void setup()
|
||||
{
|
||||
size(640, 360);
|
||||
noStroke();
|
||||
c1 = new Ctrl( 100, 100, 0);
|
||||
c2 = new Ctrl( 200, 120, 100);
|
||||
c3 = new Ctrl( 300, 130, 200);
|
||||
}
|
||||
|
||||
void draw()
|
||||
{
|
||||
background(250);
|
||||
|
||||
c1.update(mouseX, mouseY);
|
||||
c2.update(mouseX, mouseY);
|
||||
c3.update(mouseX, mouseY);
|
||||
|
||||
c1.display();
|
||||
c2.display();
|
||||
c3.display();
|
||||
|
||||
}
|
||||
|
||||
class Ctrl {
|
||||
int x, y;
|
||||
int offset;
|
||||
|
||||
Ctrl(int tx, int ty, int to) {
|
||||
x = tx;
|
||||
y = ty;
|
||||
offset = to;
|
||||
}
|
||||
|
||||
void update(int mx, int my) {
|
||||
offset = mouseX;
|
||||
}
|
||||
void display() {
|
||||
pushMatrix();
|
||||
translate(x, y);
|
||||
fill (250);
|
||||
rotate(offset);
|
||||
fill (153);
|
||||
ellipse(offset, 0, offset/2, 2*offset);
|
||||
popMatrix();
|
||||
}
|
||||
}
|
||||
|
||||
-126
@@ -1,126 +0,0 @@
|
||||
// ProfileFx
|
||||
// receives pos from Arduino
|
||||
//
|
||||
//
|
||||
// int F[],x[i], shown as height F[x] "profile"
|
||||
// then as slope of "terrain" dT = F[x]
|
||||
|
||||
|
||||
// constrains x[i]<x[i+1] -100<F<+100
|
||||
|
||||
int pos; //position from Arduino
|
||||
int F[] = {0,0,0,0,0,0,0,0,0,0,0};
|
||||
int x[] = {1,2,3,4,5,6,7,8,9,10,11};
|
||||
int i, j, ibest;
|
||||
int s = 80;
|
||||
int n = 10;
|
||||
float dist;
|
||||
float FF; // forces interpolated
|
||||
float top; // terrain value (integral of forces)
|
||||
float inc; // interpolated slope ( F[i+1] - F[i] ) / s
|
||||
|
||||
import processing.serial.*;
|
||||
int lf = 10; // Linefeed in ASCII
|
||||
String myString = null;
|
||||
Serial myPort; // The serial port
|
||||
|
||||
void setup(){
|
||||
|
||||
println(Serial.list()); // List all the available serial ports:
|
||||
myPort = new Serial(this, Serial.list()[0], 9600); // Open the port you are using at the rate you want:
|
||||
myPort.clear();
|
||||
// Throw out the first reading, in case we started reading
|
||||
// in the middle of a string from the sender.
|
||||
myString = myPort.readStringUntil(lf);
|
||||
myString = null;
|
||||
|
||||
noFill();
|
||||
size(800,800);
|
||||
for(i=0;i<11;i=i+1){
|
||||
F[i]=0;
|
||||
x[i]=80*i;
|
||||
}
|
||||
}
|
||||
|
||||
void draw( ){
|
||||
|
||||
|
||||
background(200);
|
||||
stroke(150);
|
||||
line(0,100,width,100);
|
||||
line(0,200,width,200);
|
||||
for (i = 1; i < 10; i = i+1){
|
||||
line (i*80,0,i*80,200);
|
||||
}
|
||||
|
||||
|
||||
|
||||
stroke(0);
|
||||
for (i = 0; i < 10;i= i+1){
|
||||
line(x[i],F[i]+100,x[i+1],F[i+1]+100);
|
||||
}
|
||||
|
||||
//test every F,x pair to see who is closest call it ibest;
|
||||
ibest = 1;
|
||||
dist = sq(F[0]+100-mouseY)+sq(x[0]-mouseX);
|
||||
for (i=1;i<10;i=i+1){
|
||||
if(dist > sq(F[i]+100-mouseY)+sq(x[i]-mouseX)){
|
||||
ibest = i;
|
||||
dist = sq(F[i]+100-mouseY)+sq(x[i]-mouseX);
|
||||
}
|
||||
}
|
||||
ellipse(x[ibest],F[ibest]+100,20,20);
|
||||
|
||||
text (Integer.toString(ibest), mouseX+10, mouseY-12);
|
||||
text (Integer.toString(F[ibest]), mouseX+10, mouseY);
|
||||
text (Integer.toString(x[ibest]), mouseX+10, mouseY+12);
|
||||
|
||||
if (mousePressed == true){
|
||||
//now use ibest to move to mouseX, mouseY
|
||||
x[ibest] = min(x[ibest+1],max(x[ibest-1],mouseX));
|
||||
F[ibest] = mouseY - 100;
|
||||
if (mouseY < 0) F[ibest] = -100;
|
||||
if (mouseY > 200) F[ibest] = 100;
|
||||
}
|
||||
|
||||
//plot "terrain" assuming 80 point separation of F[]'s
|
||||
pushMatrix();
|
||||
translate(0,height/2);
|
||||
|
||||
top = 0;
|
||||
FF = F[0];
|
||||
for (i = 0; i < n; i = i+1) {
|
||||
s = x[i+1]-x[i]+1; // increment used for plotting
|
||||
inc = 0.01*(F[i+1]-F[i])/s;
|
||||
for (j = 0; j < s; j = j+1) {
|
||||
FF = FF + inc;
|
||||
top = top + FF; // j increments of inc = F diff.
|
||||
line(x[i]+j,height,x[i]+j,top);
|
||||
}
|
||||
}
|
||||
popMatrix();
|
||||
|
||||
//receive pos from Arduino
|
||||
while (myPort.available() > 0) {
|
||||
myString = myPort.readStringUntil(lf);
|
||||
if (myString != null) {
|
||||
myString = trim(myString);
|
||||
pos = int(myString);
|
||||
}
|
||||
}
|
||||
// draw pos cursor
|
||||
stroke(150);
|
||||
line(pos,200,pos,800);
|
||||
|
||||
}
|
||||
|
||||
void keyPressed() {
|
||||
if (key == CODED) {
|
||||
if (keyCode == UP) --F[ibest];
|
||||
if (keyCode == DOWN) ++F[ibest];
|
||||
if (keyCode == RIGHT) ++x[ibest];
|
||||
if (keyCode == LEFT) --x[ibest];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -1,10 +0,0 @@
|
||||
//(Arduino) Profile sends pos to (Processing) ProfileFx
|
||||
|
||||
void setup(){
|
||||
Serial.begin(9600);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
Serial.println(analogRead(A0));
|
||||
delay(100);
|
||||
}
|
||||
@@ -1,91 +0,0 @@
|
||||
// two-dimensional array?
|
||||
// i = 1, 8;
|
||||
// int F[], // shown an height
|
||||
// x[i], //
|
||||
|
||||
// constrain x[i]<x[i+1]??
|
||||
|
||||
int F[] = {0,0,0,0,0,0,0,0,0,0,0};
|
||||
int x[] = {1,2,3,4,5,6,7,8,9,10,11};
|
||||
int i, j, ibest;
|
||||
int s = 80;
|
||||
int n = 10;
|
||||
float dist;
|
||||
float FF; // forces interpolated
|
||||
float top; // terrain value (integral of forces)
|
||||
float inc; // interpolated slope ( F[i+1] - F[i] ) / s
|
||||
|
||||
|
||||
void setup(){
|
||||
noFill();
|
||||
size(800,800);
|
||||
for(i=0;i<11;i=i+1){
|
||||
F[i]=0;
|
||||
x[i]=80*i;
|
||||
}
|
||||
}
|
||||
|
||||
void draw(){
|
||||
background(200);
|
||||
stroke(150);
|
||||
line(0,100,width,100);
|
||||
line(0,200,width,200);
|
||||
for (i = 1; i < 10; i = i+1){
|
||||
line (i*80,0,i*80,200);
|
||||
}
|
||||
stroke(0);
|
||||
for (i = 0; i < 10;i= i+1){
|
||||
line(x[i],F[i]+100,x[i+1],F[i+1]+100);
|
||||
}
|
||||
|
||||
//test every F,x pair to see who is closest call it ibest;
|
||||
ibest = 1;
|
||||
dist = sq(F[0]+100-mouseY)+sq(x[0]-mouseX);
|
||||
for (i=1;i<10;i=i+1){
|
||||
if(dist > sq(F[i]+100-mouseY)+sq(x[i]-mouseX)){
|
||||
ibest = i;
|
||||
dist = sq(F[i]+100-mouseY)+sq(x[i]-mouseX);
|
||||
}
|
||||
}
|
||||
ellipse(x[ibest],F[ibest]+100,20,20);
|
||||
|
||||
text (Integer.toString(ibest), mouseX+10, mouseY-12);
|
||||
text (Integer.toString(F[ibest]), mouseX+10, mouseY);
|
||||
text (Integer.toString(x[ibest]), mouseX+10, mouseY+12);
|
||||
|
||||
if (mousePressed == true){
|
||||
//now use ibest to move to mouseX, mouseY
|
||||
x[ibest] = min(x[ibest+1],max(x[ibest-1],mouseX));
|
||||
F[ibest] = mouseY - 100;
|
||||
if (mouseY < 0) F[ibest] = -100;
|
||||
if (mouseY > 200) F[ibest] = 100;
|
||||
}
|
||||
|
||||
//plot "terrain" assuming 80 point separation of F[]'s
|
||||
pushMatrix();
|
||||
translate(0,height/2);
|
||||
|
||||
top = 0;
|
||||
FF = F[0];
|
||||
for (i = 0; i < n; i = i+1) {
|
||||
s = x[i+1]-x[i]+1; // increment used for plotting
|
||||
inc = 0.01*(F[i+1]-F[i])/s;
|
||||
for (j = 0; j < s; j = j+1) {
|
||||
FF = FF + inc;
|
||||
top = top + FF; // j increments of inc = F diff.
|
||||
line(x[i]+j,height,x[i]+j,top);
|
||||
}
|
||||
}
|
||||
popMatrix();
|
||||
}
|
||||
|
||||
void keyPressed() {
|
||||
if (key == CODED) {
|
||||
if (keyCode == UP) --F[ibest];
|
||||
if (keyCode == DOWN) ++F[ibest];
|
||||
if (keyCode == RIGHT) ++x[ibest];
|
||||
if (keyCode == LEFT) --x[ibest];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
-82
@@ -1,82 +0,0 @@
|
||||
// Profile of forces and terrain
|
||||
|
||||
int n = 10; //number of values of F calculated for each s
|
||||
int s = 80; //number of samples for each n
|
||||
int[] F = new int[11]; // Force values [-512 to +511] scaled for plot?
|
||||
float FF; // forces interpolated
|
||||
float top; // terrain value (integral of forces)
|
||||
float inc; // interpolated slope ( F[i+1] - F[i] ) / s
|
||||
int i,j;
|
||||
int pos;
|
||||
int vt = 50; //vertical translation for force curve
|
||||
|
||||
|
||||
|
||||
void setup() {
|
||||
size(800,800); // double height to see what interpolation looks like
|
||||
for(i=0;i<n+1;i=i+1){
|
||||
F[i]=0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void draw() {
|
||||
background(200);
|
||||
|
||||
pushMatrix();
|
||||
translate(0,vt); // center force plot at vt
|
||||
stroke(150);
|
||||
line(0,0,n*s-1,0); // the zero force line
|
||||
|
||||
stroke(0); // the force segments
|
||||
for (i = 0; i <n; i = i+1 ) {
|
||||
line(s*i, F[i], s*(i+1), F[i+1]);
|
||||
}
|
||||
|
||||
for (i = 0; i <9; i = i+1) {
|
||||
ellipse(s*(i+1),F[i+1], 10, 10);
|
||||
}
|
||||
|
||||
if (mousePressed == true) {
|
||||
pos = (mouseX+s/2)/s;
|
||||
F[pos]=mouseY-vt;
|
||||
}
|
||||
|
||||
popMatrix();
|
||||
pushMatrix();
|
||||
translate(0,height/2);
|
||||
/*for (i = 0; i<n; i = i+1){
|
||||
line(i*s,0,(i+1)*s,0);
|
||||
}*/
|
||||
top = 0;
|
||||
FF = F[0];
|
||||
for (i = 0; i < n; i = i+1) {
|
||||
inc = 0.001*(F[i+1]-F[i]); // increment used for plotting
|
||||
for (j = 0; j < s; j = j+1) {
|
||||
FF = FF + inc;
|
||||
top = top + FF; // j increments of inc = F diff.
|
||||
line(i*s+j,height,i*s+j,top);
|
||||
}
|
||||
}
|
||||
popMatrix();
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
void mouseReleased(){
|
||||
}
|
||||
|
||||
// plot seg ments of curving terrain (interpolating force?)
|
||||
top = 50;
|
||||
for (i = 0; i <n; i = i+1) {
|
||||
inc = (F[i+1]-F[i])/s; // increment used for plotting
|
||||
for (j = 0; j < s; j = j+1){
|
||||
top = top + inc*j; // j increments of inc = F diff.
|
||||
line(i*s,height-top,i*s,height);
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
|
||||
-82
@@ -1,82 +0,0 @@
|
||||
// Profile of forces and terrain
|
||||
|
||||
int n = 10; //number of values of F calculated for each s
|
||||
int s = 80; //number of samples for each n
|
||||
int[] F = new int[11]; // Force values [-512 to +511] scaled for plot?
|
||||
float FF; // forces interpolated
|
||||
float top; // terrain value (integral of forces)
|
||||
float inc; // interpolated slope ( F[i+1] - F[i] ) / s
|
||||
int i,j;
|
||||
int pos;
|
||||
int vt = 50; //vertical translation for force curve
|
||||
|
||||
|
||||
|
||||
void setup() {
|
||||
size(800,800); // double height to see what interpolation looks like
|
||||
for(i=0;i<n+1;i=i+1){
|
||||
F[i]=0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void draw() {
|
||||
background(200);
|
||||
|
||||
pushMatrix();
|
||||
translate(0,vt); // center force plot at vt
|
||||
stroke(150);
|
||||
line(0,0,n*s-1,0); // the zero force line
|
||||
|
||||
stroke(0); // the force segments
|
||||
for (i = 0; i <n; i = i+1 ) {
|
||||
line(s*i, F[i], s*(i+1), F[i+1]);
|
||||
}
|
||||
|
||||
for (i = 0; i <9; i = i+1) {
|
||||
ellipse(s*(i+1),F[i+1], 10, 10);
|
||||
}
|
||||
|
||||
if (mousePressed == true) {
|
||||
pos = (mouseX+s/2)/s;
|
||||
F[pos]=mouseY-vt;
|
||||
}
|
||||
|
||||
popMatrix();
|
||||
pushMatrix();
|
||||
translate(0,height/2);
|
||||
/*for (i = 0; i<n; i = i+1){
|
||||
line(i*s,0,(i+1)*s,0);
|
||||
}*/
|
||||
top = 0;
|
||||
FF = F[0];
|
||||
for (i = 0; i < n; i = i+1) {
|
||||
inc = 0.001*(F[i+1]-F[i]); // increment used for plotting
|
||||
for (j = 0; j < s; j = j+1) {
|
||||
FF = FF + inc;
|
||||
top = top + FF; // j increments of inc = F diff.
|
||||
line(i*s+j,height,i*s+j,top);
|
||||
}
|
||||
}
|
||||
popMatrix();
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
void mouseReleased(){
|
||||
}
|
||||
|
||||
// plot seg ments of curving terrain (interpolating force?)
|
||||
top = 50;
|
||||
for (i = 0; i <n; i = i+1) {
|
||||
inc = (F[i+1]-F[i])/s; // increment used for plotting
|
||||
for (j = 0; j < s; j = j+1){
|
||||
top = top + inc*j; // j increments of inc = F diff.
|
||||
line(i*s,height-top,i*s,height);
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
|
||||
@@ -1,50 +0,0 @@
|
||||
// two-dimensional array?
|
||||
// i = 1, 8;
|
||||
// int F[], // shown an height
|
||||
// x[i], //
|
||||
|
||||
// constrain x[i]<x[i+1]??
|
||||
|
||||
int F[] = {0,0,0,0,0,0,0,0,0,0,0};
|
||||
int x[] = {1,2,3,4,5,6,7,8,9,10,11};
|
||||
int i, ibest;
|
||||
float dist;
|
||||
|
||||
void setup(){
|
||||
size(800,800);
|
||||
for(i=0;i<11;i=i+1){
|
||||
F[i]=int(random(200));
|
||||
x[i]=80*i;
|
||||
}
|
||||
}
|
||||
|
||||
void draw(){
|
||||
background(190);
|
||||
for (i = 0; i < 10;i= i+1){
|
||||
line(x[i],F[i],x[i+1],F[i+1]);
|
||||
}
|
||||
|
||||
//if (mousePressed == false){
|
||||
//test every F,x pair to see who is closest call it ibest;
|
||||
ibest = 1;
|
||||
dist = sq(F[0]-mouseY)+sq(x[0]*mouseX);
|
||||
for (i=1;i<10;i=i+1){
|
||||
if(dist > sq(F[i]-mouseY)+sq(x[i]-mouseX)){
|
||||
ibest = i;
|
||||
dist = sq(F[i]-mouseY)+sq(x[i]-mouseX);
|
||||
}
|
||||
}
|
||||
ellipse(x[ibest],F[ibest],20,20);
|
||||
// }
|
||||
|
||||
if (mousePressed == true){
|
||||
//now use ibest to move to mouseX, mouseY
|
||||
F[ibest] = mouseY;
|
||||
x[ibest] = min(x[ibest+1],mouseX);
|
||||
x[ibest] = max(x[ibest-1],mouseX);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -1,36 +0,0 @@
|
||||
//"Pulse" - small duration positive then negative force
|
||||
// parameters: F1, T1, D1, F2, T2, D2
|
||||
// pitch set from slider (B - A3)
|
||||
|
||||
#define BIT_DEPTH 12
|
||||
|
||||
#include <Motor.h>
|
||||
#include <Music.h>
|
||||
|
||||
void setup(){
|
||||
MotorA.init();
|
||||
Music.init();
|
||||
|
||||
Music.setWaveform(SINE);
|
||||
Music.enableEnvelope();
|
||||
Music.setAttack(10);
|
||||
Music.setDecay(10);
|
||||
Music.setRelease(10);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
//for (int i; i < 512; i + 100){
|
||||
MotorA.torque(80);
|
||||
Music.noteOn(map(analogRead(A3),0,1023,30,60));
|
||||
delay (40);
|
||||
Music.noteOff();
|
||||
MotorA.torque(0);
|
||||
delay (150);
|
||||
MotorA.torque(-70);
|
||||
Music.noteOn(map(analogRead(A3),0,1023,35,65));
|
||||
delay (40);
|
||||
Music.noteOff();
|
||||
MotorA.torque(0);
|
||||
delay (750);
|
||||
//}
|
||||
}
|
||||
@@ -1,27 +0,0 @@
|
||||
// CenterAB - both motors
|
||||
// CenterA at xB, CenterB at xA?
|
||||
// feels like "Slave"
|
||||
|
||||
#include <Motor.h>
|
||||
#include <Music.h>
|
||||
|
||||
int duty, count, fout;
|
||||
int xA, xB, foutA, foutB;
|
||||
|
||||
void setup(){
|
||||
MotorA.init();
|
||||
MotorB.init();
|
||||
Music.init();
|
||||
}
|
||||
|
||||
void loop(){
|
||||
xA = analogRead(A0);
|
||||
xB = analogRead(A3);
|
||||
|
||||
foutA = 2*(xB-xA);
|
||||
MotorA.torque(foutA);
|
||||
|
||||
foutB = 2*(xA-xB); // this will peak at x=1024/6
|
||||
MotorB.torque(foutB); // 1/4 or 1/2 ?
|
||||
|
||||
}
|
||||
@@ -1,43 +0,0 @@
|
||||
// CenterAB - both motors
|
||||
|
||||
//CenterA at xB, CenterB at xA?
|
||||
//feels like "Double Toggle"
|
||||
//position on A0, pwm:D9, dir:D8,D7
|
||||
//CenterB
|
||||
//position on A3, pwm:D10, dir:D11,D12
|
||||
|
||||
|
||||
#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*(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 ?
|
||||
|
||||
// print every 1000 cycles
|
||||
if(count++>=0){
|
||||
count=-500;
|
||||
Serial.print(xA,DEC);
|
||||
Serial.print(" ");
|
||||
Serial.print(foutA,DEC);
|
||||
Serial.print(" ");
|
||||
Serial.print(xB,DEC);
|
||||
Serial.print(" ");
|
||||
Serial.println(foutB,DEC);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,42 +0,0 @@
|
||||
// CenterAB - both motors
|
||||
|
||||
//CenterA
|
||||
//position on A0, pwm:D9, dir:D8,D7
|
||||
//CenterB
|
||||
//position on A3, pwm:D10, dir:D11,D12
|
||||
|
||||
|
||||
#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);
|
||||
foutA = 2*(512 - xA); // this will peak at x=1024/2
|
||||
MotorA.torque(foutA); // 1/4 or 1/2 ?
|
||||
|
||||
xB = analogRead(A3);
|
||||
foutB = (512 - xB); // this will peak at x=1024/6
|
||||
MotorB.torque(foutB); // 1/4 or 1/2 ?
|
||||
|
||||
// print every 1000 cycles
|
||||
if(count++>=0){
|
||||
count=-1000;
|
||||
Serial.print(xA,DEC);
|
||||
Serial.print(" ");
|
||||
Serial.print(foutA,DEC);
|
||||
Serial.print(" ");
|
||||
Serial.print(xB,DEC);
|
||||
Serial.print(" ");
|
||||
Serial.println(foutB,DEC);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,97 +0,0 @@
|
||||
//plucks - four bumps
|
||||
//three notes (400,500,600hz)
|
||||
//can't get Music.setGain1, etc to work only Music.setGain() starts all of them.
|
||||
//requires FSR attached to A
|
||||
|
||||
#define NUM_OSCILLATORS 3
|
||||
#define BIT_DEPTH 8
|
||||
|
||||
#include <Music.h>
|
||||
#include <Motor.h>
|
||||
|
||||
int x, xold, xt; // input position x, output force F
|
||||
float K = 20; // slope constant
|
||||
byte count; //for print count-down
|
||||
float fin; // scaled to be 0.0 - 1.0
|
||||
float fout; // from FSR
|
||||
|
||||
void setup(){
|
||||
Music.init();
|
||||
Music.setFrequency1(200);
|
||||
Music.setFrequency2(250);
|
||||
Music.setFrequency3(300);
|
||||
|
||||
//FSR-A
|
||||
pinMode(A1,INPUT);
|
||||
digitalWrite(A1,HIGH); //set pull-up
|
||||
pinMode(4,OUTPUT);
|
||||
digitalWrite(4,LOW);
|
||||
//FSR-B
|
||||
pinMode(A4,INPUT);
|
||||
digitalWrite(A4,HIGH); //set pull-up
|
||||
pinMode(5,OUTPUT);
|
||||
digitalWrite(5,LOW);
|
||||
|
||||
Serial.begin(9600);
|
||||
|
||||
MotorA.init();
|
||||
|
||||
Serial.begin(9600);
|
||||
x = analogRead(A0); // initialize x
|
||||
}
|
||||
|
||||
void loop(){
|
||||
xold = x;
|
||||
x = analogRead(A0);
|
||||
|
||||
// did xold - x include 125, 375, 625, 875? or x%250 = 125
|
||||
|
||||
if (((xold <= 125) && (x > 125)) || ((xold >= 125) && (x < 125))){
|
||||
Music.setGain1(fin*fin);
|
||||
Music.setFrequency1(200);
|
||||
}
|
||||
if (((xold <= 375) && (x > 375)) || ((xold >= 375) && (x < 375))){
|
||||
Music.setGain2(fin*fin);
|
||||
//Music.setFrequency(250);
|
||||
}
|
||||
if (((xold <= 625) && (x > 625)) || ((xold >= 625) && (x < 625))){
|
||||
Music.setGain3(fin*fin);
|
||||
//Music.setFrequency(300);
|
||||
}
|
||||
if (((xold <= 875) && (x > 875)) || ((xold >= 875) && (x < 875))){
|
||||
Music.setGain1(fin*fin);
|
||||
Music.setFrequency1(400);
|
||||
}
|
||||
else{
|
||||
Music.setGain1(0.995f*Music.getGain1());
|
||||
Music.setGain2(0.995f*Music.getGain2());
|
||||
Music.setGain3(0.995f*Music.getGain3());
|
||||
}
|
||||
fin = 1000 - analogRead(A1); // invert and shift
|
||||
fin = max (0, fin); // make sure it's > 0
|
||||
fin = min (1023, fin); // and < 1023
|
||||
fin = fin/1000; // scale 0-1.0
|
||||
fin = fin*fin; //square it for more effect near 1.0.
|
||||
xt = x % 250; //same force for each 250 ranage
|
||||
fout = 0;
|
||||
if (xt > 60) fout = - K * (xt - 60);
|
||||
if (xt > 80) fout = - K * (100 - xt);
|
||||
if (xt > 120) fout = K * (140 - xt);
|
||||
if (xt > 140) fout = 0;
|
||||
fout = fout * fin;
|
||||
MotorA.torque(fout);
|
||||
|
||||
|
||||
// print every 256 cycles
|
||||
if(count++==0){
|
||||
Serial.print(x);
|
||||
Serial.print(" ");
|
||||
Serial.print(xt);
|
||||
Serial.print(" ");
|
||||
Serial.print(fin);
|
||||
Serial.print(" ");
|
||||
Serial.println(fout);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -1,98 +0,0 @@
|
||||
//plucks - four bumps
|
||||
//three notes (400,500,600hz)
|
||||
//can't get Music.setGain1, etc to work only Music.setGain() starts all of them.
|
||||
//requires FSR attached to A
|
||||
|
||||
#define NUM_OSCILLATORS 3
|
||||
#define BIT_DEPTH 8
|
||||
|
||||
#include <Music.h>
|
||||
#include <Motor.h>
|
||||
|
||||
int x, xold, xt; // input position x, output force F
|
||||
float K = 20; // slope constant
|
||||
byte count; //for print count-down
|
||||
float fin; // scaled to be 0.0 - 1.0
|
||||
float fout; // from FSR
|
||||
|
||||
void setup(){
|
||||
Music.init();
|
||||
Music.setFrequency1(200);
|
||||
Music.setFrequency2(250);
|
||||
Music.setFrequency3(300);
|
||||
|
||||
//FSR-A
|
||||
pinMode(A1,INPUT);
|
||||
digitalWrite(A1,HIGH); //set pull-up
|
||||
pinMode(4,OUTPUT);
|
||||
digitalWrite(4,LOW);
|
||||
//FSR-B
|
||||
pinMode(A4,INPUT);
|
||||
digitalWrite(A4,HIGH); //set pull-up
|
||||
pinMode(5,OUTPUT);
|
||||
digitalWrite(5,LOW);
|
||||
|
||||
Serial.begin(9600);
|
||||
|
||||
MotorA.init();
|
||||
|
||||
Serial.begin(9600);
|
||||
x = analogRead(A0); // initialize x
|
||||
}
|
||||
|
||||
void loop(){
|
||||
xold = x;
|
||||
x = analogRead(A0);
|
||||
|
||||
// did xold - x include 125, 375, 625, 875? or x%250 = 125
|
||||
|
||||
if (((xold <= 125) && (x > 125)) || ((xold >= 125) && (x < 125))){
|
||||
Music.setGain1(1.0);//Music.setGain1(fin*fin);
|
||||
Music.setFrequency1(200);
|
||||
}
|
||||
if (((xold <= 375) && (x > 375)) || ((xold >= 375) && (x < 375))){
|
||||
Music.setGain2(1.0);//Music.setGain2(fin*fin);
|
||||
//Music.setFrequency(250);
|
||||
}
|
||||
if (((xold <= 625) && (x > 625)) || ((xold >= 625) && (x < 625))){
|
||||
Music.setGain3(1.0);//Music.setGain3(fin*fin);
|
||||
//Music.setFrequency(300);
|
||||
}
|
||||
if (((xold <= 875) && (x > 875)) || ((xold >= 875) && (x < 875))){
|
||||
Music.setGain1(1.0);//Music.setGain1(fin*fin);
|
||||
Music.setFrequency1(400);
|
||||
}
|
||||
else{
|
||||
Music.setGain1(0.995f*Music.getGain1());
|
||||
Music.setGain2(0.995f*Music.getGain2());
|
||||
Music.setGain3(0.995f*Music.getGain3());
|
||||
}
|
||||
fin = 1000 - analogRead(A1); // invert and shift
|
||||
fin = max (0, fin); // make sure it's > 0
|
||||
fin = min (1023, fin); // and < 1023
|
||||
fin = fin/1000; // scale 0-1.0
|
||||
fin = fin*fin; //square it for more effect near 1.0.
|
||||
xt = x % 250; //same force for each 250 ranage
|
||||
fout = 0;
|
||||
if (xt > 60) fout = - K * (xt - 60);
|
||||
if (xt > 80) fout = - K * (100 - xt);
|
||||
if (xt > 120) fout = K * (140 - xt);
|
||||
if (xt > 140) fout = 0;
|
||||
//fout = fout * fin;
|
||||
fout = fout;
|
||||
MotorA.torque(fout);
|
||||
|
||||
|
||||
// print every 256 cycles
|
||||
if(count++==0){
|
||||
Serial.print(x);
|
||||
Serial.print(" ");
|
||||
Serial.print(xt);
|
||||
Serial.print(" ");
|
||||
Serial.print(fin);
|
||||
Serial.print(" ");
|
||||
Serial.println(fout);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -1,37 +0,0 @@
|
||||
// FSR A and B
|
||||
// stick-slip
|
||||
|
||||
#include <Motor.h>
|
||||
int xA, finA, foutA; //fout gets too big if fout=fin*x;
|
||||
float x, fin, fout;
|
||||
byte c;
|
||||
|
||||
void setup(){
|
||||
//FSR-A
|
||||
pinMode(A1,INPUT);
|
||||
digitalWrite(A1,HIGH); //set pull-up
|
||||
pinMode(4,OUTPUT);
|
||||
digitalWrite(4,LOW);
|
||||
//FSR-B
|
||||
pinMode(A4,INPUT);
|
||||
digitalWrite(A4,HIGH); //set pull-up
|
||||
pinMode(5,OUTPUT);
|
||||
digitalWrite(5,LOW);
|
||||
|
||||
//Motors
|
||||
MotorA.init();
|
||||
MotorB.init();
|
||||
|
||||
Serial.begin(9600);
|
||||
}
|
||||
void loop(){
|
||||
x = 512 - analogRead(A0); //in:[0,1023] out: [-512,511]
|
||||
fin = 1024 - analogRead(A1); //in:[1023,0] out [0,1023]
|
||||
fout = x*fin/500;
|
||||
MotorA.torque(fout);
|
||||
|
||||
x = 512 - analogRead(A3); //in:[0,1023] out: [-512,511]
|
||||
fin = 1024 - analogRead(A4); //in:[1023,0] out [0,1023]
|
||||
fout = x*fin/500;
|
||||
MotorB.torque(fout);
|
||||
}
|
||||
@@ -1,20 +0,0 @@
|
||||
// FSR A and B test
|
||||
void setup(){
|
||||
//FSR-A
|
||||
pinMode(A1,INPUT);
|
||||
digitalWrite(A1,HIGH); //set pull-up
|
||||
pinMode(4,OUTPUT);
|
||||
digitalWrite(4,LOW);
|
||||
//FSR-B
|
||||
pinMode(A4,INPUT);
|
||||
digitalWrite(A4,HIGH); //set pull-up
|
||||
pinMode(5,OUTPUT);
|
||||
digitalWrite(5,LOW);
|
||||
|
||||
Serial.begin(9600);
|
||||
}
|
||||
void loop(){
|
||||
Serial.print(analogRead(A1));
|
||||
Serial.print(" ");
|
||||
Serial.println(analogRead(A4));
|
||||
}
|
||||
@@ -1,17 +0,0 @@
|
||||
void setup(){
|
||||
pinMode(A1,INPUT);
|
||||
pinMode(4,OUTPUT);
|
||||
digitalWrite(4,LOW); //sets ground
|
||||
digitalWrite(A1,HIGH); //sets pull-up
|
||||
}
|
||||
void loop(){
|
||||
digitalWrite(A1,LOW);
|
||||
digitalWrite(4,HIGH);
|
||||
delay(1000);
|
||||
digitalWrite(A1,HIGH);
|
||||
digitalWrite(4,LOW);
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
//does D4 actually go 5v to GND?
|
||||
//yes, if D4 is OUTPUT.
|
||||
@@ -1,36 +0,0 @@
|
||||
//HumpFSR-A
|
||||
//same as CenterFSR-A with sign reversal
|
||||
//position on A0, pwm:D9, dir:D8,D7
|
||||
//FSR on A1 and D4
|
||||
|
||||
// BUZZ! (float vs int?)
|
||||
#include "Motor.h"
|
||||
|
||||
int x, duty, fin;
|
||||
float fout;
|
||||
byte count; // used as counter
|
||||
|
||||
void setup(){
|
||||
Serial.begin(9600);
|
||||
MotorA.init();
|
||||
//for FSR
|
||||
pinMode(A1,INPUT);
|
||||
digitalWrite(A1,HIGH);
|
||||
pinMode(4,OUTPUT);
|
||||
digitalWrite(4,LOW);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
fin = 1024 - analogRead(A1);
|
||||
x = analogRead(A0)-512;
|
||||
fout = .004*(float(fin)*float(x));
|
||||
duty = min(1023,fout);
|
||||
MotorA.torque(fout);
|
||||
if(count++ == 0){
|
||||
Serial.print(x,DEC);
|
||||
Serial.print(" ");
|
||||
Serial.print(fin,DEC);
|
||||
Serial.print(" ");
|
||||
Serial.println(fout,DEC);
|
||||
}
|
||||
}
|
||||
@@ -1,33 +0,0 @@
|
||||
#include "Motor.h"
|
||||
|
||||
int x; //position
|
||||
float fin; //from hall-sensor [ wired GND to A1 ]
|
||||
float fout; //force
|
||||
int duty; // max 1024
|
||||
byte c; // counter to send data every 256 cycles
|
||||
|
||||
void setup(){
|
||||
MotorA.init();
|
||||
pinMode(A1,INPUT); //used for FSR [A1 to D4]
|
||||
pinMode(4,OUTPUT); //used for FSR as GND
|
||||
digitalWrite(A1,HIGH); //enable pull-up resistor
|
||||
digitalWrite(4,LOW); //GND for FSR
|
||||
//TimerOne
|
||||
Serial.begin(9600);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
fin = analogRead(A1) - 1000;
|
||||
//fout = random(fin);
|
||||
fout = 2*fin + random(fin); // range [0,4096];
|
||||
fout = fout/3;
|
||||
MotorA.torque(fout);
|
||||
// Timer1.pwm(9,duty); //output force
|
||||
|
||||
if(c++==0){
|
||||
Serial.print(fin);
|
||||
Serial.print(" ");
|
||||
Serial.println(fout);
|
||||
}
|
||||
}
|
||||
|
||||
Binary file not shown.
@@ -1,13 +0,0 @@
|
||||
{\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 32K flash program memory 8-bit bytes\
|
||||
8K/sec = 4 seconds\
|
||||
\
|
||||
use 20K ?\
|
||||
\
|
||||
granular synthesis is like wave-table synthesis but with playing only a selection and windowing it\
|
||||
the stored wave-table could be a piece of bird-call and you could play a piece by feeling it - i.e. create a "haptic-landscape" that let's you feel what part of the wave you are on.}
|
||||
@@ -1,20 +0,0 @@
|
||||
//"Pulse" - small duration positive then negative force
|
||||
// parameters: F1, T1, D1, F2, T2, D2
|
||||
#include <Motor.h>
|
||||
|
||||
void setup(){
|
||||
MotorB.init();
|
||||
}
|
||||
|
||||
void loop(){
|
||||
//for (int i; i < 512; i + 100){
|
||||
MotorB.torque(10);
|
||||
delay (20);
|
||||
MotorB.torque(0);
|
||||
delay (150);
|
||||
MotorB.torque(-50);
|
||||
delay (40);
|
||||
MotorB.torque(0);
|
||||
delay (750);
|
||||
//}
|
||||
}
|
||||
@@ -1,35 +0,0 @@
|
||||
//"Pulse" - small duration positive then negative force
|
||||
// parameters: F1, T1, D1, F2, T2, D2
|
||||
|
||||
#define BIT_DEPTH 12
|
||||
|
||||
#include <Motor.h>
|
||||
#include <Music.h>
|
||||
|
||||
void setup(){
|
||||
MotorB.init();
|
||||
Music.init();
|
||||
|
||||
Music.setWaveform(SINE);
|
||||
Music.enableEnvelope();
|
||||
Music.setAttack(10);
|
||||
Music.setDecay(10);
|
||||
Music.setRelease(10);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
//for (int i; i < 512; i + 100){
|
||||
MotorB.torque(40);
|
||||
Music.noteOn(map(analogRead(A3),0,1023,30,60));
|
||||
delay (20);
|
||||
Music.noteOff();
|
||||
MotorB.torque(0);
|
||||
delay (150);
|
||||
MotorB.torque(-70);
|
||||
Music.noteOn(map(analogRead(A3),0,1023,35,65));
|
||||
delay (40);
|
||||
Music.noteOff();
|
||||
MotorB.torque(0);
|
||||
delay (750);
|
||||
//}
|
||||
}
|
||||
@@ -1,17 +0,0 @@
|
||||
//read position A0 FSR A1
|
||||
|
||||
void setup(){
|
||||
Serial.begin(9600);
|
||||
pinMode(A0,INPUT);
|
||||
//for FSR
|
||||
pinMode(A1,INPUT);
|
||||
digitalWrite(A1,HIGH);
|
||||
pinMode(4,OUTPUT);
|
||||
digitalWrite(4,LOW);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
Serial.print(analogRead(A0));
|
||||
Serial.print(" ");
|
||||
Serial.println(analogRead(A1));
|
||||
}
|
||||
@@ -1,11 +0,0 @@
|
||||
//slider test
|
||||
#include <Motor.h>
|
||||
void setup(){
|
||||
Serial.begin(9600);
|
||||
MotorA.init();
|
||||
}
|
||||
void loop(){
|
||||
MotorA.torque(analogRead(A0));
|
||||
Serial.println(analogRead(A0));
|
||||
}
|
||||
|
||||
@@ -1,148 +0,0 @@
|
||||
{\rtf1\ansi\ansicpg1252\cocoartf1138\cocoasubrtf510
|
||||
{\fonttbl\f0\fmodern\fcharset0 Courier;}
|
||||
{\colortbl;\red255\green255\blue255;}
|
||||
\margl1440\margr1440\vieww10800\viewh8400\viewkind0
|
||||
\deftab720
|
||||
\pard\pardeftab720
|
||||
|
||||
\f0\fs24 \cf0 /* fscale\
|
||||
Floating Point Autoscale Function V0.1\
|
||||
Paul Badger 2007\
|
||||
Modified from code by Greg Shakar\
|
||||
\
|
||||
This function will scale one set of floating point numbers (range) to another set of floating point numbers (range)\
|
||||
It has a "curve" parameter so that it can be made to favor either the end of the output. (Logarithmic mapping)\
|
||||
\
|
||||
It takes 6 parameters\
|
||||
\
|
||||
originalMin - the minimum value of the original range - this MUST be less than origninalMax\
|
||||
originalMax - the maximum value of the original range - this MUST be greater than orginalMin\
|
||||
\
|
||||
newBegin - the end of the new range which maps to orginalMin - it can be smaller, or larger, than newEnd, to facilitate inverting the ranges\
|
||||
newEnd - the end of the new range which maps to originalMax - it can be larger, or smaller, than newBegin, to facilitate inverting the ranges\
|
||||
\
|
||||
inputValue - the variable for input that will mapped to the given ranges, this variable is constrained to originaMin <= inputValue <= originalMax\
|
||||
curve - curve is the curve which can be made to favor either end of the output scale in the mapping. Parameters are from -10 to 10 with 0 being\
|
||||
a linear mapping (which basically takes curve out of the equation)\
|
||||
\
|
||||
To understand the curve parameter do something like this: \
|
||||
\
|
||||
void loop()\{\
|
||||
for ( j=0; j < 200; j++)\{\
|
||||
scaledResult = fscale( 0, 200, 0, 200, j, -1.5);\
|
||||
\
|
||||
Serial.print(j, DEC); \
|
||||
Serial.print(" "); \
|
||||
Serial.println(scaledResult, DEC); \
|
||||
\} \
|
||||
\}\
|
||||
\
|
||||
And try some different values for the curve function - remember 0 is a neutral, linear mapping\
|
||||
\
|
||||
To understand the inverting ranges, do something like this:\
|
||||
\
|
||||
void loop()\{\
|
||||
for ( j=0; j < 200; j++)\{\
|
||||
scaledResult = fscale( 0, 200, 200, 0, j, 0);\
|
||||
\
|
||||
// Serial.print lines as above\
|
||||
\
|
||||
\} \
|
||||
\}\
|
||||
\
|
||||
*/\
|
||||
\
|
||||
\
|
||||
#include <math.h>\
|
||||
\
|
||||
int j;\
|
||||
float scaledResult; \
|
||||
\
|
||||
void setup() \{\
|
||||
Serial.begin(9600);\
|
||||
\}\
|
||||
\
|
||||
void loop()\{\
|
||||
for ( j=0; j < 200; j++)\{\
|
||||
scaledResult = fscale( 0, 200, 0, 200, j, -1.5);\
|
||||
\
|
||||
Serial.print(j, DEC); \
|
||||
Serial.print(" "); \
|
||||
Serial.println(scaledResult , DEC); \
|
||||
\} \
|
||||
\}\
|
||||
\
|
||||
float fscale( float originalMin, float originalMax, float newBegin, float\
|
||||
newEnd, float inputValue, float curve)\{\
|
||||
\
|
||||
float OriginalRange = 0;\
|
||||
float NewRange = 0;\
|
||||
float zeroRefCurVal = 0;\
|
||||
float normalizedCurVal = 0;\
|
||||
float rangedValue = 0;\
|
||||
boolean invFlag = 0;\
|
||||
\
|
||||
\
|
||||
// condition curve parameter\
|
||||
// limit range\
|
||||
\
|
||||
if (curve > 10) curve = 10;\
|
||||
if (curve < -10) curve = -10;\
|
||||
\
|
||||
curve = (curve * -.1) ; // - invert and scale - this seems more intuitive - postive numbers give more weight to high end on output \
|
||||
curve = pow(10, curve); // convert linear scale into lograthimic exponent for other pow function\
|
||||
\
|
||||
/*\
|
||||
Serial.println(curve * 100, DEC); // multply by 100 to preserve resolution \
|
||||
Serial.println(); \
|
||||
*/\
|
||||
\
|
||||
// Check for out of range inputValues\
|
||||
if (inputValue < originalMin) \{\
|
||||
inputValue = originalMin;\
|
||||
\}\
|
||||
if (inputValue > originalMax) \{\
|
||||
inputValue = originalMax;\
|
||||
\}\
|
||||
\
|
||||
// Zero Refference the values\
|
||||
OriginalRange = originalMax - originalMin;\
|
||||
\
|
||||
if (newEnd > newBegin)\{ \
|
||||
NewRange = newEnd - newBegin;\
|
||||
\}\
|
||||
else\
|
||||
\{\
|
||||
NewRange = newBegin - newEnd; \
|
||||
invFlag = 1;\
|
||||
\}\
|
||||
\
|
||||
zeroRefCurVal = inputValue - originalMin;\
|
||||
normalizedCurVal = zeroRefCurVal / OriginalRange; // normalize to 0 - 1 float\
|
||||
\
|
||||
/*\
|
||||
Serial.print(OriginalRange, DEC); \
|
||||
Serial.print(" "); \
|
||||
Serial.print(NewRange, DEC); \
|
||||
Serial.print(" "); \
|
||||
Serial.println(zeroRefCurVal, DEC); \
|
||||
Serial.println(); \
|
||||
*/\
|
||||
\
|
||||
// Check for originalMin > originalMax - the math for all other cases i.e. negative numbers seems to work out fine \
|
||||
if (originalMin > originalMax ) \{\
|
||||
return 0;\
|
||||
\}\
|
||||
\
|
||||
if (invFlag == 0)\{\
|
||||
rangedValue = (pow(normalizedCurVal, curve) * NewRange) + newBegin;\
|
||||
\
|
||||
\}\
|
||||
else // invert the ranges\
|
||||
\{ \
|
||||
rangedValue = newBegin - (pow(normalizedCurVal, curve) * NewRange); \
|
||||
\}\
|
||||
\
|
||||
return rangedValue;\
|
||||
\}\
|
||||
}
|
||||
@@ -1,22 +0,0 @@
|
||||
//motortest
|
||||
//.5 sec forward, .5 sec back
|
||||
|
||||
#include <Motor.h>
|
||||
|
||||
void setup()
|
||||
{
|
||||
MotorA.init();
|
||||
MotorB.init();
|
||||
MotorA.torque(40); // small force for Plank
|
||||
MotorB.torque(200); // need 200 for Fader
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
MotorA.direction(FORWARD);
|
||||
MotorB.direction(FORWARD);
|
||||
delay(500);
|
||||
MotorA.direction(BACKWARD);
|
||||
MotorB.direction(BACKWARD);
|
||||
delay(500);
|
||||
}
|
||||
@@ -1,27 +0,0 @@
|
||||
// step response of second order system
|
||||
// m mass, k spring, b damping
|
||||
|
||||
float xPos = 0.0;
|
||||
float yPos = 0.0;
|
||||
float xVel = 0.0;
|
||||
float T = 0.1;
|
||||
float koverm = 0.1;
|
||||
float boverm = 0.01;
|
||||
|
||||
int x, y; // variables at mouse- and screen-resolution
|
||||
|
||||
void setup() { // setup() runs once
|
||||
size(800, 500);
|
||||
frameRate(30);
|
||||
}
|
||||
|
||||
void draw() { // draw() loops forever, until stopped
|
||||
xPos = width/2;
|
||||
xVel = 0.0;
|
||||
background(204);
|
||||
for(int y=0; y < height; y = y +1) {
|
||||
xVel += koverm * (mouseX - xPos) * T - boverm * xVel; //a=F/m
|
||||
xPos += xVel * T;
|
||||
point(xPos, y);
|
||||
}
|
||||
}
|
||||
@@ -1,44 +0,0 @@
|
||||
//Center
|
||||
//uses a variable force (pwm duty)
|
||||
//If it feels like a mountain - pushing away from center, then
|
||||
//reverse the motor leads
|
||||
//or for a quick fix in the code: change if(f < 0) to if (f > 0)
|
||||
|
||||
#include "Motor.h"
|
||||
#include "Music.h"
|
||||
|
||||
int posA, posB; // position from analogRead
|
||||
int forceA, forceB; // computed from pos and k
|
||||
int kA, kB = 2; // spring constant
|
||||
//int duty; // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
|
||||
|
||||
void setup()
|
||||
{
|
||||
MotorA.init();
|
||||
MotorB.init();
|
||||
Music.init();
|
||||
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
|
||||
posA = analogRead(A0);
|
||||
posB = analogRead(A3);
|
||||
|
||||
Music.setFrequency1(posA);
|
||||
Music.setFrequency2(posB);
|
||||
|
||||
forceA = - kA * (512 - posA);
|
||||
forceB = - kB * (512 - posB);
|
||||
//duty = abs(force);
|
||||
//duty = min(512, duty);
|
||||
|
||||
MotorA.torque(forceA); //force can be -512 to +511
|
||||
MotorB.torque(forceB); //force can be -512 to +511
|
||||
|
||||
//if(force < 0) MotorA.direction(FORWARD);
|
||||
//else MotorA.direction(BACKWARD);
|
||||
|
||||
}
|
||||
|
||||
@@ -1,34 +0,0 @@
|
||||
//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 = 10; // spring constant
|
||||
int duty; // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
|
||||
|
||||
void setup()
|
||||
{
|
||||
MotorA.init();
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
|
||||
pos = analogRead(A0);
|
||||
|
||||
force = k * (512 - pos);
|
||||
duty = abs(force);
|
||||
duty = min(511, duty);
|
||||
|
||||
MotorA.torque(duty);
|
||||
|
||||
if(force < 0) MotorA.direction(FORWARD);
|
||||
else MotorA.direction(BACKWARD);
|
||||
|
||||
}
|
||||
|
||||
@@ -1,36 +0,0 @@
|
||||
//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);
|
||||
|
||||
}
|
||||
|
||||
@@ -1,41 +0,0 @@
|
||||
//Center two motors control two frequencies. (jb&bv 25Jan13)
|
||||
//uses a variable force (pwm duty)
|
||||
//If it feels like a mountain - pushing away from center, then
|
||||
//reverse the motor leads or the sign of forceA or forceB
|
||||
//or for a quick fix in the code: change if(f < 0) to if (f > 0)
|
||||
|
||||
// notes to me (bv)
|
||||
|
||||
#include "Motor.h"
|
||||
#include "Music.h"
|
||||
|
||||
int posA, posB; // position from analogRead
|
||||
int forceA, forceB; // computed from pos and k
|
||||
int kA = 2; // spring constant
|
||||
int kB = 2; // spring constant
|
||||
//int duty; // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
|
||||
|
||||
void setup()
|
||||
{
|
||||
MotorA.init();
|
||||
Music.init(); // 12-bit sine default (see .cpp file)
|
||||
//Music.setWaveform(0); // only works with 8bit waveforms
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
|
||||
posA = analogRead(A0);
|
||||
posB = analogRead(A3);
|
||||
|
||||
Music.setFrequency1(posA);
|
||||
Music.setFrequency2(posB);
|
||||
|
||||
forceA = - kA * (512 - posA); // check wiring???
|
||||
forceB = kB * (512 - posB);
|
||||
|
||||
MotorA.torque(forceA); // forceA [-512 to +511] ???
|
||||
MotorB.torque(forceB);
|
||||
|
||||
}
|
||||
|
||||
@@ -1,23 +0,0 @@
|
||||
//Damp - measure velocity then f=Bv
|
||||
#import <Motor.h>
|
||||
int x; //position measured - then filtered
|
||||
float v, f, t, xold; //velocity, force, time delta
|
||||
byte c; //for debug print every 256th loop
|
||||
|
||||
void setup(){
|
||||
Serial.begin(9600);
|
||||
xold = analogRead(A0);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
x = analogRead(A0);
|
||||
v = x - xold; //lag v, too?
|
||||
xold += 0.1*(x-xold); //slide xold with lag
|
||||
|
||||
if(c++==0){
|
||||
//Serial.print(xold);
|
||||
//Serial.print(" ");
|
||||
Serial.println(100*v);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,28 +0,0 @@
|
||||
//Damp 2 with running average position
|
||||
|
||||
#define n 10 //number in buffer
|
||||
int x; //position measured
|
||||
float xf; // running average on n samples
|
||||
int buff[n];
|
||||
int index = 0;
|
||||
float v, oldavg; // estimate of velocity
|
||||
byte c;
|
||||
|
||||
void setup(){
|
||||
Serial.begin(9600);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
buff[index] = analogRead(A0);
|
||||
index++;
|
||||
if(index > n-1) index = 0;
|
||||
int acc = 0;
|
||||
for(int i=0; i<n; i++)acc+=buff[i];
|
||||
float avg = acc/n;
|
||||
v = avg - oldavg;
|
||||
oldavg = avg;
|
||||
if(c++==0)Serial.println(v);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -1,20 +0,0 @@
|
||||
//Damp3 trying integration to get velocity
|
||||
// ala Kalman filtering?
|
||||
|
||||
int x; //position measured [0-1023]
|
||||
float af, vf //acceleration, velocity estimates
|
||||
float ff // force out
|
||||
float K = 1.0 //spring
|
||||
float B = 10.0 //damping (dominant)
|
||||
float M = 1.0 //mass
|
||||
|
||||
void setup(){
|
||||
Serial.begin(115200);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
x = analogRead(A0);
|
||||
ff = K*(xf-x) - B*vf; // the spring K
|
||||
af = ff/M;
|
||||
vf += af*T; //T is cycle time
|
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xf += vf*T;
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@@ -1,783 +0,0 @@
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@@ -1,28 +0,0 @@
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int x, v, t; //position velocity time
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#define n 10
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int xtab[n]; //table of x
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int i; // index for table
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void setup()
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{
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// start serial port at 9600 bps:
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void loop()
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{
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if (Serial.available() > 0) {
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x = analogRead(A0)/4; //just for this test
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xtab[i] = x; //put it in array of x
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i = i + 1; //index to last x (9 times ago)
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if(i>9)i=0; //increment index
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v = x - xtab[i]; //difference x vs old x
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t = (t+1)%256;
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// send sensor values:
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Serial.write(x); // sends one byte [0-255]
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Serial.write(v+128);
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Serial.write(t);
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File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -1,29 +0,0 @@
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int x, v, t; //position velocity time
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#define n 10
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int xtab[n]; //table of x
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int i; // index for table
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void setup()
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{
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// start serial port at 9600 bps:
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Serial.begin(9600);
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}
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void loop()
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{
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// if we get a valid byte, read analog ins:
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//if (Serial.available() > 0) {
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x = analogRead(A0)/4; //just for this test
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xtab[i] = x; //put it in array of x
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i = i + 1; //index to last x (9 times ago)
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if(i>9)i=0; //increment index
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v = x - xtab[i]; //difference x vs old x
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t = (t+1)%256;
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// send sensor values:
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Serial.print(x); // sends one byte [0-255]
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Serial.print(",");
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Serial.print(v+128);
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Serial.print(",");
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Serial.println(t);
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File diff suppressed because it is too large
Load Diff
@@ -1,41 +0,0 @@
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// Velosity sends only one byte values
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#define n 10
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int xtab[n]; //table of x
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int i; // index for table
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void setup()
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{
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// start serial port at 9600 bps:
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Serial.begin(9600);
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establishContact(); // send a byte to establish contact until receiver responds
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void loop()
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{
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// if we get a valid byte, read analog ins:
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if (Serial.available() > 0) {
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x = analogRead(A0)/4;
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xtab[i] = x; //put it in array of x
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i = i + 1; //index to last x (9 times ago)
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if(i>9)i=0; //increment index
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v = x - xtab[i]; //difference x vs old x
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t = (t+1)%256;
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// send sensor values:
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Serial.write(x);
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Serial.write(",");
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Serial.write(v+128);
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Serial.write(",");
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Serial.write(t);
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}
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}
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void establishContact() {
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while (Serial.available() <= 0) {
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Serial.println("0,0,0"); // send an initial string
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delay(300);
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File diff suppressed because it is too large
Load Diff
@@ -1,28 +0,0 @@
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int x, v, t; //position velocity time
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#define n 10
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int xtab[n]; //table of x
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int i; // index for table
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void setup()
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{
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// start serial port at 9600 bps:
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Serial.begin(9600);
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}
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void loop()
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{
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if (Serial.available() > 0) {
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x = analogRead(A0)/4; //just for this test
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xtab[i] = x; //put it in array of x
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v = x - xtab[i]; //difference x vs old x
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t = (t+1)%256;
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// send sensor values:
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Serial.write(x); // sends one byte [0-255]
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Serial.write(v+128);
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Serial.write(t);
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@@ -1,26 +0,0 @@
|
||||
{\rtf1\ansi\ansicpg1252\cocoartf1138\cocoasubrtf510
|
||||
{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
|
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{\colortbl;\red255\green255\blue255;}
|
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\margl1440\margr1440\vieww10800\viewh8400\viewkind0
|
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\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)\
|
||||
}
|
||||
@@ -1,55 +0,0 @@
|
||||
#include <Motion.h>
|
||||
|
||||
/*
|
||||
|
||||
Two motion objects are available from the MMM Motions library
|
||||
(1) MotionA
|
||||
(2) MotionB
|
||||
|
||||
MOTION {
|
||||
MOTIONA ,
|
||||
MOTIONB1
|
||||
};
|
||||
|
||||
Each objects needs intialisation with a specific input
|
||||
from which ADC reading will be performed.
|
||||
|
||||
Users may choose and identify inputs aa INPUT[A0, ... ,A7].
|
||||
ex: MotionA.init(INPOUTA5);
|
||||
|
||||
INPUT {
|
||||
INPUTA0,
|
||||
INPUTA1,
|
||||
INPUTA2,
|
||||
INPUTA3,
|
||||
INPUTA4,
|
||||
INPUTA5,
|
||||
INPUTA6,
|
||||
INPUTA7
|
||||
}
|
||||
|
||||
All calculation of physics (position, velocity and acceleration)
|
||||
are computed internally usign interrupts and timers. To access
|
||||
such information, user may call getPosition(), getVelocity()
|
||||
and getAcceleration() respectively on a initialised Motion object.
|
||||
|
||||
int getPosition();
|
||||
float getVelocity();
|
||||
float getAcceleration();
|
||||
|
||||
*/
|
||||
|
||||
void setup() {
|
||||
MotionA.init(INPUTA0);
|
||||
Serial.begin(9600);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
Serial.print("position: "); Serial.println(MotionA.getPosition());
|
||||
Serial.print("velocity: "); Serial.println(MotionA.getVelocity());
|
||||
Serial.print("accel: "); Serial.println(MotionA.getAcceleration());
|
||||
Serial.println("-------");
|
||||
delay(100);
|
||||
}
|
||||
|
||||
|
||||
@@ -1,62 +0,0 @@
|
||||
// "Pendulum" - spring-mass oscillator
|
||||
#include <Motion.h>
|
||||
#include <Motor.h>
|
||||
|
||||
byte incomingByte;
|
||||
|
||||
void setup()
|
||||
{
|
||||
// init MotionA & MotorA
|
||||
MotionA.init(INPUTA0);
|
||||
MotorA.init();
|
||||
|
||||
// provide MotionA with initial physics constants
|
||||
MotionA.k = 0.2f; // spring
|
||||
MotionA.m = 0.3f; // mass
|
||||
MotionA.d = 0.02f; // damping
|
||||
|
||||
Serial.begin(9600);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
|
||||
if(MotionA.F < 0) MotorA.direction(FORWARD);
|
||||
else MotorA.direction(BACKWARD);
|
||||
|
||||
float t = abs(MotionA.F);
|
||||
MotorA.torque(t);
|
||||
|
||||
if (Serial.available() > 0) {
|
||||
incomingByte = Serial.read();
|
||||
if(incomingByte == '1'){
|
||||
MotionA.m = MotionA.m * 1.1;
|
||||
Serial.print("m: ");
|
||||
Serial.println(MotionA.m);
|
||||
}
|
||||
else if(incomingByte == '!'){
|
||||
MotionA.m = MotionA.m / 1.1;
|
||||
Serial.print("m: ");
|
||||
Serial.println(MotionA.m);
|
||||
}
|
||||
else if(incomingByte == '2'){
|
||||
MotionA.k = MotionA.k * 1.1;
|
||||
Serial.print("k: ");
|
||||
Serial.println(MotionA.k);
|
||||
}
|
||||
else if(incomingByte == '@'){
|
||||
MotionA.k = MotionA.k / 1.1;
|
||||
Serial.print("k: ");
|
||||
Serial.println(MotionA.k);
|
||||
}
|
||||
else if(incomingByte == '3'){
|
||||
MotionA.d = MotionA.d * 1.1;
|
||||
Serial.print("d: ");
|
||||
Serial.println(MotionA.d);
|
||||
}
|
||||
else if(incomingByte == '#'){
|
||||
MotionA.d = MotionA.d / 1.1;
|
||||
Serial.print("d: ");
|
||||
Serial.println(MotionA.d);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,68 +0,0 @@
|
||||
// "Pendulum" - spring-mass oscillator
|
||||
// Spring-Mass oscillator (no damping)
|
||||
|
||||
//#include <TimerOne.h>
|
||||
#include <Motor.h>
|
||||
float dt = .005; //time per cycle
|
||||
float m = 4.0; //time constant was .002
|
||||
float k = 1.0; // spring constant was .15
|
||||
float xf,vf,ff; // floating point versions of pendulum x and v and force
|
||||
int x; // input from analogRead();
|
||||
int f; // integer version of force
|
||||
int duty; // abs(f)
|
||||
byte c=0; //counts up until 0 then prints
|
||||
|
||||
byte incomingByte;
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
MotorA.init(); //initializes Timer1, pinModes
|
||||
Serial.begin(9600);
|
||||
//initialize position (xf), velocity (vf), force (ff)
|
||||
x = analogRead(A0) - 512; //middle of 0-1-23 range
|
||||
xf = x;
|
||||
vf = 0.0;
|
||||
ff = 0.0;
|
||||
|
||||
}
|
||||
|
||||
void loop(){
|
||||
x = analogRead(0) - 512; // position [0-1024]
|
||||
ff = k*(x - xf); // spring
|
||||
vf = vf + (ff/m)*dt; // integrate F/m to get velocity
|
||||
xf = xf + vf*dt; // integrate velocity to get position
|
||||
|
||||
duty = abs(ff);
|
||||
duty = min(duty,512); //Motor has max torque of 512
|
||||
|
||||
|
||||
MotorA.torque(duty);
|
||||
if(ff>0)MotorA.direction(FORWARD);
|
||||
else MotorA.direction(BACKWARD);
|
||||
|
||||
if (c++ == 0){
|
||||
Serial.println(xf);
|
||||
}
|
||||
/*
|
||||
if (Serial.available() > 0) {
|
||||
incomingByte = Serial.read();
|
||||
if(incomingByte == '\''){
|
||||
tf = tf * 1.1;
|
||||
Serial.println(tf);
|
||||
}
|
||||
if(incomingByte == ';'){
|
||||
tf = tf / 1.1;
|
||||
Serial.println(tf);
|
||||
}
|
||||
if(incomingByte == '.'){
|
||||
kf = kf / 1.1;
|
||||
Serial.println(tf);
|
||||
}
|
||||
if(incomingByte == '/'){
|
||||
kf = kf * 1.1;
|
||||
Serial.println(tf);
|
||||
}
|
||||
}
|
||||
*/
|
||||
}
|
||||
@@ -1,85 +0,0 @@
|
||||
// Damped Spring-Mass Oscillator
|
||||
// BV 24Jan13
|
||||
|
||||
#include <Motor.h>
|
||||
int Fout, Xin, duty;
|
||||
|
||||
// mass sring damper model
|
||||
float m = 4.0;
|
||||
float k = 1.0;
|
||||
float b = 0.0;
|
||||
float dT = .005;
|
||||
float X, V, F; // model parameters (2nd-order oscil)
|
||||
|
||||
byte c=0; //counts up until 0 then prints
|
||||
|
||||
byte incomingByte;
|
||||
|
||||
void setup(){
|
||||
Serial.begin(9600);
|
||||
MotorA.init(); // initializes Timer1, pinModes
|
||||
Xin = analogRead(A0) - 512; //middle of 0-1023 range
|
||||
// initialize model variables
|
||||
X = Xin;
|
||||
V = 0.0;
|
||||
F = 0.0;
|
||||
}
|
||||
|
||||
void loop(){
|
||||
Xin = analogRead(A0) - 512;
|
||||
F = k*(Xin - X) - b*V; //spring and damper
|
||||
V += (F/m) * dT;
|
||||
X += V * dT;
|
||||
|
||||
duty = abs(Fout);
|
||||
duty = min(duty,512);
|
||||
|
||||
MotorA.torque(duty);
|
||||
if(Fout>0)MotorA.direction(FORWARD);
|
||||
else MotorA.direction(BACKWARD);
|
||||
|
||||
if (c++ == 0){
|
||||
Serial.println(X);
|
||||
}
|
||||
/*
|
||||
if (Serial.available() > 0) {
|
||||
incomingByte = Serial.read();
|
||||
if(incomingByte == '}''){
|
||||
dT = dT * 1.1;
|
||||
Serial.println(dT);
|
||||
}
|
||||
if(incomingByte == '\'){ shift \
|
||||
dT = dT / 1.1;
|
||||
Serial.println(dT);
|
||||
}
|
||||
if(incomingByte == '|'){
|
||||
k = k / 1.1;
|
||||
Serial.println(k);
|
||||
}
|
||||
if(incomingByte == '}'){ //shift ]
|
||||
k = k * 1.1;
|
||||
Serial.println(k);
|
||||
}
|
||||
if(incomingByte == '['){
|
||||
b = b / 1.1;
|
||||
Serial.println(b);
|
||||
}
|
||||
if(incomingByte == '{'){ //shift [
|
||||
b = b * 1.1;
|
||||
Serial.println(b);
|
||||
}
|
||||
if(incomingByte == '['){
|
||||
m = m / 1.1;
|
||||
Serial.println(m);
|
||||
}
|
||||
if(incomingBmyte == '{'){ //shift [
|
||||
m = m * 1.1;
|
||||
Serial.println(m);
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -1,80 +0,0 @@
|
||||
// "Pendulum" - spring-mass oscillator
|
||||
//
|
||||
|
||||
#include <TimerOne.h>
|
||||
#include <Motor.h>
|
||||
float tf = 0.002; //time constant was .002
|
||||
float kf = 0.2; // spring constant was .15
|
||||
float xf,vf,ff; // floating point versions of pendulum x and v and force
|
||||
int x, f; //int versions of position (from a/d) and force (to Pwm)
|
||||
int duty; // abs(f)
|
||||
byte c=0; //counts up until 0 then prints
|
||||
|
||||
float m = 0.3;
|
||||
float k = 0.01;
|
||||
|
||||
float damp = 0.09;
|
||||
|
||||
byte incomingByte;
|
||||
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
//Timer1.initialize(64); //64 microsecond period
|
||||
MotorA.torque(100); //initializes Timer1, pinModes
|
||||
Serial.begin(9600);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
x = analogRead(0); // position [0-1024]
|
||||
ff = kf*(x - xf); // spring
|
||||
f = max(ff,-1024);
|
||||
f = min(f,1024);
|
||||
// if(f>0)digitalWrite(DIRA,HIGH);
|
||||
// else digitalWrite(DIRA,LOW);
|
||||
duty = abs(f);
|
||||
// Timer1.pwm(9,duty);
|
||||
MotorA.torque(duty);
|
||||
if(f>0)MotorA.direction(FORWARD);
|
||||
else MotorA.direction(BACKWARD);
|
||||
|
||||
// update (integrate) floating versions of xf and vf
|
||||
//integrate twice tf is deltaT/mass;
|
||||
vf += ff*tf;
|
||||
xf += vf*tf;
|
||||
|
||||
if(c++==0) // when c gets to 255 it's next == 0 and sends data
|
||||
{
|
||||
Serial.print(x);
|
||||
Serial.print(" ");
|
||||
Serial.print(xf);
|
||||
Serial.print(" ");
|
||||
Serial.println(ff);
|
||||
}
|
||||
|
||||
if (c++ == 0)Serial.println(x); //
|
||||
if (Serial.available() > 0) {
|
||||
//Serial.print(v);
|
||||
//Serial.print(" ");
|
||||
//Serial.println(x);
|
||||
incomingByte = Serial.read();
|
||||
//Serial.write(incomingByte);
|
||||
if(incomingByte == '\''){
|
||||
m = m * 1.1;
|
||||
Serial.println(m);
|
||||
}
|
||||
if(incomingByte == ';'){
|
||||
m = m / 1.1;
|
||||
Serial.println(m);
|
||||
}
|
||||
if(incomingByte == '.'){
|
||||
k = k / 1.1;
|
||||
Serial.println(k);
|
||||
}
|
||||
if(incomingByte == '/'){
|
||||
k = k * 1.1;
|
||||
Serial.println(k);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,72 +0,0 @@
|
||||
#include <Motion.h>
|
||||
#include <Motor.h>
|
||||
|
||||
char buf[16] = "";
|
||||
|
||||
char b = 'x';
|
||||
String inputString = "";
|
||||
boolean stringComplete = false;
|
||||
|
||||
float k, m, d;
|
||||
int duty;
|
||||
|
||||
void setup() {
|
||||
|
||||
MotorA.init();
|
||||
|
||||
MotionA.init(INPUTA0);
|
||||
|
||||
MotionA.k = 0.2f; // spring
|
||||
MotionA.m = 1.0f; // mass
|
||||
MotionA.d = 0.02f; // damping
|
||||
|
||||
Serial.begin(9600);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
//send force out
|
||||
if (MotionA.F > 0) MotorA.direction(FORWARD);
|
||||
else MotorA.direction(BACKWARD);
|
||||
duty = abs(MotionA.F);
|
||||
duty = min(512,duty);
|
||||
MotorA.torque(duty);
|
||||
|
||||
//send data to be plotted by Processing "plotter"
|
||||
sprintf(buf, "%d %d %d %d", (int)MotionA.F, (int)MotionA.A, (int)MotionA.V, (int)MotionA.X);
|
||||
Serial.println(buf);
|
||||
|
||||
delay(10);
|
||||
|
||||
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);
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
#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);
|
||||
}
|
||||
|
||||
|
||||
@@ -1,24 +0,0 @@
|
||||
//position and force reporting
|
||||
//sends A0 (MotorA), A1 (ForceA)
|
||||
//sends A3 (MotorB), A4 (ForceB)
|
||||
// to Serial Monitor
|
||||
|
||||
// should FSR set-up be in MMM lib?
|
||||
// Bill Verplank 24Jan13
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(9600);
|
||||
//set up for FSR A1 to D4
|
||||
pinMode(A1,INPUT);
|
||||
pinMode(4,OUTPUT);
|
||||
digitalWrite(4,LOW);
|
||||
digitalWrite(A1,HIGH); //internal pull-up
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
Serial.print(analogRead(A0)); //positionA
|
||||
Serial.print(" ");
|
||||
Serial.println(analogRead(A1)); //forceA
|
||||
}
|
||||
@@ -1,22 +0,0 @@
|
||||
//#include <TimerOne.h>
|
||||
//BV 24Jan13
|
||||
|
||||
#include <Motor.h>
|
||||
|
||||
void setup()
|
||||
{
|
||||
MotorA.init();
|
||||
MotorA.torque(500); //512 is max torque
|
||||
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
|
||||
MotorA.direction(FORWARD);
|
||||
delay(1000);
|
||||
MotorA.direction(BACKWARD);
|
||||
delay(1000);
|
||||
|
||||
}
|
||||
|
||||
@@ -1,23 +0,0 @@
|
||||
//motortest
|
||||
//.5 sec forward, .5 sec back
|
||||
|
||||
#include <Motor.h>
|
||||
|
||||
int led = 13;
|
||||
|
||||
void setup()
|
||||
{
|
||||
MotorA.init();
|
||||
MotorA.torque(511); //what is max torque?
|
||||
pinMode(13, OUTPUT);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
MotorA.direction(FORWARD);
|
||||
digitalWrite(led,HIGH);
|
||||
delay(500);
|
||||
MotorA.direction(BACKWARD);
|
||||
digitalWrite(led,LOW);
|
||||
delay(500);
|
||||
}
|
||||
@@ -1,30 +0,0 @@
|
||||
//position and force reporting
|
||||
//sends A0 (MotorA), A1 (ForceA)
|
||||
//sends A3 (MotorB), A4 (ForceB)
|
||||
// to Serial Monitor
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(9600);
|
||||
//set up for FSR A1 to D4
|
||||
pinMode(A1,INPUT);
|
||||
pinMode(4,OUTPUT);
|
||||
digitalWrite(4,LOW);
|
||||
digitalWrite(A1,HIGH); //internal pull-up
|
||||
//set up for FSR A4 to D5
|
||||
pinMode(A4,INPUT);
|
||||
pinMode(5,OUTPUT);
|
||||
digitalWrite(5,LOW);
|
||||
digitalWrite(A4,HIGH); //internal pull-up
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
Serial.print(analogRead(A0)); //positionA
|
||||
Serial.print(" ");
|
||||
Serial.print(analogRead(A1)); //positionA
|
||||
Serial.print(" ");
|
||||
Serial.print(analogRead(A3)); //positionA
|
||||
Serial.print(" ");
|
||||
Serial.println(analogRead(A4)); //forceA
|
||||
}
|
||||
@@ -1,21 +0,0 @@
|
||||
//position and force reporting
|
||||
//sends A0 (MotorA), A1 (ForceA)
|
||||
//sends A3 (MotorB), A4 (ForceB)
|
||||
// to Serial Monitor
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(9600);
|
||||
//set up for FSR A1 to D4
|
||||
pinMode(A1,INPUT);
|
||||
pinMode(4,OUTPUT);
|
||||
digitalWrite(4,LOW);
|
||||
digitalWrite(A1,HIGH); //internal pull-up
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
Serial.print(analogRead(A0)); //positionA
|
||||
Serial.print(" ");
|
||||
Serial.println(analogRead(A1)); //forceA
|
||||
}
|
||||
Reference in New Issue
Block a user