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Changes to Motion, Motor and Music Library

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Motion library still needs to be fixed. Don't use yet.
This commit is contained in:
Jakob Bak 2013-01-24 21:14:05 +01:00
parent fc8f353064
commit 9f2f760a47
8 changed files with 304 additions and 47 deletions
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17
software/apps/Motion/Center/Center.ino
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@ -4,7 +4,8 @@
//reverse the motor leads
//or for a quick fix in the code: change if(f < 0) to if (f > 0)
#include <Motor.h>
#include "Motor.h"
#include "Music.h"
int pos; // position from analogRead
int force; // computed from pos and k
@ -13,8 +14,8 @@ int duty; // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
void setup()
{
MotorA.init();
Music.init();
}
@ -23,14 +24,16 @@ void loop()
pos = analogRead(A0);
Music.setFrequency(pos);
force = k * (512 - pos);
duty = abs(force);
duty = min(512, duty);
//duty = abs(force);
//duty = min(512, duty);
MotorA.torque(duty);
MotorA.torque(force);
if(force < 0) MotorA.direction(FORWARD);
else MotorA.direction(BACKWARD);
//if(force < 0) MotorA.direction(FORWARD);
//else MotorA.direction(BACKWARD);
}

37
software/lib/MMM/Motion.cpp
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@ -32,7 +32,7 @@
bool motion_reg_init = false;
Motion MotionA(MOTIONA);
Motion MotionB(MOTIONA);
Motion MotionB(MOTIONB);
uint8_t lb;
uint8_t hb;
@ -54,7 +54,7 @@ Motion::Motion(MOTION m){
void Motion::init(INPUT sensor)
{
if(!motion_reg_init){
TCNT1 = 1000; //4 ms (TCNT1)
//TCNT1 = 500; //4 ms (TCNT1)
TIMSK1 = (1 << TOIE1);
motion_reg_init = true;
}
@ -73,12 +73,28 @@ void Motion::set_force_callback(force_callback fcb, PHY physics) {
}
float Motion::calculateFAVX(int x_in)
{
F = k * (x_in - X) - (d * V);
//MotionA.A = MotionA.F / MotionA.m;
V += (F / m) * T;
X += V * T;
return F;
}
int Motion::getX()
{
return Xin - 512;
}
// clocked at 4ms period
ISR(TIMER1_OVF_vect) {
TCNT1 = 1000;
//TCNT1 = 500;
if(MotionA._i) {
ADMUX = MotionA._s & 0x07;
ADMUX = MotionA._s & 0x07; //setting the lower four bits of ADMUX to INPUT bits and upper four bits to 0000.
ADCSRA |= (1 << ADSC);
while (ADCSRA & (1 << ADSC));
lb = ADCL;
@ -87,13 +103,15 @@ ISR(TIMER1_OVF_vect) {
xin = (hb << 8) | lb;
MotionA.Xin = xin;
MotionA.F = MotionA.k * (xin - MotionA.X) - (MotionA.d * MotionA.V);
//MotionA.A = MotionA.F / MotionA.m;
MotionA.V += (MotionA.F / MotionA.m) * T;
MotionA.X += MotionA.V * T;
}
}
/*
if(MotionB._i) {
ADMUX = MotionB._s & 0x07;
@ -102,6 +120,7 @@ ISR(TIMER1_OVF_vect) {
lb = ADCL;
hb = ADCH;
x = (hb << 8) | lb;
MotionB._xv[MotionB._ix] = x;
MotionB._ix++;
MotionB._ix %= N;
@ -121,5 +140,3 @@ ISR(TIMER1_OVF_vect) {
}
*/
}

126
software/lib/MMM/Motion.cpp.old Normal file
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@ -0,0 +1,126 @@
/*
Motion.cpp - Motion library
Copyright (c) 2012 Copenhagen Institute of Interaction Design.
All right reserved.
This library is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser Public License for more details.
You should have received a copy of the GNU Lesser Public License
along with Foobar. If not, see <http://www.gnu.org/licenses/>.
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ author: dviid
+ contact: dviid@labs.ciid.dk
*/
#include "Motion.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdlib.h>
#define PB0 PORTB0
bool motion_reg_init = false;
Motion MotionA(MOTIONA);
Motion MotionB(MOTIONB);
uint8_t lb;
uint8_t hb;
float T = N * 0.004f; // 4ms (see TCNT1)
int xin, dx;
float MAX_POS = 1023;
float MAX_VEL = MAX_POS / T;
float MAX_ACC = MAX_VEL / T;
Motion::Motion(MOTION m){
_m = m;
_i = false;
_fcb = NULL;
};
void Motion::init(INPUT sensor)
{
if(!motion_reg_init){
TCNT1 = 1000; //4 ms (TCNT1)
TIMSK1 = (1 << TOIE1);
motion_reg_init = true;
}
_i = true;
_s = sensor;
// initial values
d = 0;
k = 1;
m = 1;
}
void Motion::set_force_callback(force_callback fcb, PHY physics) {
_fcb = fcb;
_fcb_phy = physics;
}
// clocked at 4ms period
ISR(TIMER1_OVF_vect) {
TCNT1 = 1000;
if(MotionA._i) {
ADMUX = MotionA._s & 0x07;
ADCSRA |= (1 << ADSC);
while (ADCSRA & (1 << ADSC));
lb = ADCL;
hb = ADCH;
xin = (hb << 8) | lb;
MotionA.Xin = xin;
MotionA.F = MotionA.k * (xin - MotionA.X) - (MotionA.d * MotionA.V);
//MotionA.A = MotionA.F / MotionA.m;
MotionA.V += (MotionA.F / MotionA.m) * T;
MotionA.X += MotionA.V * T;
}
/*
if(MotionB._i) {
ADMUX = MotionB._s & 0x07;
ADCSRA |= (1 << ADSC);
while (ADCSRA & (1 << ADSC));
lb = ADCL;
hb = ADCH;
x = (hb << 8) | lb;
MotionB._xv[MotionB._ix] = x;
MotionB._ix++;
MotionB._ix %= N;
xx = x - MotionB._x;
if(abs(xx) < 2) {
v = 0;
} else {
v = xx / T;
}
MotionB._a = (v - MotionB._v) / T;
MotionB._v = v;
MotionB._x = x;
}
*/
}

33
software/lib/MMM/Motion.h
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@ -33,14 +33,14 @@ enum MOTION {
};
enum INPUT {
INPUTA0 = 0x0000,
INPUTA1 = 0x0001,
INPUTA2 = 0x0010,
INPUTA3 = 0x0011,
INPUTA4 = 0x0100,
INPUTA5 = 0x0101,
INPUTA6 = 0x0110,
INPUTA7 = 0x0111
INPUTA0 = 0x00, // bits 0000
INPUTA1 = 0x01, // bits 0001
INPUTA2 = 0x02, // bits 0010
INPUTA3 = 0x03, // bits 0011
INPUTA4 = 0x04, // bits 0100
INPUTA5 = 0x05, // bits 0101
INPUTA6 = 0x06, // bits 0110
INPUTA7 = 0x07 // bits 0111
};
enum PHY {
@ -57,23 +57,28 @@ public:
void init(INPUT sensor);
void set_force_callback(force_callback fcb, PHY physics);
void set_force_callback(force_callback fcb, PHY physics); // NOT IMPLEMENTED
int getX();
float calculateFAVX(int);
// raw position vector
int _xv[N];
int _xv[N]; // NOT IMPLEMENTED
int _ix;
float X, V, A, F; // from model
float m, k, d;
float m, k, d; // constants from mass-spring-damper model
int Xin; // from the ADC channel specified in Motion constructor (e.g INPUTA0)
MOTION _m;
INPUT _s;
bool _i;
bool _i; // is it inititated
force_callback _fcb;
PHY _fcb_phy;
force_callback _fcb; // NOT IMPLEMENTED
PHY _fcb_phy; // NOT IMPLEMENTED
};
extern Motion MotionA;

81
software/lib/MMM/Motion.h.old Normal file
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@ -0,0 +1,81 @@
/*
Motion.h - Motion library
Copyright (c) 2012 Copenhagen Institute of Interaction Design.
All right reserved.
This library is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser Public License for more details.
You should have received a copy of the GNU Lesser Public License
along with Foobar. If not, see <http://www.gnu.org/licenses/>.
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ author: dviid
+ contact: dviid@labs.ciid.dk
*/
#include <avr/io.h>
#define N 10
typedef float (*force_callback)(float position);
enum MOTION {
MOTIONA = 0,
MOTIONB = 1
};
enum INPUT {
INPUTA0 = 0x0000,
INPUTA1 = 0x0001,
INPUTA2 = 0x0010,
INPUTA3 = 0x0011,
INPUTA4 = 0x0100,
INPUTA5 = 0x0101,
INPUTA6 = 0x0110,
INPUTA7 = 0x0111
};
enum PHY {
POSITION = 0,
VELOCITY = 1,
ACCELERATION = 2
};
class Motion {
public:
Motion(MOTION m);
void init(INPUT sensor);
void set_force_callback(force_callback fcb, PHY physics); // NOT IMPLEMENTED
// raw position vector
int _xv[N]; // NOT IMPLEMENTED
int _ix;
float X, V, A, F; // from model
float m, k, d; // constants from mass-spring-damper model
int Xin; // from the ADC channel specified in Motion constructor (e.g INPUTA0)
private:
MOTION _m;
INPUT _s;
bool _i; // is it inititated
force_callback _fcb; // NOT IMPLEMENTED
PHY _fcb_phy; // NOT IMPLEMENTED
};
extern Motion MotionA;
extern Motion MotionB;

30
software/lib/MMM/Motor.cpp
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@ -23,6 +23,8 @@
#include "Motor.h"
#include <avr/io.h>
#include <stdlib.h>
#include <avr/interrupt.h>
#define RESOLUTION 65536
@ -46,20 +48,24 @@ void MMotor::init()
if(!reg_init){
//cli();
//direction pins are outputs
DDRD |= (1 << PD7);
DDRB = (1 << PB0) | (1 << PB1) | (1 << PB2);
DDRB |= (1 << PB0) | (1 << PB1) | (1 << PB2);
TCCR1A = (1 << COM1A1) | (1 << COM1B1);
//TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
// clear the bits
TCCR1B &= ~((1 << CS10) | (1 << CS11) | (1 << CS12));
//TCCR1B &= ~((1 << CS10) | (1 << CS11) | (1 << CS12));
TCCR1B = (1 << WGM13) | (1 << CS10);
//ICR1 = 512;
ICR1 = 512;
//OCR1A = 512;
reg_init = true;
//sei();
}
}
@ -67,8 +73,22 @@ void MMotor::init()
void MMotor::torque(int value)
{
if(_m == MOTORA) OCR1A = value;
else if(_m == MOTORB) OCR1B = value;
if(value < 0) {
_d = BACKWARD;
} else {
_d = FORWARD;
}
value = abs(value);
if(value > 512) value = 512;
//else value = abs(512);
if(_m == MOTORA) {
OCR1A = value;
direction(_d);
}
else if(_m == MOTORB) {
OCR1B = value;
direction(_d);
}
_t = value;
}

3
software/lib/MMM/Motor.h
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@ -53,8 +53,7 @@ protected:
MOTOR _m;
DIRECTION _d;
int _t;
long _p;
int _t; // torque
};

14
software/lib/MMM/Music.cpp
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@ -66,7 +66,7 @@ ISR(TIMER2_COMPA_vect) { // timer 2 is audio interrupt timer
void MMusic::init()
{
// clear interrupts. to make sure the interrupt timer doesn't start until we've set it up.
cli();
//cli();
// set up syntheziser
// this is the timer 2 audio rate timer, fires an interrupt at 15625 Hz sampling rate
@ -77,9 +77,9 @@ void MMusic::init()
// OUTPUTS
// sck + mosi + ss
DDRB = (1 << DDB2) | (1 << DDB3) | (1 << DDB5);
DDRB |= (1 << DDB2) | (1 << DDB3) | (1 << DDB5);
// dac_cs output
DDRD = (1 << DDD6);
DDRD |= (1 << DDD6) | (1 << DDB3);
// set up SPI port
SPCR = 0x50;
@ -116,7 +116,7 @@ void MMusic::init()
setRelease(64);
setVelSustain(0);
sei(); // global interrupt enable
//sei(); // global interrupt enable
Serial.println("MUSIC INITIALIZED!");
}
@ -522,6 +522,8 @@ void MMusic::setVelPeak(uint8_t vel)
void inline MMusic::synthInterrupt8bit()
{
PORTD &= ~(1<<3);
// Frame sync low for SPI (making it low here so that we can measure lenght of interrupt with scope)
PORTD &= ~(1<<6);
@ -728,6 +730,10 @@ void MMusic::synthInterrupt12bitSine()
// Frame sync high
PORTD |= (1<<6);
// Frame sync high
PORTD |= (1<<3);
}