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README

@@ -1,4 +0,0 @@
-WORK IN PROGRESS...
-Motors & Music & Motions (M&M&M)
-dviid, bill verplank, jakob bak
-

README.md

@@ -0,0 +1,12 @@
+## Motors & Music & Motions
+David Gauthier, Bill Verplank, Jakob Bak
+
+<img src="https://git.le-club-des-sans-sujets.org/gauthiier/M-M-M/raw/branch/master/board.jpeg" width="35%"/>
+
+Research material for:
+
+* Bak, J., Verplank, B., & Gauthier, D. (2015). Motors, Music and Motion. In TEI '15: Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction (pp. 367-374). Association for Computing Machinery (ACM). https://doi.org/10.1145/2677199.2680590
+
+* Verplank, B., Gauthier, D., & Bak, J. (2013). TEI 2013 studio: motors and music. In TEI '13:
+Proceedings of the 7th International Conference on Tangible, Embedded and Embodied Interaction (pp. 431-434). Association for Computing Machinery (ACM). https://doi.org/10.1145/2460625.2460721
+

software/apps/Motion/Center/Center.ino

@@ -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
-//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 = 2;  // spring constant
-int duty;   // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
- 
-void setup() 
-{
-  
-  MotorA.torque(100);  //is this necessary?
-  
-}
-
-void loop() 
-{
-
-  pos = analogRead(A0);
-  
-  force = k * (512 - pos);
-  duty = abs(force);
-  duty = min(1023, duty);
-  
-  MotorA.torque(duty);
-  
-  if(force < 0) MotorA.direction(FORWARD);
-  else MotorA.direction(BACKWARD);
-    
-}
-  

software/apps/Motion/Damp/Damp/Damp.ino

@@ -1,23 +0,0 @@
-//Damp - measure velocity then f=Bv
-#import <Motor.h>
-int x; //position measured
-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);
-  }
-}
-  

software/apps/Motion/Damp2/Damp2.ino

@@ -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);
-}
-  
-
-

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

@@ -1,48 +0,0 @@
-
-int firstSensor = 0;    // first analog sensor
-int secondSensor = 0;   // second analog sensor
-int thirdSensor = 0;    // digital sensor
-int inByte = 0;         // incoming serial byte
-
-void setup()
-{
-  // start serial port at 9600 bps and wait for port to open:
-  Serial.begin(9600);
-  while (!Serial) {
-    ; // wait for serial port to connect. Needed for Leonardo only
-  }
-
- 
-  pinMode(2, INPUT);   // digital sensor is on digital pin 2
-  establishContact();  // send a byte to establish contact until receiver responds
-}
-
-void loop()
-{
-  // if we get a valid byte, read analog ins:
-  if (Serial.available() > 0) {
-    // get incoming byte:
-    inByte = Serial.read();
-    // read first analog input:
-    firstSensor = analogRead(A0);
-    // read second analog input:
-    secondSensor = analogRead(A1);
-    // read  switch, map it to 0 or 255L
-    thirdSensor = map(digitalRead(2), 0, 1, 0, 255);  
-    // send sensor values:
-    Serial.print(firstSensor);
-    Serial.print(",");
-    Serial.print(secondSensor);
-    Serial.print(",");
-    Serial.println(thirdSensor);              
-  }
-}
-
-void establishContact() {
-  while (Serial.available() <= 0) {
-    Serial.println("0,0,0");   // send an initial string
-    delay(300);
-  }
-}
-
-

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software/apps/Motion/Damp4/Damp4.ino

@@ -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
-  xf += vf*T;

software/apps/Motion/DampEuler/DampEuler.ino

@@ -1,24 +0,0 @@
-//Damp Euler
-
-#define n 10 //number in buffer "window size"
-// finite difference with n samples between x(i)
-int x[n]; //last n samples of position
-int index = 0;
-float v; // estimate of velocity
-byte c;
-
-void setup(){
-  Serial.begin(9600);
-  for(int i=0; i<n; i++) x[i]=analogRead(A0);
-}
-
-void loop(){
-  x[index] = analogRead(A0); //position measured
-  v = (x[index] - x[index++%n])/n;
-  if(index > n-1) index = 0;
-  v = buff[index] - buff[(index-n)%n];
-  if(c++==0)Serial.println(v);
-}
-  
-
-

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

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

software/apps/Motion/Graph2/Graph2.ino

@@ -1,28 +0,0 @@
-int x, v, t;  //position velocity time
-#define n 10
-int xtab[n]; //table of x
-int i; // index for table
-
-void setup()
-{
-  // start serial port at 9600 bps:
-  Serial.begin(9600);
-}
-
-void loop()
-{
-  // if we get a valid byte, read analog ins:
-  if (Serial.available() > 0) {
-    x = analogRead(A0)/4; //just for this test
-    xtab[i] = x; //put it in array of x
-    i = i + 1; //index to last x (9 times ago)
-    if(i>9)i=0; //increment index
-    v = x - xtab[i]; //difference x vs old x
-    t = (t+1)%256;  
-    // send sensor values:
-    Serial.write(x); // sends one byte [0-255]
-    Serial.write(v+128);
-    Serial.write(t);              
-  }
-}
-

software/apps/Motion/GraphArduinoA0.maxpat

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-		"dependency_cache" : [  ]
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software/apps/Motion/Motion0/Motion0.ino

@@ -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);
-}
-
-

software/apps/Motion/PendulumMM_2/PendulumMM_2.ino

@@ -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 next == 0 and send 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);
-    }
-  }
-}

software/apps/Motor/Motor.ino

@@ -1,27 +0,0 @@
-//#include <TimerOne.h>
-
-#include <Motor.h>
-
-void setup() 
-{
-
-  MotorA.torque(500);  
-  
-}
-
-void loop() 
-{
-  static int j = 1;
-  static long cnt = 0;
-  
-  if(cnt == 50000) {
-    j = -1;
-    MotorA.direction(FORWARD);
-  } else if(cnt == 0) {
-    j = 1;
-    MotorA.direction(BACKWARD);
-  }
-  cnt += j;  
-  
-}
-  

software/apps/Music/Basic_MIDI/Basic_MIDI.ino

@@ -1,39 +0,0 @@
-
-// This needs to be in all sketches at the moment
-#include <stdint.h>
-
-// The Music and Midi objects are automatically instantiated when the header file is included.
-// Make calls to the Music and Midi objects with "Music.function(args)" and "Midi.function(args)"
-// You still need to call Music.init() and Midi.init() in the setup() function below.
-#include <Music.h>
-#include <Midi.h>
-
-// variables for this sketch
-
-void setup() {
-
-  // We initialise the sound engine by calling Music.init() which outputs a tone
-  Music.init();
-  
-  // We initialize the MIDI engine by calling Midi.init()
-  Midi.init();
-  
-  // Choosing the sine wave oscillator (optional since this is already the default).
-  Music.setSaw();
-    
-  // Detuning the three oscillators heavily to create more movement in the sound.
-  Music.setDetune(0.01);  
-  
-  // Enabling envelope, otherwise the synth would just play constant tones.
-  Music.enableEnvelope();
-
-}
-
-void loop() {
-  
-  // The MIDI must be used with the external 
-  // "IAC2Serial.pde" Processing sketch.
-  Midi.checkMidi();
-    
-}
-

software/apps/Music/Minimal/Minimal.ino

@@ -1,21 +0,0 @@
-
-// This needs to be in all sketches at the moment
-#include <stdint.h>
-
-// The Music and Midi objects are automatically instantiated when the header file is included.
-// Make calls to the Music and Midi objects with "Music.function(args)" and "Midi.function(args)"
-// You still need to call Music.init() and Midi.init() in the setup() function below.
-#include <Music.h>
-
-void setup() {
-  // We initialise the sound engine by calling Music.init() which outputs a tone
-  Music.init();
-  
-  Music.setSquare();
-
-}
-
-void loop() {
-
-}
-

software/apps/Music/Repeating_note_with_envelope/Repeating_note_with_envelope.ino

@@ -1,50 +0,0 @@
-
-// This needs to be in all sketches at the moment
-#include <stdint.h>
-
-// The Music and Midi objects are automatically instantiated when the header file is included.
-// Make calls to the Music and Midi objects with "Music.function(args)" and "Midi.function(args)"
-// You still need to call Music.init() and Midi.init() in the setup() function below.
-#include <Music.h>
-
-// variables for this sketch
-boolean noteIsOn = false;
-int note = 48;
-
-long time = 0;
-long lastTime = 0;
-long beatTime = 1000;
-
-
-void setup() {
-
-  // We initialise the sound engine by calling Music.init() which outputs a tone
-  Music.init();
-  
-  // enabling the envelope lets us define an gain envelope for the synth
-  // without having to specify it in our loop() or physics code.
-  Music.enableEnvelope();
-  Music.setAttack(0x0FFF);
-  Music.setDecay(0x0004);
-  Music.setSustain(0x00FF);
-  Music.setRelease(0x0008);
-  
-}
-
-void loop() {
-  
-  // This short routine loops note over and over again
-  time = millis();
-  if(time - lastTime > beatTime) {
-    if(!noteIsOn) {
-      Music.noteOn(note);
-      noteIsOn = true;
-    } else {
-      Music.noteOff();
-      noteIsOn = false;
-    }
-    lastTime = time;
-  }
-
-}
-

software/apps/Music/Up_and_down/Up_and_down.ino

@@ -1,62 +0,0 @@
-
-// This needs to be in all sketches at the moment
-#include <stdint.h>
-
-// The Music and Midi objects are automatically instantiated when the header file is included.
-// Make calls to the Music and Midi objects with "Music.function(args)" and "Midi.function(args)"
-// You still need to call Music.init() and Midi.init() in the setup() function below.
-#include <Music.h>
-
-// variables for this sketch
-boolean noteIsOn = false;
-int n = 0;
-int dir = 1;
-int rootNote = 48;
-int note[] = {0,2,3,5,7,9,10,12,14};
-
-long time = 0;
-long lastTime = 0;
-long beatTime = 100;
-
-
-void setup() {
-
-  // We initialise the sound engine by calling Music.init() which outputs a tone
-  Music.init();
-    
-  // enabling the envelope lets us define an gain envelope for the synth
-  // without having to specify it in our loop() or physics code.
-  Music.enableEnvelope();
-  Music.setAttack(0x00FF);
-  Music.setDecay(0x0008);
-  Music.setSustain(0x00FF);
-  Music.setRelease(0x0008);
-  
-}
-
-void loop() {
-  
-  // This short routine loops note over and over again
-  time = millis();
-  if(time - lastTime > beatTime) {
-    if(!noteIsOn) {
-      Music.noteOn(rootNote+note[n]);
-      noteIsOn = true;
-      n = n + dir;
-      if(n > 7)
-      {
-        dir = -1;
-      }
-      else if(n < 1)
-      {
-        dir = 1;
-      }
-    } else {
-      Music.noteOff();
-      noteIsOn = false;
-    }
-    lastTime = time;
-  }
-
-}
-

software/apps/Music/Up_and_down/sketch_jun26c/sketch_jun26c.ino

@@ -1,62 +0,0 @@
-
-// This needs to be in all sketches at the moment
-#include <stdint.h>
-
-// The Music and Midi objects are automatically instantiated when the header file is included.
-// Make calls to the Music and Midi objects with "Music.function(args)" and "Midi.function(args)"
-// You still need to call Music.init() and Midi.init() in the setup() function below.
-#include <Music.h>
-
-// variables for this sketch
-boolean noteIsOn = false;
-int n = 0;
-int dir = 1;
-int rootNote = 48;
-int note[] = {0,2,3,5,7,9,10,12,14};
-
-long time = 0;
-long lastTime = 0;
-long beatTime = 100;
-
-
-void setup() {
-
-  // We initialise the sound engine by calling Music.init() which outputs a tone
-  Music.init();
-      
-  // enabling the envelope lets us define an gain envelope for the synth
-  // without having to specify it in our loop() or physics code.
-  Music.enableEnvelope();
-  Music.setAttack(8);
-  Music.setDecay(70);
-  Music.setSustain(24);
-  Music.setRelease(90);
-  
-}
-
-void loop() {
-  
-  // This short routine loops note over and over again
-  time = millis();
-  if(time - lastTime > beatTime) {
-    if(!noteIsOn) {
-      Music.noteOn(rootNote+note[n]);
-      noteIsOn = true;
-      n = n + dir;
-      if(n > 7)
-      {
-        dir = -1;
-      }
-      else if(n < 1)
-      {
-        dir = 1;
-      }
-    } else {
-      Music.noteOff();
-      noteIsOn = false;
-    }
-    lastTime = time;
-  }
-
-}
-

software/apps/Music/appConnector/appConnector.ino

@@ -1,34 +0,0 @@
-
-// This needs to be in all sketches at the moment
-#include <stdint.h>
-
-// The Music and Midi objects are automatically instantiated when the header file is included.
-// Make calls to the Music and Midi objects with "Music.function(args)" and "Midi.function(args)"
-// You still need to call Music.init() and Midi.init() in the setup() function below.
-#include <Music.h>
-
-void setup() {
-  // We initialise the sound engine by calling Music.init() which outputs a tone
-  Music.init();
-  
-  Music.setSquare();
-
-}
-
-void loop() {
-  
-}
-
-void serialEvent() {
-  while (Serial.available()) {
-    // get the new byte:
-    
-    
-    
-    int inChar = (int)Serial.read(); 
-    if (inChar == '\n') {
-      stringComplete = true;
-    } 
-  }
-}
-

software/apps/Processing/Motion/Oscillator/Oscilloscope/Oscilloscope.pde

@@ -0,0 +1,113 @@
+import controlP5.*;
+import processing.serial.*;
+
+ //Plots
+ ScopePlot       plotA;
+ ScopePlot       plotB;
+ ScopePlotDouble plotC;
+ 
+ //Communication with MMM boards
+ Protocol proto;
+ 
+ //Serial port
+ Serial p;
+ 
+ //Controlers
+ ControlP5 cp5;
+ SliderCallback scb;
+ 
+ // (k)
+ float kmin = 0.0f;
+ float kmax = 7.0f;
+ float k = 0.2f;
+ Slider  k_slider;
+ 
+ // (m)
+ float mmin = 0.0f;
+ float mmax = 7.0f;
+ float m = 1.0f;
+ Slider  m_slider;
+
+ // (d)
+ float dmin = 0.0f;
+ float dmax = 7.0f;
+ float d = 0.02f;
+ Slider  d_slider; 
+
+void setup() {
+  
+  int b = 15;
+  int h = 300;//(displayHeight / 4) - (3*b);
+  int w = displayWidth / 2;
+  
+  plotA = new ScopePlot("Force", w, h, b, b + b, 512, true);
+  plotB = new ScopePlot("Velocity", w, h, b, h + 4*b, 512, true);
+  plotC = new ScopePlotDouble("Position Estimate", w, h, b, 2*h + 6*b, 512, true);
+  
+  p = new Serial(this, Serial.list()[0], 9600);
+  proto = new Protocol(p);
+  
+  // Controls
+  cp5 = new ControlP5(this);
+  scb = new SliderCallback();
+  
+  int sw = w / 3;
+  
+  k_slider = cp5.addSlider("k", kmin, kmax, b, b-5, sw - b, b-5);
+  k_slider.setColorForeground(color(127,34,255));
+  k_slider.setColorBackground(color(50,50,50));
+  k_slider.addListener(scb);
+  
+  m_slider = cp5.addSlider("m", mmin, mmax, 2*b + sw, b-5, sw - b, b-5);
+  m_slider.setColorForeground(color(127,34,255));
+  m_slider.setColorBackground(color(50,50,50));
+  m_slider.addListener(scb);
+  
+  d_slider = cp5.addSlider("d", dmin, dmax, 3*b + 2*sw, b-5, sw - b, b-5);
+  d_slider.setColorForeground(color(127,34,255)); 
+  d_slider.setColorBackground(color(50,50,50));
+  d_slider.addListener(scb);
+  
+  size(w + 60, displayHeight - (h + (3*b)));
+  //size(w + 60, 800);
+  //size(600, 800);
+}
+
+void draw() {
+  background(0);
+  plotA.draw();
+  plotB.draw();
+  plotC.draw();
+}
+
+/*
+void mouseDragged() 
+{
+  plotA.mdata(mouseX, mouseY);
+  plotB.mdata(mouseX, mouseY);
+  plotC.mdata(mouseX, mouseY);
+}
+
+void mouseClicked() 
+{
+  plotA.mdata(mouseX, mouseY);
+  plotB.mdata(mouseX, mouseY);
+  plotC.mdata(mouseX, mouseY);
+}
+*/
+
+void serialEvent (Serial myPort) {
+  proto.processData();
+  plotA.data(proto.F);
+  plotB.data(proto.V);
+  plotC.data(proto.X - 512, proto.Xin - 512);
+}
+
+class SliderCallback implements ControlListener {
+  public void controlEvent(ControlEvent ev) {
+    p.write(new String(ev.controller().name()+ev.controller().value()+";"));
+    //println(ev.controller().name() + ": " + ev.controller().value());    
+  }
+}
+
+

software/apps/Processing/Motion/Oscillator/Oscilloscope/Protocol.pde

@@ -0,0 +1,24 @@
+import processing.serial.*;
+
+class Protocol {
+  Serial port;  // The serial port
+  Protocol() {;}
+  
+  int F, V, X, Xin;
+  
+  Protocol(Serial p) {
+    port = p;
+    port.bufferUntil('\n');
+  }
+  
+  void processData() {
+    String in = port.readStringUntil('\n');
+    if(in != null){
+      String[] t = splitTokens(in);
+      F = int(t[0]);
+      V = int(t[1]);
+      X = int(t[2]);
+      Xin = int(t[3]);
+    }
+  }
+}

software/apps/Processing/Motion/Oscillator/Oscilloscope/ScopePlot.pde

@@ -0,0 +1,161 @@
+class ScopePlot {
+  
+  int d = 4, s = 4; 
+  int indx, max, min;
+  int w, h;
+  int px, py;
+  int by;
+  int[] values;
+  int[] pixelvalues;
+  String title;
+  
+  ScopePlot(String t, int w, int h, int x, int y, int maxval, boolean mid){
+    this.title = t;
+    this.w = w + d;
+    this.h = h + d;
+    this.indx = s;
+    this.px = x - d;
+    this.py = y + d;
+    this.max = maxval;
+    this.min = -maxval;
+    noFill();
+    textSize(12);
+    values = new int[w / s];
+    pixelvalues = new int[w / s];
+    if(mid) by = h / 2; 
+    else by = this.h;
+  }
+  
+  void draw(){
+    
+    pushMatrix();
+    
+    translate(px, py);
+    
+    stroke(255,255,255);
+    line(     -d,      h,  w + d + d,     h);
+    line(      0,     -d,          0, h + d);
+    line(     -d,      0,  w + d + d,     0);
+    line(  w + d,  h + d,     w + d ,    -d);    
+    
+    fill(255,255,255);
+    textSize(10);
+    text(title, d, -d+2);
+    noFill();
+    if(by != h) {
+      line(-d, by, w + d, by);
+      text(Integer.toString(this.max),  w + d + d + d, 0);
+      text(Integer.toString(this.min),  w + d + d + d, h + d);
+    } else {      
+      text(Integer.toString(this.max),  w + d + d + d, 0);
+      text(Integer.toString(values.length),  w + d + d + d, h + d + d + d);
+    }    
+        
+    int x = s;
+    for(int i = 0; i < pixelvalues.length; i++) {
+      stroke(127,34,255);
+      line(x, by, x, by - pixelvalues[i]);
+      stroke(255,34,127);
+      if(i == indx - 1) {
+        stroke(255);
+        text(Integer.toString(values[i]),  w + d + d + d, by - pixelvalues[i]);
+      }
+      ellipse(x, by - pixelvalues[i], 3, 3);
+      x += s;
+    }
+    
+    
+    popMatrix();    
+    
+  }
+  
+  void data(int d) {
+    values[indx] = d;
+    float i = (float) d / (float)this.max;
+    if(by != h) pixelvalues[indx++] = (int)(i * h / 2);
+    else pixelvalues[indx++] = (int)(i * h);
+    indx %= (w / s) - 1;            
+  }
+  
+}
+
+class ScopePlotDouble extends ScopePlot {
+  
+  int[] values_second;
+  int[] pixelvalues_second;
+  
+  ScopePlotDouble(String t, int w, int h, int x, int y, int maxval, boolean mid){
+    super(t, w, h, x, y, maxval, mid);
+    values_second = new int[values.length];
+    pixelvalues_second = new int[pixelvalues.length];    
+  }
+  
+  void data(int d0, int d1) {    
+    values_second[indx] = d1;
+    float i = (float) d1 / (float)this.max;
+    if(by != h) pixelvalues_second[indx] = (int)(i * h / 2);
+    else pixelvalues_second[indx] = (int)(i * h);
+    super.data(d0);    
+  }
+  
+  void draw() {
+    
+    pushMatrix();    
+    
+    translate(px, py);
+    
+    int x = s;
+    for(int i = 0; i < pixelvalues_second.length; i++) {
+      stroke(255,34,127);
+      line(x, by, x, by - pixelvalues_second[i]);
+      stroke(127,34,255);      
+      if(i == indx - 1) {
+        stroke(255);
+        text(Integer.toString(values_second[i]),  w + d + d + d, by - pixelvalues_second[i]);
+      }
+      ellipse(x, by - pixelvalues_second[i], 3, 3);
+      x += s;
+    }
+ 
+    popMatrix();
+    
+    super.draw();    
+  }
+  
+}
+
+class ScopePlotInteract extends ScopePlot {
+  
+  int[] cpoints;
+  int[] cpointsvalues;
+  
+  int mx, my;
+  
+  ScopePlotInteract(String t, int w, int h, int x, int y, int maxval, boolean mid) {
+    super(t, w, h, x, y, maxval, mid);
+  }
+  
+  void draw() {
+    mx = 0;
+    super.draw();
+  }
+  
+  void mdata(int mousex, int mousey) {
+    if(mousex < px + w && mousex > px && mousey > py && mousey < py + h) {
+      mx = (mousex - px) / s;      
+      my = mousey;
+      if(mx < pixelvalues.length)
+        pixelvalues[mx] = (by + py) - my;
+        // compute real values here
+    } 
+    /*
+    else if((mousex > px + w &&  mousex < px + w + d) || (mousex < px && mousex > px - d) ||
+            (mousey < py && mousey > py - d) || (mousey > py + h && mousey < py + h + d)) {
+      px += (mousex - mx);
+      py += (my - mousey);
+    }
+    mx = mousex;
+    my = mousey;
+    */
+  }
+}

software/apps/Processing/Motion/Oscillator/OscilloscopeArduino/OscilloscopeArduino.ino

@@ -0,0 +1,82 @@
+#include <Motion.h>
+#include <Motor.h>
+#include <Music.h>
+
+char buf[16] = "";
+
+char b = 'x';
+String  inputString = "";
+boolean stringComplete = false;
+
+float k, m, d;
+
+int cnt = 0;
+
+void setup() {
+  
+  // MOTOR
+  MotorA.init();
+  
+  // MUSIC 
+  Music.init();
+  
+  // MOTION
+  MotionA.init(INPUTA0);
+  MotionA.k = 5.2f;   // spring
+  MotionA.m = 1.0f;   // mass
+  MotionA.d = 8.02f;  // damping
+
+  // Serial
+  Serial.begin(9600);  
+}
+
+void loop() {
+  
+  MotionA.update_mass_spring_damper();
+  
+  MotorA.torque(MotionA.F);
+  
+  int f = map(abs(MotionA.F), 0, 512, 64, 76);
+  Music.noteOn(f);
+  
+  cnt++;
+  
+  if(cnt == 10) {  
+    sprintf(buf, "%d %d %d %d", (int)MotionA.F, (int)MotionA.V, (int)MotionA.X, (int)MotionA.Xin);
+    Serial.println(buf);
+    cnt = 0;
+  }  
+  
+  if(stringComplete) {
+    if(b == 'k') {
+      MotionA.k = convertToFloat(inputString);
+    } else if(b == 'm') {
+      MotionA.m = convertToFloat(inputString);
+    } else if(b == 'd') {
+      MotionA.d = convertToFloat(inputString);
+    }    
+    b = 'x';
+    stringComplete = false;
+    inputString = "";
+  }
+}
+
+void serialEvent() {
+  while (Serial.available()) {
+    char inChar = (char)Serial.read();     
+    if(inChar == 'k' || inChar == 'm' || inChar == 'd') {
+      b = inChar;
+    } else {
+      if (inChar == ';') {
+        stringComplete = true;
+      } else       
+        inputString += inChar;
+    }
+  }
+}
+
+float convertToFloat(String str) {
+    char buf[16] = "";
+    str.toCharArray(buf, str.length() + 1);
+    return atof(buf);  
+}

software/apps/Processing/Motor/ForceProfile/ForceProfile.pde

@@ -0,0 +1,128 @@
+import controlP5.*;
+import processing.serial.*;
+
+static char NEW = '!';
+static char OK = '*';
+static char PRINT = '&';
+
+ForceProfilePlot fpp;
+Button send;
+Button print;
+
+//Serial port
+Serial p; 
+
+void setup() {
+   
+  int b = 15;
+  //int h = (displayHeight / 3);    (work in certain resolution)
+  //int w = displayWidth / 2;       (work in certain resolution)
+  int w = 720; 
+  int h = 300;    
+  
+  println("w: " + w + " h: " + h);
+ 
+  fpp = new ForceProfilePlot("Force Profile - Perception Terrain", w, h, b, b, 80, true);
+  
+  ControlP5 cp5 = new ControlP5(this);
+  
+  send = cp5.addButton("send");
+  send.setPosition(w - 20, 2*h + 2*b + 7);
+  send.setSize(35, 15);
+  send.setColorForeground(color(127,34,255));
+  send.setColorBackground(color(50,50,50));
+  
+  print = cp5.addButton("print");
+  print.setPosition(w - 140, 2*h + 2*b + 7);
+  print.setSize(35, 15);
+  print.setColorForeground(color(127,34,255));
+  print.setColorBackground(color(50,50,50));
+      
+  size(w + 60, 2*h + 60);
+  
+  p = new Serial(this, Serial.list()[0], 9600);
+  
+}
+
+void draw() {
+  background(0);
+  fpp.draw();
+  
+  if(p.available() > 0) {
+    String in = p.readStringUntil('\n');
+    if(in != null) {
+      println(in);
+      String[] t = splitTokens(in);
+    }
+  }
+  
+}
+
+void mouseDragged() {
+  fpp.drag(mouseX, mouseY);
+}
+
+void mouseClicked() 
+{
+  fpp.click(mouseX, mouseY);
+}
+
+void mouseReleased() {
+  fpp.release();
+}
+
+public void send() {
+  
+  send.setOff();
+  
+  p.write(NEW);
+  println("1");
+  while(p.available() <= 0);
+  println("2");
+  char in = p.readChar();
+  println("3");
+  if(in == OK) {
+    println("GO!");
+    int s = 800 / fpp.forces.length;
+    int len = s * (fpp.forces.length - 1);
+    serial_send(len);
+    float dx = 1023.0f / (fpp.forces.length - 1);
+    float ddx = dx / s;
+    for(int i = 0; i < fpp.forces.length-1; i++) {
+      float k = fpp.forces[i];
+      float m = (fpp.forces[i+1] - k) / dx;  
+      for(int j = 0; j < s; j++) {
+        int d = (int)(k + m*j);
+        serial_send(d);
+      }
+    }    
+  }    
+  
+  send.setOn();
+  
+}
+
+public void print() {
+  println("print");
+  print.setOff();
+  p.write(PRINT);  
+  while(p.available() <= 0); // block
+  while(p.available() > 0) {
+  String s = p.readStringUntil('#');
+  if(s != null)
+   println(s); 
+  }
+  send.setOn();
+}
+
+public boolean serial_send(int i) {    
+  p.clear();
+  char msb = (char) (i / 256);
+  char lsb = (char) (i & 0xff);
+  p.write(lsb);
+  p.write(msb);
+  while(p.available() <= 0);
+  char in = p.readChar();
+  return (in == OK);
+}
+

software/apps/Processing/Motor/ForceProfile/ForceProfilePlot.pde

@@ -0,0 +1,144 @@
+class ForceProfilePlot {
+
+  int d = 4, s = 4;
+  float steps = 4;  
+  int max, min;
+  int w, h, by;
+  int px, py;
+
+  int res = 800;
+
+  int[] forces;
+  int[] forces_pixelvalues;
+
+  int mx, my;  
+
+  String title;
+
+  TerrainPlot tr; 
+
+
+  ForceProfilePlot(String t, int w, int h, int x, int y, int nbr_ctrpoints, boolean terrain) {
+    this.title = t;
+    this.w = w + d;
+    this.h = h + d;
+    this.px = x - d;
+    this.py = y + d;
+    this.max = 512;
+    this.min = -512;
+    noFill();
+    textSize(12);    
+    this.s = 800 / nbr_ctrpoints;
+    this.steps = (float)(w + 2*d) / (nbr_ctrpoints - 1);
+    this.by = h / 2;
+    forces = new int[nbr_ctrpoints];               // zeros???
+    forces_pixelvalues = new int[nbr_ctrpoints];    
+    if (terrain) 
+      tr = new TerrainPlot("Terrain", w, h, x, y + h + 2 * d, nbr_ctrpoints, steps);
+  }
+
+  void draw() {
+
+    pushMatrix();
+
+    translate(px, py);
+
+    stroke(255, 255, 255);
+    line(     -d, h, w + d + d, h);
+    line(      0, -d, 0, h + d);
+    line(     -d, 0, w + d + d, 0);
+    line(  w + d, h + d, w + d, -d);    
+
+    fill(255, 255, 255);
+    textSize(10);
+    text(title, d, -d+2);
+    noFill();
+    line(-d, by, w + d, by);
+    text(Integer.toString(this.max), w + d + d + d, 0);
+    text(Integer.toString(this.min), w + d + d + d, h + d);
+
+    float x = 0;
+    for (int i = 0; i < forces_pixelvalues.length; i++) {
+
+      stroke(127, 34, 255);
+      line(x, by, x, by - forces_pixelvalues[i]);
+
+      stroke(255, 34, 127);
+      ellipse(x, by - forces_pixelvalues[i], 5, 5);
+
+      if (i != 0) {
+        stroke(255, 255, 255);
+        line(x, by - forces_pixelvalues[i], x - steps, by - forces_pixelvalues[i - 1]);
+      }
+
+      if(steps > 20)
+        text(Integer.toString(forces[i]), x, by - forces_pixelvalues[i] + (forces[i] < 0 ? 7 : -7));
+
+      x += steps;
+    }    
+
+
+    if (mx > 0) {
+      int e = round((float) mx / steps);
+      stroke(255, 34, 127);
+      line(e * steps, by - forces_pixelvalues[e], mx, my);
+    }      
+
+
+    popMatrix();    
+
+    if (tr != null) tr.draw();
+  }
+
+  void forces_from_pixels() {
+    for (int i = 0; i < forces_pixelvalues.length; i++) {
+      forces[i] = (int)(((by - forces_pixelvalues[i]) / h * 2) * 512);
+    }
+  }
+
+  void pixels_from_forces() {
+    for (int i = 0; i < forces.length; i++) {      
+      forces_pixelvalues[i] = (int)(((float) forces[i] / (float)this.max) * h / 2);
+    }
+  }
+
+
+  void drag(int mousex, int mousey) {
+    if (hit(mousex, mousey)) 
+      position_point(mousex, mousey);
+  }
+
+  void click(int mousex, int mousey) {
+    if (hit(mousex, mousey)) 
+      position_point(mousex, mousey);
+  }
+
+  void release() {
+    mx = -1; 
+    my = -1;
+  }
+
+  void position_point(int mousex, int mousey) {
+    int i = round((float) (mousex - px - d) / steps);
+    forces_pixelvalues[i] = h / 2 - (mousey - py - d);
+    forces[i] = (int)((((float)forces_pixelvalues[i]) / h * 2) * 512);
+
+    my = mousey - py - d;      
+    mx = mousex - px - d;          
+
+    if (tr != null) {
+      tr.data(forces_pixelvalues);
+      /*
+      if (i > 0) 
+        tr.data(i - 1, forces_pixelvalues[i - 1], i, forces_pixelvalues[i]);
+      if (i < forces_pixelvalues.length - 1)
+        tr.data(i, forces_pixelvalues[i], i + 1, forces_pixelvalues[i + 1]);
+      */
+    }
+  }
+
+  boolean hit(int mousex, int mousey) {
+    return (mousex < px + w) && (mousex > px) && (mousey > py) && (mousey < py + h);
+  }
+}
+

software/apps/Processing/Motor/ForceProfile/TerrainPlot.pde

@@ -0,0 +1,95 @@
+class TerrainPlot {
+  
+  int d = 4; 
+  float max, min;
+  int w, h;
+  int px, py;  
+  
+  float steps_per_index; // this should not exceed step_index;
+  float s, step_index;
+  
+  String title;  
+  float pixelvalues[];
+  
+  TerrainPlot(String t, int w, int h, int x, int y, int nbr_index, float step_index) {
+    this.title = t;
+    this.w = w + d;
+    this.h = h + d;
+    this.px = x - d;
+    this.py = y + d;
+    noFill();
+    textSize(12);    
+    this.step_index = step_index;
+    this.steps_per_index = (step_index / 3);
+    this.s = 3;
+    /*
+    
+    if(step_index > steps_per_index) {
+      this.s = ((float) step_index / steps_per_index);
+    } else {
+      this.s = step_index;
+      this.steps_per_index = 1; 
+    } 
+   */ 
+    pixelvalues = new float[(int)((nbr_index - 1) * steps_per_index) + 1];
+  }
+  
+  void draw() {
+    pushMatrix();
+    
+    pushMatrix();
+    
+    translate(px, py);
+    
+    stroke(255, 255, 255);
+    line(     -d, h, w + d + d, h);
+    line(      0, -d, 0, h + d);
+    line(     -d, 0, w + d + d, 0);
+    line(  w + d, h + d, w + d, -d);    
+
+    fill(255, 255, 255);
+    textSize(10);
+    //text(title, d, -d+2);
+    
+    popMatrix();
+    
+    translate(px, py + h);
+    
+    for(int i = 0; i < pixelvalues.length; i++) {
+      float y = pixelvalues[i];
+      if(abs(min) > h) { 
+        y = (y / abs(min)) * h;
+      } 
+      line(i * s, 0, i * s, y);
+    }
+    
+    popMatrix();
+  }
+  
+  void data(int[] forces_points) {
+    
+    float FF = 0;//forces[0]; // forces interpolated
+    float top = 0; // terrain value (integral of forces)
+    float inc; // interpolated slope ( F[i+1] - F[i] ) / s
+    
+    max = 0; min = 0;
+    for(int i = 0; i < forces_points.length - 1; i++) {
+       inc = 0.005 * (forces_points[i+1] - forces_points[i]) ;
+       for(int j = 0; j < steps_per_index; j++) {
+         FF += inc;
+         top = top + FF;
+         pixelvalues[(int)(i * steps_per_index) + j] = top;
+         if(top > max) max = top;
+       }
+    }  
+    
+    for(int i = 0; i < pixelvalues.length; i++) {
+      pixelvalues[i] = (int)(pixelvalues[i] - max);
+      if(pixelvalues[i] < min) {
+        min = pixelvalues[i];
+      }
+    } 
+    
+  }
+ 
+}

software/apps/Processing/Motor/ForceProfile/sketch.properties

@@ -0,0 +1,2 @@
+mode.id=processing.mode.java.JavaMode
+mode=Java

software/apps/Processing/Music/Music_Controls_4/Controller_Functions.pde

@@ -0,0 +1,427 @@
+String[] knobName = { "FREQ1",
+                      "SEMI1",
+                      "DETUNE1",
+                      "GAIN1",
+                      "WAVE1",
+                      "FM1",
+                      "FREQ2",
+                      "SEMI2",
+                      "DETUNE2",
+                      "GAIN2",
+                      "WAVE2",
+                      "FM2",
+                      "FREQ3",
+                      "SEMI3",
+                      "DETUNE3",
+                      "GAIN3",
+                      "WAVE3",
+                      "FM3",
+                      "ATTACK",
+                      "DECAY",
+                      "SUSTAIN",
+                      "RELEASE"
+                    };
+                    
+String[] controllerName = {   "freq1",
+                              "semi1",
+                              "detune1",
+                              "gain1",
+                              "wave1",
+                              "fm1",
+                              "freq2",
+                              "semi2",
+                              "detune2",
+                              "gain2",
+                              "wave2",
+                              "fm2",
+                              "freq3",
+                              "semi3",
+                              "detune3",
+                              "gain3",
+                              "wave3",
+                              "fm3",
+                              "attack",
+                              "decay",
+                              "sustain",
+                              "release"
+                            };
+                              
+
+                    
+String[] waveform = { "SINE",
+                      "SQUARE",
+                      "PULSE",
+                      "TRIANGLE",
+                      "SAW",
+                      "FUZZ",
+                      "DIGI1",
+                      "DIGI2",
+                      "DIGI3",
+                      "DIGI4",
+                      "NOISE",
+                      "DIGI6",
+                      "TAN1",
+                      "TAN2",
+                      "TAN3",
+                      "TAN4"
+                    };
+                    
+Knob freq1,semi1,detune1,gain1,wave1,fm1,freq2,semi2,detune2,gain2,wave2,fm2,freq3,semi3,detune3,gain3,wave3,fm3,attack,decay,sustain,release;
+Knob[] knobs = {freq1,semi1,detune1,gain1,wave1,fm1,freq2,semi2,detune2,gain2,wave2,fm2,freq3,semi3,detune3,gain3,wave3,fm3,attack,decay,sustain,release};
+
+int[] knobMin =   {  0,-24,  0,  0,  0,  0,  0,-24,  0,  0,  0,  0,  0,-24,  0,  0,  0,  0,  0,  0,  0,  0};
+int[] knobMax =   {127, 24,127,127, 15,127,127, 24,127,127, 15,127,127, 24,127,127, 15,127,127,127,127,127};
+int[] knobValue = { 40,  0, 64,127,  2,  0, 40,  7, 64,127,  3,  0, 40,-12, 64,127,  5,  0, 12, 96, 64, 72};
+int[] knobMidiCC= { 10, 11, 12, 13, 14, 15, 20, 21, 22, 23, 24, 25, 30, 31, 32, 33, 34, 35,114,115,116,117};
+int numKnobs = knobValue.length;
+
+
+int posX = 20;
+int posY = 20;
+int posEnvSpacer = 40;
+int posW = 65;
+int posH = 70;
+int knobS = 40;
+
+
+void setupKnobs() {
+
+  controlP5 = new ControlP5(this);
+  PFont p = createFont("Georgia",24); 
+  controlP5.setControlFont(p,12);
+  controlP5.setColorLabel(color(255,128));
+/*
+  Textlabel labelFreq = controlP5.addTextlabel("freqLabel","FREQ",posX+posW*0,posY-20);
+  Textlabel labelSemi = controlP5.addTextlabel("semiLabel","SEMI",posX+posW*1,posY-20);
+  Textlabel labelDetune = controlP5.addTextlabel("detuneLabel","DETUNE",posX+posW*2,posY-20);
+  Textlabel labelGain = controlP5.addTextlabel("gainLabel","GAIN",posX+posW*3,posY-20);
+  Textlabel labelWave = controlP5.addTextlabel("waveLabel","WAVE",posX+posW*4,posY-20);
+
+  Textlabel labelAttack = controlP5.addTextlabel("attackLabel","A",posX+16+posW*0,posY+posH*4-20);
+  Textlabel labelDecay = controlP5.addTextlabel("decayLabel","D",posX+16+posW*1,posY+posH*4-20);
+  Textlabel labelsustain = controlP5.addTextlabel("sustainLabel","S",posX+16+posW*2,posY+posH*4-20);
+  Textlabel labelReleasek = controlP5.addTextlabel("releaseLabel","R",posX+16+posW*3,posY+posH*4-20);
+
+  Knob freq1 = controlP5.addKnob("freq1",    0,127,knobValue[0],  posX+posW*0,posY+posH*0,knobS);
+  Knob semi1 = controlP5.addKnob("semi1",    -24,24,knobValue[1],  posX+posW*1,posY+posH*0,knobS);
+  Knob detune1 = controlP5.addKnob("detune1",0,127,knobValue[2],  posX+posW*2,posY+posH*0,knobS);
+  Knob gain1 = controlP5.addKnob("gain1",    0,127,knobValue[3], posX+posW*3,posY+posH*0,knobS);
+  Knob wave1 = controlP5.addKnob("wave1",    0,15,knobValue[4],   posX+posW*4,posY+posH*0,knobS);
+*/
+  for(int i=0; i<18; i++) {
+    knobs[i] = controlP5.addKnob(controllerName[i])
+                      .setRange(knobMin[i],knobMax[i])
+                      .setValue(knobValue[i])
+                      .setPosition(posX+posW*(i%6),posY+posH*int(i/6))
+                      .setRadius(knobS/2)
+                      .setDragDirection(Knob.VERTICAL)
+                      .setViewStyle(Knob.ELLIPSE)
+                      .setNumberOfTickMarks(knobMax[i]-knobMin[i])
+                      .snapToTickMarks(true)
+                      .showTickMarks(false);
+/*
+    if(i%6==1) {
+      knobs[i].setNumberOfTickMarks(49)
+              .snapToTickMarks(true)
+              .showTickMarks(false);
+    }
+    if(i%6==4) {
+      knobs[i].setNumberOfTickMarks(16)
+              .snapToTickMarks(true)
+              .showTickMarks(false);
+    }
+*/
+  }
+  for(int i=18; i<22; i++) {
+    knobs[i] = controlP5.addKnob(controllerName[i])
+                      .setRange(knobMin[i],knobMax[i])
+                      .setValue(knobValue[i])
+                      .setPosition(posX+posW*(i%6),posY+posEnvSpacer+posH*int(i/6))
+                      .setRadius(knobS/2)
+                      .setDragDirection(Knob.VERTICAL)
+                      .setViewStyle(Knob.ELLIPSE);
+    
+  }
+/*
+  Knob freq2 = controlP5.addKnob("freq2",    0,127,knobValue[5],  posX+posW*0,posY+posH*1,knobS);
+  Knob semi2 = controlP5.addKnob("semi2",    -24,24,knobValue[6],  posX+posW*1,posY+posH*1,knobS);
+  Knob detune2 = controlP5.addKnob("detune2",0,127,knobValue[7],  posX+posW*2,posY+posH*1,knobS);
+  Knob gain2 = controlP5.addKnob("gain2",    0,127,knobValue[8], posX+posW*3,posY+posH*1,knobS);
+  Knob wave2 = controlP5.addKnob("wave2",    0,15,knobValue[9],   posX+posW*4,posY+posH*1,knobS);
+
+  Knob freq3 = controlP5.addKnob("freq3",    0,127,knobValue[10],  posX+posW*0,posY+posH*2,knobS);
+  Knob semi3 = controlP5.addKnob("semi3",    -24,24,knobValue[11],  posX+posW*1,posY+posH*2,knobS);
+  Knob detune3 = controlP5.addKnob("detune3",0,127,knobValue[12],  posX+posW*2,posY+posH*2,knobS);
+  Knob gain3 = controlP5.addKnob("gain3",    0,127,knobValue[13], posX+posW*3,posY+posH*2,knobS);
+  Knob wave3 = controlP5.addKnob("wave3",    0,15,knobValue[14],   posX+posW*4,posY+posH*2,knobS);
+
+  Knob attack = controlP5.addKnob("attack",  0,127,knobValue[15],   posX+posW*0, posY+posH*4, knobS);
+  Knob decay = controlP5.addKnob("decay",    0,127,knobValue[16],   posX+posW*1, posY+posH*4, knobS);
+  Knob sustain = controlP5.addKnob("sustain",0,127,knobValue[17],   posX+posW*2, posY+posH*4, knobS);
+  Knob release = controlP5.addKnob("release",0,127,knobValue[18],   posX+posW*3, posY+posH*4, knobS);
+*/  
+}
+
+void writeKnobValues() {
+  textAlign(CENTER);
+  fill(255);
+  text("FREQ",40,30);
+  text("SEMI",100,30);
+  text("DETUNE",160,30);
+  text("GAIN",220,30);
+  text("WAVE",280,30);
+  
+  text("A",40,270);
+  text("D",100,270);
+  text("S",160,270);
+  text("R",220,270);
+
+  
+  fill(128);
+  text(knobValue[0],40,90);
+  text(knobValue[1],100,90);
+  text(knobValue[2],160,90);
+  text(knobValue[3],220,90);
+  text(waveform[knobValue[4]],280,90);
+  text(knobValue[5],40,150);
+  text(knobValue[6],100,150);
+  text(knobValue[7],160,150);
+  text(knobValue[8],220,150);
+  text(waveform[knobValue[9]],280,150);
+  text(knobValue[10],40,210);
+  text(knobValue[11],100,210);
+  text(knobValue[12],160,210);
+  text(knobValue[13],220,210);
+  text(waveform[knobValue[14]],280,210);
+  text(knobValue[15],40,330);
+  text(knobValue[16],100,330);
+  text(knobValue[17],160,330);
+  text(knobValue[18],220,330);  
+}
+
+void freq1(int val)
+{
+  int knob = 0;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + (int)(pow(2,(knobValue[knob]-69)/12.0)*440) + " Hz");
+    //(2^((p-69)/12))*440
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void semi1(int val)
+{
+  int knob = 1;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob]);
+    int semi =(knobValue[knob]+24)*2+16;
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)semi);
+  }
+}
+
+void detune1(int val)
+{
+  int knob = 2;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + map(knobValue[knob],0,127,-100,100)*0.0005946);
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void gain1(int val)
+{
+  int knob = 3;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob]/127.0);
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void wave1(int val)
+{
+  int knob = 4;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob] + " (" + waveform[knobValue[knob]] + ")");
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)(knobValue[knob]*8));
+  }
+}
+
+void fm1(int val)
+{
+  int knob = 5;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob]);
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void freq2(int val)
+{
+  int knob = 6;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + (int)(pow(2,(knobValue[knob]-69)/12.0)*440) + " Hz");
+    //(2^((p-69)/12))*440
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void semi2(int val)
+{
+  int knob = 7;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob]);
+    int semi =(knobValue[knob]+24)*2+16;
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)semi);
+  }
+}
+
+void detune2(int val)
+{
+  int knob = 8;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + map(knobValue[knob],0,127,-100,100)*0.0005946);
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void gain2(int val)
+{
+  int knob = 9;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob]/127.0);
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void wave2(int val)
+{
+  int knob = 10;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob] + " (" + waveform[knobValue[knob]] + ")");
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)(knobValue[knob]*8));
+  }
+}
+
+void fm2(int val)
+{
+  int knob = 11;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob]);
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void freq3(int val)
+{
+  int knob = 12;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + (int)(pow(2,(knobValue[knob]-69)/12.0)*440) + " Hz");
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void semi3(int val)
+{
+  int knob = 13;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob]);
+    int semi =(knobValue[knob]+24)*2+16;
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)semi);
+  }
+}
+
+void detune3(int val)
+{
+  int knob = 14;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + map(knobValue[knob],0,127,-100,100)*0.0005946);
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void gain3(int val)
+{
+  int knob = 15;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob]/127.0);
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void wave3(int val)
+{
+  int knob = 16;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob] + " (" + waveform[knobValue[knob]] + ")");
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)(knobValue[knob]*8));
+  }
+}
+
+void fm3(int val)
+{
+  int knob = 17;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob]);
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void attack(int val)
+{
+  int knob = 18;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob]);
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void decay(int val)
+{
+  int knob = 19;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob]);
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void sustain(int val)
+{
+  int knob = 20;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob]);
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+void release(int val)
+{
+  int knob = 21;
+  if(knobValue[knob] != val) {
+    knobValue[knob] = val;
+    if(printChange) println(knobName[knob] + " is: " + knobValue[knob]);
+    sendControlChange((byte)0, (byte)knobMidiCC[knob], (byte)knobValue[knob]);
+  }
+}
+
+

software/apps/Processing/Music/Music_Controls_4/Music_Controls_4.pde

@@ -0,0 +1,63 @@
+//import oscP5.*;
+//import netP5.*;
+import controlP5.*;
+import rwmidi.*;  // watch out for this
+import processing.serial.*;
+
+ControlP5 controlP5;
+MidiInput input;
+Serial port0;
+
+boolean printChange = true;
+boolean serialBusy = false;
+
+int backgroundColor = color(0,0,0);
+int knobColor = color(235,103,295);
+
+long time = 0;
+long lastTime = 0;
+long timePassed;
+long timeAllowed = 10;
+
+int delayTime = 40;
+
+void setup() {
+  
+  size(400,400);
+  smooth();
+  background(0);
+  
+  setupKnobs();
+    
+  //println("print MIDI input devices:");
+  //println(RWMidi.getInputDeviceNames());
+  input = RWMidi.getInputDevices()[0].createInput(this);
+  
+  println(Serial.list());
+  port0 = new Serial(this, Serial.list()[0], 9600);
+}
+
+
+void draw() {
+  background(backgroundColor);
+  //writeKnobValues();
+}
+
+
+void keyPressed() {
+  if(key=='s' || key=='S') {
+    saveKnobValues();
+  }
+  if(key=='l' || key=='L') {
+    loadKnobValues();
+  }
+}
+
+
+void keyReleased() {
+  if(key=='l' || key=='L') {
+    sendMidiKnobs();
+  }
+}
+
+

software/apps/Processing/Music/Music_Controls_4/midi_handling.pde

@@ -0,0 +1,70 @@
+void noteOnReceived(Note note) {
+  
+  byte channel = byte(note.getChannel());
+  byte pitch = byte(note.getPitch());
+  byte velocity = byte(note.getVelocity());
+
+  sendNoteOn(channel, pitch, velocity);
+  
+}
+
+void noteOffReceived(Note note) {
+
+  byte channel = byte(note.getChannel());
+  byte pitch = byte(note.getPitch());
+  byte velocity = byte(note.getVelocity());
+  
+  sendNoteOff(channel, pitch, velocity);
+  
+}
+
+void controllerChangeReceived(rwmidi.Controller controller) {
+  
+  byte channel = byte(controller.getChannel());
+  byte CC = byte(controller.getCC());
+  byte value = byte(controller.getValue());
+  
+  sendControlChange(channel, CC, value);
+}
+
+
+void sendNoteOn(byte channel, byte pitch, byte velocity) {
+
+  byte noteOn = byte(0x90 | channel);
+
+  serialBusy = true;  
+  port0.write(noteOn);
+  port0.write(pitch);
+  port0.write(velocity);
+  //println('\n' + hex(noteOn) + " " + hex(pitch) + " " + hex(velocity));
+  serialBusy = false;
+}
+
+void sendNoteOff(byte channel, byte pitch, byte velocity) {
+
+  byte noteOff = byte(0x80 | channel);  
+
+  serialBusy = true;
+  port0.write(noteOff);
+  port0.write(pitch);
+  port0.write(velocity);
+  //println('\n' + hex(noteOff) + " " + hex(pitch) + " " + hex(velocity));
+  serialBusy = false;
+}
+
+void sendControlChange(byte channel, byte CC, byte value) {
+  time = millis();
+  timePassed = time - lastTime;
+  if(timePassed > timeAllowed) {
+    lastTime = time;
+    
+    byte controlChange = byte(0xB0 | channel);
+    
+    serialBusy = true;
+    port0.write(controlChange);
+    port0.write(CC);
+    port0.write(value);
+    serialBusy = false;
+    //println('\n' + hex(controlChange) + " " + hex(CC) + " " + hex(value));
+  } 
+}

software/apps/Processing/Music/Music_Controls_4/saving_loading.pde

@@ -0,0 +1,124 @@
+byte[] savedKnobValues = new byte[numKnobs];
+byte[] loadedKnobValues = new byte[numKnobs];
+
+
+void loadKnobValues() {
+  
+  loadedKnobValues = loadBytes("knobValues.txt");
+
+  for(int i=0; i<numKnobs; i++) {
+    knobValue[i] = loadedKnobValues[i];
+    controlP5.controller(controllerName[i]).setValue(knobValue[i]);
+  }
+  println();
+  println("Loaded Knob Values");  
+  
+}
+
+void saveKnobValues() {
+
+    for(int i=0;i<numKnobs;i++) {
+      savedKnobValues[i] = (byte)knobValue[i];
+    }
+    saveBytes("knobValues.txt", savedKnobValues);
+    println();
+    println("Saved Knob Values");
+    
+}
+
+void sendMidiKnobs() {
+  
+  sendControlChange((byte)0, (byte)knobMidiCC[0],(byte)knobValue[0]);
+  delay(delayTime);
+  //semi1(knobValue[1]);
+    int semi =(knobValue[1]+24)*2+16;
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[1], (byte)semi);
+
+  delay(delayTime);
+  //detune1(knobValue[2]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[2], (byte)knobValue[2]);
+
+  delay(delayTime);
+  //gain1(knobValue[3]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[3], (byte)knobValue[3]);
+
+  delay(delayTime);
+  //wave1(knobValue[4]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[4], (byte)(knobValue[4]*8));
+
+  delay(delayTime);
+  //fm1(knobValue[5]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[5], (byte)knobValue[5]);
+
+  delay(delayTime);
+  //freq2(knobValue[6]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[6], (byte)knobValue[6]);
+
+  delay(delayTime);
+  //semi2(knobValue[7]);
+    semi = (knobValue[7]+24)*2+16;
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[7], (byte)semi);
+
+  delay(delayTime);
+  //detune2(knobValue[8]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[8], (byte)knobValue[8]);
+
+  delay(delayTime);
+  //gain2(knobValue[7]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[9], (byte)knobValue[9]);
+
+  delay(delayTime);
+  //wave2(knobValue[10]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[10], (byte)(knobValue[10]*8));
+  
+  delay(delayTime);
+  //fm2(knobValue[11]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[11], (byte)knobValue[11]);
+
+  delay(delayTime);
+  //freq3(knobValue[12]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[12], (byte)knobValue[12]);
+
+  delay(delayTime);
+  //semi3(knobValue[13]);
+    semi =(knobValue[13]+24)*2+16;
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[13], (byte)semi);
+
+  delay(delayTime);
+  //detune3(knobValue[14]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[14], (byte)knobValue[14]);
+
+  delay(delayTime);
+  //gain3(knobValue[15]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[15], (byte)knobValue[15]);
+
+  delay(delayTime);
+  //wave3(knobValue[16]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[16], (byte)(knobValue[16]*8));
+
+  delay(delayTime);
+  //fm3(knobValue[17]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[17], (byte)knobValue[17]);
+
+  delay(delayTime);
+  //attack(knobValue[18]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[18], (byte)knobValue[18]);
+
+  delay(delayTime);
+  //decay(knobValue[19]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[19], (byte)knobValue[19]);
+
+  delay(delayTime);
+  //sustain(knobValue[20]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[20], (byte)knobValue[20]);
+
+  delay(delayTime);
+  //release(knobValue[21]);
+    if(!serialBusy) sendControlChange((byte)0, (byte)knobMidiCC[21], (byte)knobValue[21]);
+  
+  println();
+  println("Sent Knob Values over MIDI");  
+
+}
+
+

software/lib/MMM/Midi.cpp

@@ -1,248 +0,0 @@
-/* 
- Midi.cpp - Music 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: Jakob Bak
- + contact: j.bak@ciid.dk
- */
-
-#include <avr/io.h>
-#include <avr/pgmspace.h>
-#include <hardwareSerial.h>
-//#include <MidiTables.h>
-#include <Music.h>
-#include <Midi.h>
-
-prog_uint16_t hertzTable[] PROGMEM = {8,8,9,9,10,10,11,12,12,13,14,15,16,17,18,19,20,21,23,24,25,27,29,30,32,34,36,38,41,43,46,48,51,54,58,61,65,69,73,77,82,87,92,97,103,109,116,123,130,138,146,155,164,174,184,195,207,219,233,246,261,277,293,311,329,349,369,391,415,440,466,493,523,554,587,622,659,698,739,783,830,880,932,987,1046,1108,1174,1244,1318,1396,1479,1567,1661,1760,1864,1975,2093,2217,2349,2489,2637,2793,2959,3135,3322,3520,3729,3951,4186,4434,4698,4978,5274,5587,5919,6271,6644,7040,7458,7902,8372,8869,9397,9956,10548,11175,11839,12543};
-
-MMidi Midi;
-
-bool midiRead = false;
-
-
-void MMidi::init()
-{	
-	Serial.begin(115200);
-
-	midiBufferIndex = 0;
-	midiChannel = 0;
-
-}
-
-void MMidi::checkMidi()
-{
-	while(Serial.available() > 0) {
-		
-		data = Serial.read();
-		
-		if(data & 0x80 && (data & 0x0F) == midiChannel) {	// bitmask with 10000000 to see if byte is over 127 (data&0x80)
-			midiBufferIndex = 0;							// and check if the midi channel corresponds to the midiChannel
-			midiRead = true;								// the device is set to listen to.
-		} else if(data & 0x80) {							// Else if the byte is over 127 (but not on the device's
-			midiRead = false;								// midiChannel, don't read this or any following bytes.
-		}
-		
-		if(midiRead) {
-			midiBuffer[midiBufferIndex] = data;
-			midiBufferIndex++;
-			if (midiBufferIndex > 2) {
-				midiHandler();
-			}
-		}
-	}	
-}
-
-
-void MMidi::midiHandler() {
-	
-    uint8_t midiChannel = (midiBuffer[0] & 0x0F);
-    
-	
-	switch(midiBuffer[0] & 0xF0) { // bit mask with &0xF0 ?
-        case 0x80:
-			noteOff			(midiBuffer[0] & 0x0F,     // midi channel 0-16
-							 midiBuffer[1] & 0x7F,   // note value 0-127
-							 midiBuffer[2] & 0x7F);  // note velocity 0-127
-			break;
-			
-        case 0x90:
-			noteOn			(midiBuffer[0] & 0x0F,     // midi channel 0-16
-							 midiBuffer[1] & 0x7F,   // note value 0-127
-							 midiBuffer[2] & 0x7F);  // note velocity 0-127
-			break;
-			
-        case 0xA0:
-			aftertouch		(midiBuffer[0] & 0x0F,   // midi channel 0-16
-							 midiBuffer[1] & 0x7F, // note value 0-127
-							 midiBuffer[2] & 0x7F);// note velocity 0-127
-			break;
-			
-        case 0xB0:
-			controller		(midiBuffer[0] & 0x0F,   // midi channel 0-16
-							 midiBuffer[1] & 0x7F, // controller number 0-127
-							 midiBuffer[2] & 0x7F);// controller value 0-127
-			break;
-			
-        case 0xC0:
-			programChange	(midiBuffer[0]  & 0x0F,    // midi channel 0-16
-							 midiBuffer[1] & 0x7F);  // program number 0-127
-			break;
-			
-        case 0xD0:
-			channelPressure	(midiBuffer[0]  & 0x0F,    // midi channel 0-16
-							 midiBuffer[1] & 0x7F);  // pressure amount 0-127
-			break;
-			
-        case 0xE0:
-			pitchWheel		(midiBuffer[0] & 0x0F,   // midi channel 0-16
-							 midiBuffer[1] & 0x7F, // higher bits 0-6
-							 midiBuffer[2] & 0x7F);// lower bits 7-13
-			break;
-			
-        default:
-			break;
-	}
-}
-
-
-void MMidi::noteOff(uint8_t channel, uint8_t note, uint8_t vel) {
-	
-	if(notePlayed == note) {
-		Music.setEnvStage(4);
-	}
-}
-
-
-void MMidi::noteOn(uint8_t channel, uint8_t note, uint8_t vel) {
-	
-	Music.setEnvStage(1);
-	Music.setVelSustain(vel);
-	Music.setVelPeak(vel);
-	notePlayed = note;
-	memcpy_P(&frequency, &hertzTable[notePlayed],2);
-	Music.setFrequency1(frequency);
-	Music.setFrequency2(frequency);
-	Music.setFrequency3(frequency);	
-}
-
-
-void MMidi::aftertouch(uint8_t channel, uint8_t note, uint8_t pressure) {
-	// Write code here for Aftertouch 
-}
-
-
-void MMidi::controller(uint8_t channel, uint8_t number, uint8_t value) {
-	
-	switch(number) {
-		case DETUNE:
-			Music.setDetune(value/5120.0);
-			break;
-		case PORTAMENTO:
-			//Music.setPortamento(value);  // function to be defined, also argument
-			break;
-		case DETUNE1:
-			Music.setDetune1(value/5120.0);
-			break;
-		case DETUNE2:
-			Music.setDetune2(value/5120.0);
-			break;
-		case DETUNE3:
-			Music.setDetune3(value/5120.0);
-			break;
-		case SEMITONE1:
-			if(15 < value && value < 113) {
-				int8_t val = (((value-16)/2)-24);
-				Music.setSemitone1(val);
-			} else if (value < 16) {
-				Music.setSemitone1(-24);				
-			} else {
-				Music.setSemitone1(24);
-			}
-			break;
-		case SEMITONE2:
-			if(15 < value && value < 113) {
-				int8_t val = (((value-16)/2)-24);
-				Music.setSemitone2(val);
-			} else if (value < 16) {
-				Music.setSemitone2(-24);				
-			} else {
-				Music.setSemitone2(24);
-			}
-			break;
-		case SEMITONE3:
-			if(15 < value && value < 113) {
-				int8_t val = (((value-16)/2)-24);
-				Music.setSemitone3(val);
-			} else if (value < 16) {
-				Music.setSemitone3(-24);				
-			} else {
-				Music.setSemitone3(24);
-			}
-			break;
-		case GAIN1:
-			Music.setGain1(uint16_t(value * 512));
-			break;
-		case GAIN2:
-			Music.setGain2(uint16_t(value * 512));
-			break;
-		case GAIN3:
-			Music.setGain3(uint16_t(value * 512));
-			break;
-		case WAVEFORM:
-			Music.setWaveform(value / 8);
-			break;
-		case WAVEFORM1:
-			Music.setWaveform1(value / 8);
-			break;
-		case WAVEFORM2:
-			Music.setWaveform2(value / 8);
-			break;
-		case WAVEFORM3:
-			Music.setWaveform3(value / 8);
-			break;
-		case ENV_ATTACK:
-			Music.setAttack(value);
-			break;
-		case ENV_DECAY:
-			Music.setDecay(value);
-			break;
-		case ENV_SUSTAIN:
-			Music.setSustain(value);
-			break;
-		case ENV_RELEASE:
-			Music.setRelease(value);
-			break;
-		default:
-			break;
-	} 
-}
-
-
-void MMidi::programChange(uint8_t channel, uint8_t number) {
-	// Write code here for Program Change 
-}
-
-
-void MMidi::channelPressure(uint8_t channel, uint8_t pressure) {
-	// Write code here for Channel Pressure 
-}
-
-
-void MMidi::pitchWheel(uint8_t channel, uint8_t highBits, uint8_t lowBits) {
-	// Write code here for Pitch Wheel
-}

software/lib/MMM/Midi.h

@@ -1,101 +0,0 @@
-/* 
- Midi.h - Music 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: Jakob Bak
- + contact: j.bak@ciid.dk
- */
-
-// MIDI specific constants
-
-#ifndef MIDI_CHANNEL
-#define MIDI_CHANNEL 1
-#endif
-
-// SYSEX constants
-#define SYSEX_LIMIT 16
-#define CFO_MANUFACTURER_ID 44
-#define CFO_DEVICE_GROUP_ID 3
-#define SET_CHANNEL 0
-
-
-//synth parameters as MIDI controller numbers
-#define DETUNE 4
-#define WAVEFORM 5
-#define PORTAMENTO 6
-
-#define FREQUENCY1 10
-#define SEMITONE1 11
-#define DETUNE1 12
-#define GAIN1 13
-#define WAVEFORM1 14
-
-#define FREQUENCY2 20
-#define SEMITONE2 21
-#define DETUNE2 22
-#define GAIN2 23
-#define WAVEFORM2 24
-
-#define FREQUENCY3 30
-#define SEMITONE3 31
-#define DETUNE3 32
-#define GAIN3 33
-#define WAVEFORM3 34
-
-#define ENV_ATTACK 114
-#define ENV_DECAY 115
-#define ENV_SUSTAIN 116
-#define ENV_RELEASE 117
-
-#define ENV2_ATTACK 124
-#define ENV2_DECAY 125
-#define ENV2_SUSTAIN 126
-#define ENV2_RELEASE 127
-
-
-// Synth parameters used in MIDI code
-#define ENV_MAX_GAIN (65536 * 4 - 1) 
-
-
-class MMidi {
-public:
-	void init();
-	void checkMidi();
-	
-	void midiHandler();
-	void noteOff(uint8_t channel, uint8_t note, uint8_t vel);
-	void noteOn(uint8_t channel, uint8_t note, uint8_t vel);
-	void aftertouch(uint8_t channel, uint8_t note, uint8_t pressure);
-	void controller(uint8_t channel, uint8_t number, uint8_t value);
-	void programChange(uint8_t channel, uint8_t number);
-	void channelPressure(uint8_t channel, uint8_t pressure);
-	void pitchWheel(uint8_t channel, uint8_t highBits, uint8_t lowBits);
-	
-private:
-	
-	// MIDI
-	uint8_t data;
-	uint8_t midiBuffer[SYSEX_LIMIT];
-	uint8_t midiChannel;
-	
-	int midiBufferIndex;
-	uint16_t frequency;
-	uint8_t notePlayed;
-};
-
-extern MMidi Midi;

software/lib/MMM/Motion.cpp

@@ -23,117 +23,50 @@
 
 #include "Motion.h"
 
+#include "Arduino.h"
+
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <stdlib.h>
 
-#define PB0 PORTB0
-
-bool motion_reg_init = false;
+//bool motion_reg_init = false;
 
 Motion MotionA(MOTIONA);
-Motion MotionB(MOTIONA);
-
-uint8_t lb;
-uint8_t hb;
-int     x, xx; 
-float   T = N * 0.004f;             // 4ms (see TCNT1)
-float   v;
-
-float MAX_POS = 1023;
-float MAX_VEL = MAX_POS / T;
-float MAX_ACC = MAX_VEL / T;
+Motion MotionB(MOTIONB);
 
+int MAX_POS = 1023;
 
 Motion::Motion(MOTION m){
     _m = m;
     _i = false;
     _fcb = NULL;
-};
+}
 
-void Motion::init(INPUT sensor)
+void Motion::init(SENSOR_INPUT sensor)
 {        
-    if(!motion_reg_init){
-        TCNT1 = 1000;               //4 ms (TCNT1)
-        TIMSK1 = (1 << TOIE1);
-        motion_reg_init = true;    
-    }
     _i = true;
-    _s = sensor;
-}
-
-int Motion::getPosition() {
-    return _x;
-}
-
-float Motion::getVelocity() {
-    return _v;
-}
-
-float Motion::getAcceleration() {
-    return _a;
-}
-
-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;
-        x = (hb << 8) | lb;
-        MotionA._xv[MotionA._ix] = x;
-        MotionA._ix++;
-        MotionA._ix %= N;        
-        
-        xx = x - MotionA._x;
-        if(abs(xx) < 2) {            
-            v = 0.0f;
-        } else {
-            v = xx / T;
-        }
-        
-        MotionA._a = (v - MotionA._v) / T;        
-        MotionA._v = v;
-        MotionA._x = x;       
-        
-    }
-    
-    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;       
-        
-    }
+    _s = sensor;    
     
+    tick = millis();
 }
 
+void Motion::update_position() {
+    Xin = analogRead(_s); // may take some time
+}
+
+void Motion::update_mass_spring_damper() {        
+    
+    // todo: filtering
+    
+    long t = millis();
+    float dt = (float)(t - tick) / 100.0f;
+    
+    int xin = analogRead(_s); // may take some time, put: 512 - analogRead(_s);
+    
+    Xin = xin;
+    F = k * (xin - X) - (d * V);
+    V += (F / m) * dt;
+    X += V * dt;       
+    
+    tick = t;
+}

software/lib/MMM/Motion.h

@@ -32,7 +32,7 @@ enum MOTION {
     MOTIONB = 1
 };
 
-enum INPUT {
+enum SENSOR_INPUT {
     INPUTA0 = 0x0000,
     INPUTA1 = 0x0001,
     INPUTA2 = 0x0010,
@@ -43,41 +43,32 @@ enum INPUT {
     INPUTA7 = 0x0111    
 };
 
-enum PHY {
-    POSITION = 0,
-    VELOCITY = 1,
-    ACCELERATION = 2
-};
-
 
 class Motion {
     
 public:
     Motion(MOTION m);
     
-    void init(INPUT sensor);
-    
-    int getPosition();
-    float getVelocity();
-    float getAcceleration();
-    
-    void set_force_callback(force_callback fcb, PHY physics);
-    
+    void init(SENSOR_INPUT sensor);
     
+    void update_position();
+    void update_mass_spring_damper();
+        
     // raw position vector
     int _xv[N];
     int _ix;    
     
-    int _x;    
-    float _v;
-    float _a;
+    float X, V, F;    
+    float m, k, d;
+    int Xin;
+    
+    long tick;
         
     MOTION _m;
-    INPUT  _s;
+    SENSOR_INPUT  _s;
     bool   _i;
     
-    force_callback _fcb;
-    PHY            _fcb_phy;
+    force_callback _fcb; // not used in current version
 };
 
 extern Motion MotionA;

software/lib/MMM/Motor.cpp

@@ -23,6 +23,8 @@
 
 #include "Motor.h"
 #include <avr/io.h>
+#include <stdlib.h>
+#include <avr/interrupt.h>
 
 #define RESOLUTION 65536
 
@@ -45,29 +47,48 @@ void MMotor::init()
 {    
         
     if(!reg_init){
-        
+
+        //cli();
         //direction pins are outputs
-        DDRD |= (1 << PD7);
-        DDRB |= (1 << PB0);        
+        DDRD |= (1 << PD7);        
+        DDRB |= (1 << PB0) | (1 << PB1) | (1 << PB2);
         
-        DDRB |= (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();
     }
     
 }
 
 
 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;
 }
 
@@ -81,8 +102,8 @@ void MMotor::direction(DIRECTION d)
     _d = d;
     if(_m == MOTORA && _d == FORWARD)           PORTD |= (1 << PD7);
     else if(_m == MOTORA && _d == BACKWARD)     PORTD &= ~(1 << PD7);
-    else if(_m == MOTORB && _d == BACKWARD)     PORTB |= (1 << PB0);
-    else if(_m == MOTORB && _d == FORWARD)      PORTB &= ~(1 << PB0);    
+    else if(_m == MOTORB && _d == BACKWARD)     PORTB &= ~(1 << PB0);  // The direction of FORWARD and BACKWARD is 
+    else if(_m == MOTORB && _d == FORWARD)		PORTB |= (1 << PB0);   // switched for MOTORB due to hardware design 
 }
 
 void MMotor::stop()

software/lib/MMM/Motor.h

@@ -53,8 +53,7 @@ protected:
     
     MOTOR       _m;
     DIRECTION   _d;
-    int         _t;  
-    long        _p;
+    int         _t;	// torque
     
 };
 

software/lib/MMM/Music.cpp

@@ -1,623 +0,0 @@
-/* 
- Music.cpp - Music 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: Jakob Bak
- + contact: j.bak@ciid.dk
- */
-
-#include <avr/interrupt.h>
-#include <avr/pgmspace.h> 
-
-#include <Wavetable.h>
-#include <Music.h>
-#include <hardwareSerial.h>
-
-// Table of MIDI note values to frequency in Hertz
-prog_uint16_t hertsTable[] PROGMEM = {8,8,9,9,10,10,11,12,12,13,14,15,16,17,18,19,20,21,23,24,25,27,29,30,32,34,36,38,41,43,46,48,51,54,58,61,65,69,73,77,82,87,92,97,103,109,116,123,130,138,146,155,164,174,184,195,207,219,233,246,261,277,293,311,329,349,369,391,415,440,466,493,523,554,587,622,659,698,739,783,830,880,932,987,1046,1108,1174,1244,1318,1396,1479,1567,1661,1760,1864,1975,2093,2217,2349,2489,2637,2793,2959,3135,3322,3520,3729,3951,4186,4434,4698,4978,5274,5587,5919,6271,6644,7040,7458,7902,8372,8869,9397,9956,10548,11175,11839,12543};
-
-prog_uint32_t envTimeTable[] PROGMEM = {1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,33,34,35,36,37,38,39,41,42,43,45,46,48,49,51,53,55,57,59,61,63,65,67,70,73,75,78,81,85,88,92,96,100,104,109,114,119,125,131,138,146,154,163,172,183,195,209,225,242,261,284,310,341,379,425,482,556,654,792,998,1342,2030,4095};
-
-float semitoneTable[] = {0.25,0.2648658,0.2806155,0.29730177,0.31498027,0.33370996,0.35355338,0.37457678,0.39685026,0.4204482,0.44544938,0.47193715,0.5,0.5297315,0.561231,0.59460354,0.62996054,0.6674199,0.70710677,0.74915355,0.7937005,0.8408964,0.8908987,0.9438743,1.0,1.0594631,1.122462,1.1892071,1.2599211,1.3348398,1.4142135,1.4983071,1.587401,1.6817929,1.7817974,1.8877486,2.0,2.1189263,2.244924,2.3784142,2.5198421,2.6696796,2.828427,2.9966142,3.174802,3.3635857,3.563595,3.7754972,4.0};
-
-MMusic Music;
-
-// Defining which pins the SPI interface is connected to.
-#define SPI_SCK 5
-#define SPI_MOSI 3
-
-// timer 2 is audio interrupt timer
-ISR(TIMER2_COMPA_vect) {
-	
-	OCR2A = 127;
-	
-	Music.synthInterrupt();
-	
-}
-
-
-
-
-/////////////////////////////////////
-//
-//	INITIALIZING FUNCTION
-//
-/////////////////////////////////////
-
-void MMusic::init()
-{
-	// clear interrupts. to make sure the interrupt timer doesn't start until we've set it up.
-	cli();
-	
-	// set up syntheziser
-	// this is the timer 2 audio rate timer, fires an interrupt at 15625 Hz sampling rate
-	TIMSK2 = 1<<OCIE2A;                      // interrupt enable audio timer
-	OCR2A = 127;
-	TCCR2A = 2;                              // CTC mode, counts up to 127 then resets
-	TCCR2B = 0<<CS22 | 1<<CS21 | 0<<CS20;
-	
-	// OUTPUTS
-	// sck + mosi + ss
-	DDRB = (1 << DDB2) | (1 << DDB3) | (1 << DDB5);
-	// dac_cs output
-	DDRD = (1 << DDD6);
-		
-	// set up SPI port
-	SPCR = 0x50;
-	SPSR = 0x01;
-	
-	// DAC frame sync HIGH, so that the SPI port doesn't start wirting straight away
-	PORTD |= (1<<6);
-	
-	// waveform setup
-	//setSine();
-	setWaveform(0);
-	
-	// frequency setup
-	setFrequency(440);
-	setSemitone1(0);
-	setSemitone2(0);
-	setSemitone3(0);
-	setDetune(0);
-	
-	// gain setup
-	setGain(1.0f);
-	setGain1(1.0f);
-	setGain2(1.0f);
-	setGain3(1.0f);
-	
-	// envelope setup
-	setEnvStage(0);
-	disableEnvelope();
-	env = 0;
-	
-	setAttack(4);
-	setDecay(90);
-	setSustain(32);
-	setRelease(64);
-	setVelSustain(0);
-	
-	sei(); // global interrupt enable 
-	
-	Serial.println("MUSIC INITIALIZED!");
-}
-
-
-
-
-/////////////////////////////////////
-//
-//	FREQUENCY AND DETUNE FUNCTIONS
-//
-/////////////////////////////////////
-
-void MMusic::setFrequency(float freq)
-{
-	period1 = uint16_t(((freq * semi1 * (1 + detune1 + bend)) * 65536.0) / SAMPLE_RATE);
-	period2 = uint16_t(((freq * semi2 * (1 + detune2 + bend)) * 65536.0) / SAMPLE_RATE);
-	period3 = uint16_t(((freq * semi3 * (1 + detune3 + bend)) * 65536.0) / SAMPLE_RATE);
-	frequency = freq;
-	frequency1 = freq;
-	frequency2 = freq;
-	frequency3 = freq;
-}
-
-
-void MMusic::setFrequency1(float freq)
-{
-	frequency1 = freq;
-	period1 = uint16_t(((frequency1 * semi1 * (1 + detune1 + bend)) * 65536.0) / SAMPLE_RATE);
-}
-
-
-void MMusic::setFrequency2(float freq)
-{
-	frequency2 = freq;
-	period2 = uint16_t(((frequency2 * semi2 * (1 + detune2 + bend)) * 65536.0) / SAMPLE_RATE);
-}
-
-
-void MMusic::setFrequency3(float freq)
-{
-	frequency3 = freq;
-	period3 = uint16_t(((frequency3 * semi3 * (1 + detune3 + bend)) * 65536.0) / SAMPLE_RATE);
-}
-
-
-void MMusic::setSemitone1(int8_t semi)
-{
-	if(-25 < semi && semi < 25){
-		semi1 = semitoneTable[semi+24];
-	} else if (semi < -24) {
-		semi1 = semitoneTable[0];
-	} else {
-		semi1 = semitoneTable[48];
-	}
-	period1 = uint16_t(((frequency1 * semi1 * (1 + detune1 + bend)) * 65536.0) / SAMPLE_RATE);
-}
-
-
-void MMusic::setSemitone2(int8_t semi)
-{
-	if(-25 < semi && semi < 25){
-		semi2 = semitoneTable[semi+24];
-	} else if (semi < -24) {
-		semi2 = semitoneTable[0];
-	} else {
-		semi2 = semitoneTable[48];
-	}
-	period2 = uint16_t(((frequency2 * semi2 * (1 + detune2 + bend)) * 65536.0) / SAMPLE_RATE);
-}
-
-
-void MMusic::setSemitone3(int8_t semi)
-{
-	if(-25 < semi && semi < 25){
-		semi3 = semitoneTable[semi+24];
-	} else if (semi < -24) {
-		semi3 = semitoneTable[0];
-	} else {
-		semi3 = semitoneTable[48];
-	}
-	period3 = uint16_t(((frequency3 * semi3 * (1 + detune3 + bend)) * 65536.0) / SAMPLE_RATE);
-}
-
-
-void MMusic::setDetune(float detune)
-{
-	detune1 = 0.0;
-	detune2 = detune;
-	detune3 = -detune;
-	period2 = uint16_t(((frequency2 * semi2 * (1 + detune2 + bend)) * 65536.0) / SAMPLE_RATE);
-	period3 = uint16_t(((frequency3 * semi3 * (1 + detune3 + bend)) * 65536.0) / SAMPLE_RATE);
-}
-
-
-void MMusic::setDetune1(float detune)
-{
-	detune1 = detune;
-	period1 = uint16_t(((frequency1 * semi1 * (1 + detune1 + bend)) * 65536.0) / SAMPLE_RATE);
-}
-
-
-void MMusic::setDetune2(float detune)
-{
-	detune2 = detune;
-	period2 = uint16_t(((frequency2 * semi2 * (1 + detune2 + bend)) * 65536.0) / SAMPLE_RATE);
-}
-
-
-void MMusic::setDetune3(float detune)
-{
-	detune3 = detune;
-	period3 = uint16_t(((frequency3 * semi3 * (1 + detune3 + bend)) * 65536.0) / SAMPLE_RATE);
-}
-
-
-void MMusic::pitchBend(float b)
-{
-	bend = b;
-	period1 = uint16_t(((frequency1 * semi1 * (1 + detune1 + bend)) * 65536.0) / SAMPLE_RATE);
-	period2 = uint16_t(((frequency2 * semi2 * (1 + detune2 + bend)) * 65536.0) / SAMPLE_RATE);
-	period3 = uint16_t(((frequency3 * semi3 * (1 + detune3 + bend)) * 65536.0) / SAMPLE_RATE);	
-}
-
-
-
-
-/////////////////////////////////////
-//
-//	WAVEFORM FUNCTIONS
-//
-/////////////////////////////////////
-
-
-void MMusic::setWaveform(uint16_t waveForm)
-{
-	waveForm1 = waveForm * 256;
-	waveForm2 = waveForm * 256;
-	waveForm3 = waveForm * 256;
-}
-
-
-void MMusic::setWaveform1(uint16_t waveForm)
-{
-	waveForm1 = waveForm * 256;
-}
-
-
-void MMusic::setWaveform2(uint16_t waveForm)
-{
-	waveForm2 = waveForm * 256;
-}
-
-
-void MMusic::setWaveform3(uint16_t waveForm)
-{
-	waveForm3 = waveForm * 256;
-}
-
-
-
-
-/////////////////////////////////////
-//
-//	GAIN FUNCTIONS
-//
-/////////////////////////////////////
-
-
-void MMusic::setGainFloat(float value)
-{
-	gain = uint16_t(value * 65535);
-	gain1 = gain;
-	gain2 = gain;
-	gain3 = gain;
-}
-
-
-void MMusic::setGain16bit(uint16_t value)
-{
-	gain = value;
-	gain1 = value;
-	gain2 = value;
-	gain3 = value;
-}
-
-
-void MMusic::setGain(float value)
-{
-	gain = uint16_t(value * 65535);
-	gain1 = gain;
-	gain2 = gain;
-	gain3 = gain;
-}
-
-
-void MMusic::setGain(uint16_t value)
-{
-	gain = value;
-	gain1 = value;
-	gain2 = value;
-	gain3 = value;
-}
-
-
-void MMusic::setGain1(float value)
-{
-	gain1 = uint16_t(value * 65535);
-}
-
-
-void MMusic::setGain2(float value)
-{
-	gain2 = uint16_t(value * 65535);
-}
-
-
-void MMusic::setGain3(float value)
-{
-	gain3 = uint16_t(value * 65535);
-}
-
-
-void MMusic::setGain1(uint16_t value)
-{
-	gain1 = value;
-}
-
-
-void MMusic::setGain2(uint16_t value)
-{
-	gain2 = value;
-}
-
-
-void MMusic::setGain3(uint16_t value)
-{
-	gain3 = value;
-}
-
-
-float MMusic::getGainFloat()
-{
-	return float(gain);
-}
-
-
-uint16_t MMusic::getGain()
-{
-	return gain;
-}
-
-
-
-
-/////////////////////////////////////
-//
-//	NOTE_ON/OFF FUNCTIONS
-//
-/////////////////////////////////////
-
-
-void MMusic::noteOn(uint8_t note, uint8_t vel)
-{	
-	envStage = 1;
-	velSustain = vel;
-	notePlayed = note;
-	memcpy_P(&frequency16bit, &hertsTable[notePlayed],2);
-	setFrequency1(frequency16bit);
-	setFrequency2(frequency16bit);
-	setFrequency3(frequency16bit);
-}
-
-
-void MMusic::noteOn(uint8_t note)
-{	
-	envStage = 1;
-	velSustain = 127;
-	notePlayed = note;
-	memcpy_P(&frequency16bit, &hertsTable[notePlayed],2);
-	setFrequency1(frequency16bit);
-	setFrequency2(frequency16bit);
-	setFrequency3(frequency16bit);
-}
-
-
-void MMusic::noteOff(uint8_t note)
-{	
-	if(notePlayed == note) {
-		envStage = 4;
-	}    
-}
-
-
-void MMusic::noteOff()
-{	
-	envStage = 4;
-}
-
-
-
-
-/////////////////////////////////////
-//
-//	ENVELOPE FUNCTIONS
-//
-/////////////////////////////////////
-
-void MMusic::enableEnvelope()
-{
-	envelopeOn = true;
-}
-
-
-void MMusic::disableEnvelope()
-{
-	envelopeOn = false;
-}
-
-
-void MMusic::setEnvStage(uint8_t stage)
-{
-	envStage = stage;
-}
-
-
-void MMusic::setAttack16bit(uint16_t att)
-{
-	attack = att;
-}
-
-
-void MMusic::setDecay16bit(uint16_t dec)
-{
-	decay = dec;
-}
-
-
-void MMusic::setSustain16bit(uint16_t sus)
-{
-	sustain = sus;
-}
-
-
-void MMusic::setRelease16bit(uint16_t rel)
-{
-	release = rel;
-}
-
-
-void MMusic::setAttack(uint8_t att)
-{
-	if(att>127) att = 127;
-	memcpy_P(&attack, &envTimeTable[127 - att],2);
-	//attack = envTimeTable[127 - att];
-}
-
-
-void MMusic::setDecay(uint8_t dec)
-{
-	if(dec>127) dec = 127;
-	memcpy_P(&decay, &envTimeTable[127 - dec],2);
-	//decay = envTimeTable[127 - dec];
-}
-
-
-void MMusic::setSustain(uint8_t sus)
-{
-	sustain = ((sus * MAX_ENV_GAIN)/128);	
-}
-
-
-void MMusic::setRelease(uint8_t rel)
-{
-	if(rel>127) rel = 127;
-	memcpy_P(&release, &envTimeTable[127 - rel],2);
-	//release = envTimeTable[127 - rel];
-}
-
-
-void MMusic::setVelSustain(uint8_t vel)
-{
-	velSustain = vel * (sustain / 128);	
-}
-
-
-void MMusic::setVelPeak(uint8_t vel)
-{
-	velPeak = vel * (MAX_ENV_GAIN / 128);	
-}
-
-
-
-
-/////////////////////////////////////
-//
-//	AUDIO INTERRUPT SERVICE ROUTINE
-//
-/////////////////////////////////////
-
-
-void inline MMusic::synthInterrupt()
-{
-	// Frame sync low for SPI (making it low here so that we can measure lenght of interrupt with scope)
-	PORTD &= ~(1<<6);
-	
-	// The accumulator (16bit) keeps track of the pitch by adding the 
-	// the amount of "index" points that the frequency has "travelled" 
-	// since the last sample was sent to the DAC, i.e. the current phase
-	// of the waveform.
-	accumulator1 = accumulator1 + period1;
-	accumulator2 = accumulator2 + period2;
-	accumulator3 = accumulator3 + period3;
-
-	// To use the accumulator position to find the right index in the 
-	// waveform look-up table, we truncate it to 8bit.
-	index1 = accumulator1 >> 8;
-	index2 = accumulator2 >> 8;
-	index3 = accumulator3 >> 8;
-	
-	oscil1 = 0;
-	oscil2 = 0;
-	oscil3 = 0;
-		
-	memcpy_P(&oscil1, &waveTable[index1 + waveForm1],1);
-	memcpy_P(&oscil2, &waveTable[index2 + waveForm2],1);
-	memcpy_P(&oscil3, &waveTable[index3 + waveForm3],1);
-
-	
-	
-	// The DAC formatting routine below assumes the sample to be transmitted
-	// is in the higher 12 bits of the 2 byte variable, so we shift the 
-	// sample up 6 bits each which adds up to 4 bits.
-	// The individual gains for each oscillator is added.
-	sample = (oscil1 * gain1); 
-	sample += (oscil2 * gain2); 
-	sample += (oscil3 * gain3); 
-	sample >>= 10;
-	
-
-	// AMPLIFICATION ENVELOPE
-	// Amplification envelope is calculated here
-	if(envelopeOn) {
-		
-		// Attack
-		if(envStage == 1) {
-			env += attack;
-			if(velPeak < env) {
-				env = velPeak;
-				envStage = 2;
-			}
-		}
-		// Decay
-		else if(envStage == 2) {
-			env -= decay;
-			if(env < velSustain || MAX_ENV_GAIN < env) {
-				env = velSustain;
-				envStage = 3;
-			}
-		}
-		// Sustain
-		else if (envStage == 3) {
-			env = velSustain;
-		}
-		
-		// Release
-		else if (envStage == 4) {
-			env -= release;
-			if(MAX_ENV_GAIN < env) {
-				env = 0;
-				envStage = 0;
-			}
-		}
-		
-		// No gain
-		else if (envStage == 0) {
-			env = 0;
-			accumulator1 = 0;
-			accumulator2 = 0;
-			accumulator3 = 0;
-		}
-		
-	} else {
-		env = 65535;
-	}
-
-	// Adding the amplification envelope (16bit) we bring it back to the 16bit frame again afterwards.
-	sample = (env * sample) >> 16;
-	
-	
-	// Formatting the samples to be transfered to the MCP4921 DAC  
-	dacSPI0 = sample >> 8;
-	dacSPI0 >>= 4;
-	dacSPI0 |= 0x30;
-	dacSPI1 = sample >> 4;
-	
-	SPCR |= (1 << MSTR);
-	
-	// transmit value out the SPI port
-	SPDR = dacSPI0;
-	while (!(SPSR & (1<<SPIF)));  // Maybe this can be optimised
-	SPDR = dacSPI1;
-	while (!(SPSR & (1<<SPIF)));  // Maybe this can be optimised
-	
-	// Frame sync high
-	PORTD |= (1<<6);
-	
-}

software/lib/MMM/Wavetable.h

@@ -1,5 +1,5 @@
 /* 
- Music.h - Music library
+ Wavetable.h - Music library
  Copyright (c) 2012 Copenhagen Institute of Interaction Design. 
  All right reserved.
  
@@ -21,10 +21,6 @@
  + contact: j.bak@ciid.dk
  */
 
-//uint32_t envTimeTable[] = {1,2,5,8,11,14,18,22,27,31,36,41,46,52,58,64,70,76,82,89,96,103,110,117,125,132,140,148,156,164,172,181,189,198,207,216,225,234,243,252,262,272,281,291,301,311,322,332,343,353,364,374,385,396,407,419,430,441,453,464,476,488,500,512,524,536,548,560,573,585,598,610,623,636,649,662,675,688,702,715,729,742,756,769,783,797,811,825,839,853,868,882,896,911,925,940,955,970,985,1000,1015,1030,1045,1060,1075,1091,1106,1122,1137,1153,1169,1185,1201,1217,1233,1249,1265,1281,1298,1314,1331,1347,1364,1380,1397,1414,1431,1448,1465,1482,1499,1516,1533,1551,1568,1586,1603,1621,1638,1656,1674,1692,1710,1728,1746,1764,1782,1800,1818,1837,1855,1873,1892,1911,1929,1948,1967,1986,2004,2023,2042,2061,2081,2100,2119,2138,2158,2177,2197,2216,2236,2255,2275,2295,2315,2334,2354,2374,2394,2414,2435,2455,2475,2495,2516,2536,2557,2577,2598,2618,2639,2660,2681,2702,2723,2744,2765,2786,2807,2828,2849,2870,2892,2913,2935,2956,2978,2999,3021,3043,3064,3086,3108,3130,3152,3174,3196,3218,3240,3263,3285,3307,3330,3352,3375,3397,3420,3442,3465,3488,3510,3533,3556,3579,3602,3625,3648,3671,3694,3718,3741,3764,3787,3811,3834,3858,3881,3905,3929,3952,3976,4000,4024,4048,4072,4095};
-
-//prog_uint16_t hertzTable[] PROGMEM = {8,8,9,9,10,10,11,12,12,13,14,15,16,17,18,19,20,21,23,24,25,27,29,30,32,34,36,38,41,43,46,48,51,54,58,61,65,69,73,77,82,87,92,97,103,109,116,123,130,138,146,155,164,174,184,195,207,219,233,246,261,277,293,311,329,349,369,391,415,440,466,493,523,554,587,622,659,698,739,783,830,880,932,987,1046,1108,1174,1244,1318,1396,1479,1567,1661,1760,1864,1975,2093,2217,2349,2489,2637,2793,2959,3135,3322,3520,3729,3951,4186,4434,4698,4978,5274,5587,5919,6271,6644,7040,7458,7902,8372,8869,9397,9956,10548,11175,11839,12543};
-
 // Look-up table for sine waveform in 12 bit resolution in
 // both amplitude and time.
 

software/lib/MMM/examples/Motion/Motion_tutorial_files.txt

@@ -0,0 +1 @@
+Put Motion Tutorial sketches in this folder

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

@@ -0,0 +1,32 @@
+//"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(){
+  MotorA.init();
+  Music.init();
+  
+  Music.setWaveform(SINE);
+  Music.enableEnvelope();
+  Music.setAttack(10);
+  Music.setDecay(10);
+  Music.setRelease(10);
+}
+
+void loop(){
+    MotorA.torque(200);
+    Music.noteOn(map(analogRead(A3),0,1023,30,60));
+    delay (20);
+    Music.noteOff();MotorA.torque(0);
+    delay (150);
+    MotorA.torque(-200);
+    Music.noteOn(map(analogRead(A3),0,1023,35,65));
+    delay (40);
+    Music.noteOff();MotorA.torque(0);
+    MotorA.torque(0);
+    delay (750);
+}

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

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

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

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

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

@@ -0,0 +1,36 @@
+// Theremin
+// A: pitch, B: volume
+
+#include <Music.h>
+int xA, xB; //10bit A/D gives 0-1023
+float p; //midi note number 0-127
+double frequency, volume;
+byte c; //print every 256 cycles
+
+void setup(){
+  Music.init();
+  Serial.begin(9600);
+}
+void loop(){
+  xA = analogRead(A3); // A position
+  p = float(xA)/8; //pitch (midi)
+  
+  p = 80.*(p/128.)+20.;
+  // p = map(p, 0,127,20,100);
+  //linear mapping of p
+  //The map() function uses integer math so will
+  //not generate fractions, when the math might
+  //indicate that it should do so. Fractional
+  //remainders are truncated, and are not rounded 
+  //or averaged. 
+  //
+  frequency = pow(2,((p-69.)/12.))*440; //midi 69 -> 440hz
+  Music.setFrequency(frequency);
+  
+  xB = analogRead(A0);
+  volume = -float(xB)/1024.; // B position
+  volume = pow(10,volume);
+  Music.setGain(volume);
+  
+}
+  

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

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

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

@@ -0,0 +1,90 @@
+<<<<<<< HEAD:software/lib/MMM/examples/Motion/_6_Bumps/_6_Bumps.ino
+//Plucks - four bumps / three notes (400,500,600hz)
+#define NUM_OSCILLATORS 3
+=======
+//plucks - four bumps
+//three notes (400,500,600hz)
+//can't get Music.setGain1, etc to work only Music.setGain() starts all of them.
+#define NUM_OSCILLATORS 3
+#define BIT_DEPTH 8
+>>>>>>> update notes to motion.cpp:software/apps/Modeling/Bumps4/Bumps4.ino
+#include <Music.h>
+#include <Motor.h>
+
+int x, xold, xt, F; // input position x, output force F
+int K = 10; // slope constant
+byte count; //for print count-down
+
+void setup(){
+  Music.init();
+  Music.setFrequency1(200);
+  Music.setFrequency2(250);
+  Music.setFrequency3(300);  
+  
+  MotorA.init();
+  
+  Serial.begin(9600);
+  x = analogRead(A0); // initialize x
+}
+
+void loop(){
+  
+  xold = x;
+  x =  analogRead(A0);
+
+if (((xold <= 125) && (x > 125)) || ((xold >= 125) && (x < 125))){
+  Music.setGain1(1.0f);
+<<<<<<< HEAD:software/lib/MMM/examples/Motion/_6_Bumps/_6_Bumps.ino
+}
+if (((xold <= 375) && (x > 375)) || ((xold >= 375) && (x < 375))){
+  Music.setGain2(1.0f);
+}
+if (((xold <= 625) && (x > 625)) || ((xold >= 625) && (x < 625))){
+  Music.setGain3(1.0f);
+}
+if (((xold <= 875) && (x > 875)) || ((xold >= 875) && (x < 875))){
+  Music.setGain1(1.0f);
+=======
+  Music.setFrequency1(200);
+}
+if (((xold <= 375) && (x > 375)) || ((xold >= 375) && (x < 375))){
+  Music.setGain2(1.0f);
+  Music.setFrequency2(250);
+}
+if (((xold <= 625) && (x > 625)) || ((xold >= 625) && (x < 625))){
+  Music.setGain3(1.0f);
+  Music.setFrequency3(300);
+}
+if (((xold <= 875) && (x > 875)) || ((xold >= 875) && (x < 875))){
+  Music.setGain1(1.0f);
+  Music.setFrequency1(400);
+>>>>>>> update notes to motion.cpp:software/apps/Modeling/Bumps4/Bumps4.ino
+  }
+  else{
+    Music.setGain1(0.995f*Music.getGain1());
+    Music.setGain2(0.995f*Music.getGain2());
+    Music.setGain3(0.995f*Music.getGain3());
+  }
+  
+
+
+  xt = x % 250; //same force for each 250 ranage
+  F = 0;
+  if (xt > 60) F = - K * (xt - 60);
+  if (xt > 80) F = - K * (100 - xt);
+  if (xt > 120) F =  K * (140 - xt);
+  if (xt > 140) F = 0;
+  MotorA.torque(F);
+  
+ 
+ // print every 256 cycles
+  if(count++==0){
+    Serial.print(x);
+    Serial.print(" ");
+    Serial.print(xt);
+    Serial.print(" ");
+    Serial.println(F);
+  }
+
+}
+    

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

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

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

@@ -0,0 +1,31 @@
+//FM synthes of a sort
+//hang on!  it's unstable and wants to limit cycle
+
+#define BIT_DEPTH 8 // gives us 16 Waveforms
+
+#include <Music.h>
+
+#include <Motor.h>
+
+byte cnt;
+float xf, vf; //
+float k = 10.0; // increase FM frequency
+float b = 0.40; // increase
+float Tf = .030 ; //integration time
+
+void setup(){
+  Serial.begin(9600);
+  Music.init();
+  Music.setWaveform(0);
+  Music.setGain(1.0f);
+  MotorA.init();
+}
+
+void loop(){
+  xf += vf * Tf;
+  vf += (k * (analogRead(A0) - xf) - b*vf) * Tf;
+  Music.setFrequency(100+vf);
+  Music.setGain(.001*abs(vf));
+  MotorA.torque(-500+xf);
+  //if(cnt++==0)Serial.println(.001*abs(vf));
+}

software/lib/MMM/examples/Motor/Motor_tutorial_files.txt

@@ -0,0 +1 @@
+Put Motor Tutorial sketches in this folder

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

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

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

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

software/lib/MMM/examples/Music/Music_tutorial_files.txt

@@ -0,0 +1 @@
+Put Music Tutorial sketches in this folder

software/lib/MMM/examples/Music/_0_MUSIC_LIBRARY_DOCUMENTATION/_0_MUSIC_LIBRARY_DOCUMENTATION.ino

@@ -0,0 +1,126 @@
+/////////////////////////////////////////////////////////////////////////
+// DON'T TRY TO RUN THIS SKETCH, IT IS FOR DOCUMENTATION PURPOSES ONLY //
+/////////////////////////////////////////////////////////////////////////
+
+// These are the music functions that are available for you to use in you sketches.
+// You can see examples of how some of them are used (the most basic ones) in the
+// Apps folder that downloaded with the MM library.
+
+// In the following you can see the variable type that the function takes as an argument (float, uint8_t or uint16_t)
+// The weirdly looking "uint16_t" and "uint8_t" is just unsigned 16 and 8 bit integers. So instead of having
+// both negative and positive values, they only have positive values from 0 - 255 (8bit) and 0 - 65535 (16bit).
+// If you copy a function from here to your arduino sketch, just change the word "float", "uint8_t", etc into the
+// variable name that you uses in your sketch.
+
+// PRE-PROCESSING COMMANDS
+#define NUM_OSCILLATORS 3  // define the use of 1, 2 or 3 oscillators
+#define BIT_DEPTH 12       // define the bit depth resolution of 8 or 12 bit waveforms
+#define MIDI               // tell the system you will be using the MIDI part of the sound engine
+#define MIDI_CHANNEL 1     // set the MIDI channel to listen to. Between 1 and 16
+#define FM                 // tell the library to use the FM synthesis mode
+
+#include <Music.h>
+
+// INITIALIZERS
+// Use this in the setup() function to start the synth engine.
+// It defaults to a sine tone at 110Hz, no envelope and no detune.
+Music.init();
+
+// Use this in the setup() function to start the MIDI engine. It sets up the serial communication. 
+Midi.init();
+
+// MIDI FUNCTIONS
+Midi.checkMidi() // put this function in the loop() function in your
+                 // Arduino sketch to check for incoming MIDI activity
+
+// FREQUENCY AND DETUNE FUNCTIONS
+// Use these functions to set the frequency and detune parameters of the synth.
+Music.setFrequency(float);   // Set base frequencies of all oscillators at once. Does _not_ affect detune or semitone
+Music.setFrequency1(float);  // Set base frequency of individual oscillators.
+Music.setFrequency2(float);  // Sounds best between 20Hz and 4000Hz
+Music.setFrequency3(float);  //
+Music.setDetune(float);      // Set the detune offset of all oscillators at once. Oscillator 1 stays fixed at it's base frequency
+Music.setDetune1(float);     // Set the detune of oscillator 1,2 and 3 individually
+Music.setDetune2(float);     // Sounds best between 0.00 and 0.02    
+Music.setDetune3(float);     //
+Music.setSemitone1(int8_t);  // Set the semitone offset of base frequency in musical halftones relative to base frequency
+Music.setSemitone2(int8_t);  // Goes from -24 halftones to +24 halftones
+Music.setSemitone3(int8_t);
+Music.setFM2(uint8_t);       // Set the amount of frequency modulation (FM) on oscillator2.
+
+
+// WAVEFORM FUNCTIONS
+// Switch between the different waveforms for the oscillators. ONLY FOR 8BIT MODE!
+Music.setWaveform(uint16_t);         // This sets waveform of all oscillators at once.
+Music.setWaveform1(uint16_t);        // Takes a number from 0-15
+Music.setWaveform2(uint16_t);        // Or take one of the macro names (in capitals) below for waveform types.
+Music.setWaveform3(uint16_t);
+// WAVEFORM TYPES
+SINE
+SQUARE
+PULSE
+TRIANGLE
+SAW
+FUZZ
+DIGI1
+DIGI2
+DIGI3
+DIGI4
+NOISE
+DIGI6
+TAN1
+TAN2
+TAN3
+TAN4
+
+// GAIN FUNCTIONS
+// Set the gain of the oscillators all at once or individually. Use floats between 0.0 and 1.0
+Music.setGain(float); // 0.0 - 1.0
+Music.setGain1(float); // 0.0 - 1.0 
+Music.setGain2(float); // 0.0 - 1.0
+Music.setGain3(float); // 0.0 - 1.0
+// You can also ask the sound engine  
+Music.getGain(); // outputs a float between 0.0 and 1.0
+Music.getGain1(); //  
+Music.getGain2(); // 
+Music.getGain3(); // 
+
+
+// NOTE FUNCTIONS
+// These functions triggers a note to be played. The noteOff() functions turns the note off again.
+// They come both with note and velocity information (for noteOn). If you don't know what that is,
+// just use the ones with the least arguments.
+// To get a proper note sound call Music.enableEnvelopes() [see below] before calling the noteOn function.
+// You just have to do that once in the setup for example.
+Music.noteOn(uint8_t, uint8_t);  // 0 - 127, first argument is the note number, the second is the velocity
+Music.noteOn(uint8_t);           // 0 - 127, here it is only note number and velocity defaults to 127
+Music.noteOff(uint8_t);          // 0 - 127, specify which note should be turned off (not necessary yet)
+Music.noteOff();                 // turns off last played note
+// This function returns the frequency of a MIDI note number sent to it.
+Music.getNoteFrequency(uint8_t); // input 0 - 127, returns a frequency in unsigned 16bit integers
+
+
+// ENVELOPE FUNCTIONS
+// These functions enables and sets the parameters of the internal envelope which creates dynamics for the notes 
+// being played. You can read about ADSR envelopes here: http://en.wikipedia.org/wiki/Synthesizer#ADSR_envelope
+// When using the envelope you can only hear sound when you are triggering the notes with the note functions. In order
+// to get dynamics without triggering the note object you must have the envelope turned off, for example using 
+// the Music.disableEnvelope() function [already set by default in the init() function]. You can then control the
+// dynamics of the sound with the overall or individual setGain() functions.
+Music.enableEnvelope();
+Music.disableEnvelope();
+
+// Alternately to using the noteOn/NoteOff functions you can set the envelope stage. Experiment with it :)
+Music.setEnvStage(uint8_t); // 0 - 4, where 0 is in "silent" stage, 1 is attack, 2 is decay, 3 is sustain and 4 is release stage.
+
+// Setting the parameters for the envelope you send an 8bit number between 0 and 127 to the functions below. 0 is a very fast
+// rise or decay in sound, whereas 127 is very long. Sustain is the sound level where 0 is silent and 127 is full gain. 
+// You must experiment with what suits your musical taste :)
+// These parameters can of course be adjusted during the physics code for interesting results, but be aware that when
+// using the sine wave oscillator (which is more processor intensive) the sound can hang or have glitches if you alter
+// these parameters too quickly or set them at extremes. Try it out.
+Music.setAttack(uint8_t); // 0 - 127
+Music.setDecay(uint8_t); // 0 - 127
+Music.setSustain(uint8_t); // 0 - 127
+Music.setRelease(uint8_t); // 0 - 127
+

software/lib/MMM/examples/Music/_1_minimal/_1_minimal.ino

@@ -0,0 +1,25 @@
+// You can set the number of oscillators (1 to 3) and the bit depth of the
+// oscillators (8 or 12 bit). These settings must be defined before the
+// inclusion of the MMM library files. They default to 1 osciallator
+// and 8bit respectively.
+
+#define NUM_OSCILLATORS 1
+#define BIT_DEPTH 12
+
+// The Music object is automatically instantiated when the header file is
+// included. Make calls to the Music objects wit "Music.function(args)".
+// You still need to call Music.init() in the setup() function below.
+#include <Music.h>
+
+
+void setup() {
+
+  // We initialise the sound engine by calling Music.init() which outputs a tone
+  Music.init();
+
+}
+
+void loop() {
+      
+}
+

software/lib/MMM/examples/Music/_2_waveform/_2_waveform.ino

@@ -0,0 +1,56 @@
+// You can set the number of oscillators (1 to 3) and the bit depth of the
+// oscillators (8 or 12 bit). These settings must be defined before the
+// inclusion of the MMM library files. They default to 1 osciallator
+// and 8bit respectively.
+
+#define NUM_OSCILLATORS 1
+#define BIT_DEPTH 8
+
+// The Music object is automatically instantiated when the header file is
+// included. Make calls to the Music objects with "Music.function(args)".
+// You still need to call Music.init() in the setup() function below.
+#include <Music.h>
+
+int delayTime = 2000;
+int cnt = 0;
+long timeNow;
+long lastTime = 0;
+
+byte waveFormArray[] = { SINE,
+                        SQUARE,
+                        PULSE,
+                        TRIANGLE,
+                        SAW,
+                        FUZZ,
+                        DIGI1,
+                        DIGI2,
+                        DIGI3,
+                        DIGI4,
+                        NOISE,
+                        DIGI6,
+                        TAN1,
+                        TAN2,
+                        TAN3,
+                        TAN4
+                       };
+
+void setup() {
+
+  // We initialise the sound engine by calling Music.init() which outputs a tone
+  Music.init();
+  Music.setFrequency(220);
+  Music.setWaveform(SINE);
+
+}
+
+void loop() {
+  
+  timeNow = millis();
+  if((timeNow-lastTime) > delayTime) {
+    cnt = cnt + 1;
+    if(cnt>15) cnt = 0;
+    Music.setWaveform(waveFormArray[cnt]);
+    lastTime = timeNow;
+  }   
+}
+

software/lib/MMM/examples/Music/_3_frequency/_3_frequency.ino

@@ -0,0 +1,42 @@
+// You can set the number of oscillators (1 to 3) and the bit depth of the
+// oscillators (8 or 12 bit). These settings must be defined before the
+// inclusion of the MMM library files. They default to 1 osciallator
+// and 8bit respectively.
+
+#define NUM_OSCILLATORS 3
+#define BIT_DEPTH 8
+
+// The Music object is automatically instantiated when the header file is
+// included. Make calls to the Music objects with "Music.function(args)".
+// You still need to call Music.init() in the setup() function below.
+#include <Music.h>
+
+int delayTime = 400;
+int cnt = 0;
+float baseFrequency = 110;
+long timeNow;
+long lastTime = 0;
+
+void setup() {
+
+  // We initialise the sound engine by calling Music.init() which outputs a tone
+  Music.init();
+  Music.setFrequency(220);
+  Music.setDetune(0.001); // ranges from 0.00 - 0.02 are usually good
+  Music.setWaveform(SAW);
+
+}
+
+void loop() {
+  
+  timeNow = millis();
+  if((timeNow-lastTime) > delayTime) {
+    cnt = cnt + 1;
+    if(cnt>3) cnt = 0;
+    Music.setFrequency1(baseFrequency*1*cnt);
+    Music.setFrequency2(baseFrequency*1.3333*cnt);
+    Music.setFrequency3(baseFrequency*1.5*cnt);
+    lastTime = timeNow;
+  }   
+}
+

software/lib/MMM/examples/Music/_4_gain/_4_gain.ino

@@ -0,0 +1,47 @@
+// You can set the number of oscillators (1 to 3) and the bit depth of the
+// oscillators (8 or 12 bit). These settings must be defined before the
+// inclusion of the MMM library files. They default to 1 osciallator
+// and 8bit respectively.
+
+#define NUM_OSCILLATORS 3
+#define BIT_DEPTH 8
+
+// The Music object is automatically instantiated when the header file is
+// included. Make calls to the Music objects with "Music.function(args)".
+// You still need to call Music.init() in the setup() function below.
+#include <Music.h>
+
+int delayTime = 100;
+int cnt = 0;
+float baseFrequency = 110;
+long timeNow;
+long lastTime = 0;
+
+void setup() {
+
+  // We initialise the sound engine by calling Music.init() which outputs a tone
+  Music.init();
+  Music.setFrequency(220);
+  Music.setDetune(0.005); // ranges from 0.00 - 0.02 are usually good
+  Music.setWaveform(PULSE);
+  Music.setFrequency1(baseFrequency*1);
+  Music.setFrequency2(baseFrequency*1.3333);
+  Music.setFrequency3(baseFrequency*1.5);
+
+
+}
+
+void loop() {
+  
+  timeNow = millis();
+  if((timeNow-lastTime) > delayTime) {
+    cnt = cnt + 1;
+    if(cnt>16) cnt = 0;
+    float counter = float(cnt);
+    Music.setGain1(1.0/cnt);
+    Music.setGain2(1.0/cnt);
+    Music.setGain3(1.0/cnt);
+    lastTime = timeNow;
+  }   
+}
+

software/lib/MMM/examples/Music/_5_semi_detune/_5_semi_detune.ino

@@ -0,0 +1,31 @@
+// You can set the number of oscillators (1 to 3) and the bit depth of the
+// oscillators (8 or 12 bit). These settings must be defined before the
+// inclusion of the MMM library files. They default to 1 osciallator
+// and 8bit respectively.
+
+#define NUM_OSCILLATORS 3
+#define BIT_DEPTH 8
+
+// The Music object is automatically instantiated when the header file is
+// included. Make calls to the Music objects with "Music.function(args)".
+// You still need to call Music.init() in the setup() function below.
+#include <Music.h>
+
+void setup() {
+
+  // We initialise the sound engine by calling Music.init() which outputs a tone
+  Music.init();
+  Music.setFrequency(110);
+  Music.setDetune(0.005); // ranges from 0.00 - 0.02 are usually good
+  Music.setWaveform(DIGI2);
+  Music.setSemitone1(0);
+  Music.setSemitone2(7);
+  Music.setSemitone3(-12);
+
+
+}
+
+void loop() {
+
+}
+

software/lib/MMM/examples/Music/_6_noteOn_noteOff/_6_noteOn_noteOff.ino

@@ -1,31 +1,33 @@
+// You can set the number of oscillators (1 to 3) and the bit depth of the
+// oscillators (8 or 12 bit). These settings must be defined before the
+// inclusion of the MMM library files. They default to 1 osciallator
+// and 8bit respectively.
 
-// This needs to be in all sketches at the moment
-#include <stdint.h>
+#define NUM_OSCILLATORS 3
+#define BIT_DEPTH 8
 
-// The Music and Midi objects are automatically instantiated when the header file is included.
-// Make calls to the Music and Midi objects with "Music.function(args)" and "Midi.function(args)"
-// You still need to call Music.init() and Midi.init() in the setup() function below.
+// The Music object is automatically instantiated when the header file is
+// included. Make calls to the Music objects with "Music.function(args)".
+// You still need to call Music.init() in the setup() function below.
 #include <Music.h>
 
-// variables for this sketch
 boolean noteIsOn = false;
 int n = 0;
 int dir = 1;
-int rootNote = 26;
+int rootNote = 36;
 int note[] = {0,2,3,5,7,9,10,12,14};
 
 long time = 0;
 long lastTime = 0;
-long beatTime = 100;
-
+long timeDelay = 80;
 
 void setup() {
 
   // We initialise the sound engine by calling Music.init() which outputs a tone
   Music.init();
   
-  // Choosing the square wave oscillator instead of the sine wave.
-  Music.setSquare();
+  // Choosing the square wave oscillator.
+  Music.setWaveform(DIGI3);
   
   // Detuning the three oscillators slightly to create movement in the sound.
   Music.setDetune(0.008);  
@@ -37,14 +39,14 @@ void setup() {
   Music.setDecay(90);
   Music.setSustain(48);
   Music.setRelease(64);
-  
+
 }
 
 void loop() {
   
   // This short routine loops note over and over again
   time = millis();
-  if(time - lastTime > beatTime) {
+  if(time - lastTime > timeDelay) {
     if(!noteIsOn) {
       Music.noteOn(rootNote+note[n]);
       noteIsOn = true;

software/lib/MMM/examples/Music/_7_spaghetti_tones/_7_spaghetti_tones.ino

@@ -1,6 +1,5 @@
-
-// This needs to be in all sketches at the moment
-#include <stdint.h>
+#define NUM_OSCILLATORS 3
+#define BIT_DEPTH 12
 
 // The Music and Midi objects are automatically instantiated when the header file is included.
 // Make calls to the Music and Midi objects with "Music.function(args)" and "Midi.function(args)"
@@ -24,7 +23,7 @@ void setup() {
   Music.init();
   
   // Choosing the sine wave oscillator (optional since this is already the default).
-  Music.setSine();
+  Music.setWaveform(0);
   
   // Setting the initial frequency for all three oscillators.
   Music.setFrequency(c);

software/lib/MMM/examples/Music/_8_midi/_8_midi.ino

@@ -0,0 +1,36 @@
+// The Music object is automatically instantiated when the header file is
+// included. Make calls to the Music objects with "Music.function(args)".
+// You still need to call Music.init() in the setup() function below.
+#define NUM_OSCILLATORS 3
+#define BIT_DEPTH 8
+#define MIDI
+#define MIDI_CHANNEL 1
+#include <Music.h>
+
+long timeNow = 0;
+long lastTime = 0;
+long delayTime = 400; //in milliseconds
+
+void setup() {
+
+  // We initialise the sound engine by calling Music.init() which outputs a tone
+  Music.init();
+  Music.enableEnvelope();
+  Midi.init();
+
+}
+
+void loop() {
+  
+  // In order to send MIDI to the sketch, use the Music_Controls_4.pde Processing sketch
+  Midi.checkMidi();
+  
+  // The below code is an example of triggering the noteOn function to play some sounds
+  timeNow = millis();
+  if((timeNow - lastTime) > delayTime) {
+    Music.noteOn(64);
+    lastTime = timeNow;  
+    
+  }  
+}
+

software/lib/MMM/examples/Music/_9_FM_synthesis/_9_FM_synthesis.ino

@@ -0,0 +1,39 @@
+// You can set the number of oscillators (1 to 3) and the bit depth of the
+// oscillators (8 or 12 bit). These settings must be defined before the
+// inclusion of the MMM library files. They default to 1 oscallator
+// and 8bit respectively.
+#define FM  // tell the library to use FM synthesis
+#define NUM_OSCILLATORS 2
+#define BIT_DEPTH 12
+
+#include <Music.h>
+
+long time;
+long lastTime = 0;
+long eventTime = 10;
+int cnt = 0;
+int dir = 1;
+
+void setup() {
+
+  // We initialise the sound engine by calling Music.init() which outputs a tone
+  Music.init();
+  Music.setFM2(0);  // this value is already defaulted to 0 in Music.init()
+  Music.setFrequency2(148.3);  // This is the base frequency of the audible oscillator 
+  Music.setFrequency1(487.78);  // This is the modulating frequency
+
+}
+
+void loop() {
+  // This code increases the FM amount from 0 to 127 and back again in intervals defined by "eventTime"
+  time = millis();
+  if(time-lastTime > eventTime) {
+    Music.setFM2(cnt);
+    cnt += dir;
+    if(cnt <= 0 || cnt >= 127) dir *= -1;
+    lastTime = time;
+  }
+  
+
+}
+

software/lib/MMM/keywords.txt

@@ -0,0 +1,91 @@
+#######################################
+# Syntax Coloring Map For MMM Library
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+Music	KEYWORD1
+MotorA	KEYWORD1
+MotorB	KEYWORD1
+MotionA	KEYWORD1
+MotionB	KEYWORD1
+Midi	KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+init	KEYWORD2
+checkMidi	KEYWORD2
+enableEnvelope	KEYWORD2
+disableEnvelope	KEYWORD2
+setEnvStage	KEYWORD2
+setDetune	KEYWORD2
+setDetune1	KEYWORD2
+setDetune2	KEYWORD2
+setDetune3	KEYWORD2
+setFrequency	KEYWORD2
+setFrequency1	KEYWORD2
+setFrequency2	KEYWORD2
+setFrequency3	KEYWORD2
+setSemitone1	KEYWORD2
+setSemitone2	KEYWORD2
+setSemitone3	KEYWORD2
+setWaveform	KEYWORD2
+setWaveform1	KEYWORD2
+setWaveform2	KEYWORD2
+setWaveform3	KEYWORD2
+setGain	KEYWORD2
+setGain1	KEYWORD2
+setGain2	KEYWORD2
+setGain3	KEYWORD2
+getGain	KEYWORD2
+getGain1	KEYWORD2
+getGain2	KEYWORD2
+getGain3	KEYWORD2
+noteOn	KEYWORD2
+noteOff	KEYWORD2
+getNoteFrequency	KEYWORD2
+setAttack	KEYWORD2
+setDecay	KEYWORD2
+setSustain	KEYWORD2
+setRelease	KEYWORD2
+update_position	KEYWORD2
+update_mass_spring_damper	KEYWORD2
+torque	KEYWORD2
+direction	KEYWORD2
+stop	KEYWORD2
+start	KEYWORD2
+restart KEYWORD2
+setFM2	KEYWORD2
+
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+
+NUM_OSCILLATORS	LITERAL1
+BIT_DEPTH	LITERAL1
+MIDI	LITERAL1
+MIDI_CHANNEL	LITERAL1
+FM	LITERAL1
+CFO	LITERAL1
+
+SINE	LITERAL1
+SQUARE	LITERAL1
+PULSE	LITERAL1
+TRIANGLE	LITERAL1
+SAW	LITERAL1
+FUZZ	LITERAL1
+DIGI1	LITERAL1
+DIGI2	LITERAL1
+DIGI3	LITERAL1
+DIGI4	LITERAL1
+NOISE	LITERAL1
+DIGI6	LITERAL1
+TAN1	LITERAL1
+TAN2	LITERAL1
+TAN3	LITERAL1
+TAN4	LITERAL1