85 lines
2.0 KiB
C++
85 lines
2.0 KiB
C++
/*
|
|
Motion.h - Motion library
|
|
Copyright (c) 2012 Copenhagen Institute of Interaction Design.
|
|
All right reserved.
|
|
|
|
This library is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU Lesser Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This library is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU Lesser Public License for more details.
|
|
|
|
You should have received a copy of the GNU Lesser Public License
|
|
along with Foobar. If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
|
|
+ author: dviid
|
|
+ contact: dviid@labs.ciid.dk
|
|
*/
|
|
|
|
#include <avr/io.h>
|
|
|
|
#define N 10
|
|
|
|
typedef float (*force_callback)(float position);
|
|
|
|
enum MOTION {
|
|
MOTIONA = 0,
|
|
MOTIONB = 1
|
|
};
|
|
|
|
enum INPUT {
|
|
INPUTA0 = 0x00, // bits 0000
|
|
INPUTA1 = 0x01, // bits 0001
|
|
INPUTA2 = 0x02, // bits 0010
|
|
INPUTA3 = 0x03, // bits 0011
|
|
INPUTA4 = 0x04, // bits 0100
|
|
INPUTA5 = 0x05, // bits 0101
|
|
INPUTA6 = 0x06, // bits 0110
|
|
INPUTA7 = 0x07 // bits 0111
|
|
};
|
|
|
|
enum PHY {
|
|
POSITION = 0,
|
|
VELOCITY = 1,
|
|
ACCELERATION = 2
|
|
};
|
|
|
|
|
|
class Motion {
|
|
|
|
public:
|
|
Motion(MOTION m);
|
|
|
|
void init(INPUT sensor);
|
|
|
|
void set_force_callback(force_callback fcb, PHY physics); // NOT IMPLEMENTED
|
|
|
|
int getX();
|
|
|
|
float calculateFAVX(int);
|
|
|
|
|
|
// raw position vector
|
|
int _xv[N]; // NOT IMPLEMENTED
|
|
int _ix;
|
|
|
|
float X, V, A, F; // from model
|
|
float m, k, d; // constants from mass-spring-damper model
|
|
int Xin; // from the ADC channel specified in Motion constructor (e.g INPUTA0)
|
|
|
|
|
|
MOTION _m;
|
|
INPUT _s;
|
|
bool _i; // is it inititated
|
|
|
|
force_callback _fcb; // NOT IMPLEMENTED
|
|
PHY _fcb_phy; // NOT IMPLEMENTED
|
|
};
|
|
|
|
extern Motion MotionA;
|
|
extern Motion MotionB; |