DreamForce 2013 Mini-Hack Challenge Project
Dependencies: ADXL345 USBDevice filter mbed
Fork of df-minihack-slingshot by
main.cpp
- Committer:
- ansond
- Date:
- 2013-11-08
- Revision:
- 6:446635b12af2
- Parent:
- 4:c82d5978d626
- Child:
- 7:991749350315
File content as of revision 6:446635b12af2:
/* mbed USB Slingshot, * * Copyright (c) 2010-2011 mbed.org, MIT License * * smokrani, sford, danson, sgrove * * Permission is hereby granted, free of charge, to any person obtaining a copy of this software * and associated documentation files (the "Software"), to deal in the Software without * restriction, including without limitation the rights to use, copy, modify, merge, publish, * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the * Software is furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all copies or * substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ // // DreamForce 2013 Challenge: // // Goal: modify the code below to adjust the sling body angle (theta) to take into account // the relative angle between the sling body and the sling band. // // // Mini-hack challenge: Your mission, should you choose to accept it, is to complete the function // "potentiometer_value_to_degrees()" below (around line 129) to return a reasonable // estimate of the sling band angle relative to the sling body // // // DreamForce2013 TUNABLES START // maximum angular value of the sling band float max_sling_angle = 30.0; // minimum angluar value of the sling band float min_sling_angle = -30.0; // DreamForce2013 TUNABLES END // Sling Tunables Start - !!! be careful changing these !!! // stretch start threshold float stretch_start_threshold = 0.4; // fire threshold float fire_threshold = 0.15; // fire timing threshold float fire_timing_threshold = 3.0; // scaling for mouse movement int mouse_scale = 230; // Sling Tunables End // definition of PI #define M_PI 3.14159 // Includes #include "mbed.h" #include "USBMouse.h" #include "ADXL345.h" // Physical interfaces USBMouse mouse; ADXL345 accelerometer(p5, p6, p7, p8); AnalogIn stretch_sensor(p15); BusOut leds(LED1, LED2, LED3, LED4); // Potentiometer AnalogIn pot_1(p19); // keep track of mouse position int current_x = 0; int current_y = 0; // Potentiometer filters #include "filter.h" medianFilter prefilter(13); medianFilter postfilter(7); // return radians for a given degree float degrees_to_radians(float degrees) { float radians = ((M_PI*degrees)/180.0); return radians; } // return degrees for a given radian float radians_to_degrees(float radians) { float degrees = ((180*radians)/M_PI); return degrees; } // get_potentiometer_value() reads the potentiometer, filters its value and remaps it to [0, 100.0] float get_potentiometer_value(AnalogIn pot) { float f = pot; f = prefilter.process(f); // pre-filter f = (f * 100); // remap: [ 0, 100] return postfilter.process(f); // post-filter after remap } // // DreamForce 2013 Challenge: // potentiometer_value_to_degrees() takes the potentiometer value (val_pot) and // maps it to an angle between [min_sling_angle, max_sling_angle] as defined in the tunables section // // NOTE: This function is INCOMPLETE. To complete it you should: // 1). Uncomment the debug statement, run the program, and look at raw potentiometer values // 2). Determine the min and max potentiometer values you wish to scale to degrees // 3). Determine the 90 degree potentiometer value ("median_pot") that denotes the sling band at 90 to the sling body // 4). Fill in median_pot, min_pot, max_pot below // 5). Compile up and give it a try // float potentiometer_value_to_degrees(float val_pot) { float deg = 0.0; float accuracy = 0.1; // DEBUG - may need this to calibrate pot values below //std::printf("Raw pot value=%.1f\r\n",val_pot); // Potentiometer range: INCOMPLETE: you need to uncomment the print statement above and determine median_pot, min_pot, max_pot float median_pot = 0.0; float min_pot = 0.0; float max_pot = 0.0; float incr_pot = (max_pot*10) - (min_pot*10); // how many .1 increments we have in the interval [min, max] // Mapped degree range: approx [min_sling_angle, max_sling_angle] degrees so convert to float min_deg = min_sling_angle; float max_deg = max_sling_angle; float incr_deg = (max_deg*10) - (min_deg*10); // how many .1 increments we have in the interval [min, max] // see if we are centered or not float centered_pot = fabs(val_pot - median_pot); // if we are off 90 degrees (i.e. sling body and sling band are not at 90 degrees) - calculate the relative angle if (centered_pot > accuracy) { // map to degree range float conversion = (incr_deg/incr_pot); deg = min_deg + (conversion*(val_pot - min_pot)); } // return the calculated degrees return deg; } // adjust the final angle (theta) taking into account the relative angle between the sling body and the sling band. float adjust_for_sling_angle(float slingshot_body_angle) { // get the sling angle through approximation with the potentiometer float sling_angle_degrees = potentiometer_value_to_degrees(get_potentiometer_value(pot_1)); // the sling angle is in degrees - so lets convert the body angle to degrees as well float modified_angle_degrees = radians_to_degrees(slingshot_body_angle); // we simply add the sling angle to adjust it modified_angle_degrees += sling_angle_degrees; // make sure that we are always between 0 and 359 degrees while (modified_angle_degrees > 360.0) modified_angle_degrees = modified_angle_degrees - 360; while (modified_angle_degrees < 0.0) modified_angle_degrees = modified_angle_degrees + 360; // convert the modified angle back to radians float modified_angle_radians = degrees_to_radians(modified_angle_degrees); // DEBUG //std::printf("adjust_for_sling_angle: body_angle=%.1f sling_angle=%.1f modified_angle=%.1f\r\n",radians_to_degrees(slingshot_body_angle),sling_angle_degrees,modified_angle_degrees); // return the modified angle return modified_angle_radians; } // Return slingshot angle in radians, up > 0 > down float get_angle() { int readings[3]; accelerometer.getOutput(readings); float x = (int16_t)readings[0]; float z = (int16_t)readings[2]; return atan(z / x); } // Return normalised stretch value based on bounds of all readings seen float get_stretch() { static float min_strength = 0.7; static float max_strength = 0.7; float current_strength = stretch_sensor.read(); if(current_strength > max_strength) { max_strength = current_strength; } if(current_strength < min_strength) { min_strength = current_strength; } float stretch = (current_strength - min_strength) / (max_strength - min_strength); return 1.0 - stretch; } // move mouse to a location relative to the start point, stepping as needed void move_mouse(int x, int y) { const int STEP = 10; int move_x = x - current_x; int move_y = y - current_y; // Move the mouse, in steps of max step size to ensure it is picked up by OS while(move_x > STEP) { mouse.move(STEP, 0); move_x -= STEP; } while(move_x < -STEP) { mouse.move(-STEP, 0); move_x += STEP; } while(move_y > STEP) { mouse.move(0, STEP); move_y -= STEP; } while(move_y < -STEP) { mouse.move(0, -STEP); move_y += STEP; } mouse.move(move_x, move_y); current_x = x; current_y = y; } // reset the mouse position void reset_mouse() { current_x = 0; current_y = 0; mouse.move(0,0); } template <class T> T filter(T* array, int len, T value) { T mean = 0.0; for(int i = 0; i<len - 1; i++) { mean += array[i + 1]; array[i] = array[i + 1]; } mean += value; array[len - 1] = value; return mean / (T)len; } typedef enum { WAITING = 2, AIMING = 4, FIRING = 8 } state_t; int main() { bool loop_forever = true; leds = 1; // init mouse tracking reset_mouse(); // setup accelerometer accelerometer.setPowerControl(0x00); accelerometer.setDataFormatControl(0x0B); accelerometer.setDataRate(ADXL345_3200HZ); accelerometer.setPowerControl(0x08); state_t state = WAITING; Timer timer; float angles[8] = {0}; float stretches[8] = {0}; while(loop_forever) { // get the slingshot parameters float this_stretch = get_stretch(); float this_angle = get_angle(); // apply some filtering float stretch = filter(stretches, 8, this_stretch); float angle = filter(angles, 8, this_angle); // DreamForce 2013 Challenge: Adjust the angle to account for the relative angle between the sling and the slingshot body angle = adjust_for_sling_angle(angle); leds = state; // act based on the current state switch (state) { case WAITING: if(stretch > stretch_start_threshold) { // significant stretch, considered starting mouse.press(MOUSE_LEFT); state = AIMING; } break; case AIMING: if(stretch - this_stretch > fire_threshold) { // rapid de-stretch, considered a fire mouse.release(MOUSE_LEFT); reset_mouse(); timer.start(); state = FIRING; } else if(stretch < stretch_start_threshold) { // de-stretch reset_mouse(); timer.stop(); timer.reset(); state = WAITING; } else { int x = 0.0 - cos(angle) * stretch * mouse_scale; int y = sin(angle) * stretch * mouse_scale; move_mouse(x, y); } break; case FIRING: if(timer > fire_timing_threshold) { timer.stop(); timer.reset(); reset_mouse(); state = WAITING; } break; }; // wait for 100ms wait_ms(100); } }