Luigi di rado
a stepper motor view as a serial midi device, use an interface such ttymidi to generate a serial to 115200 baudrate midi instrument
Dependencies: MIDI mbed X-NUCLEO-IHM05A1
Revision 34:215d5ee0f434, committed 2019-10-01
- Comitter:
- gidiana
- Date:
- Tue Oct 01 10:42:23 2019 +0000
- Parent:
- 33:c1cefad6d338
- Commit message:
- first
Changed in this revision
diff -r c1cefad6d338 -r 215d5ee0f434 MIDI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MIDI.lib Tue Oct 01 10:42:23 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/gidiana/code/MIDI/#7791cb1cb0b9
diff -r c1cefad6d338 -r 215d5ee0f434 main.cpp
--- a/main.cpp Sun Sep 15 08:47:18 2019 +0000
+++ b/main.cpp Tue Oct 01 10:42:23 2019 +0000
@@ -1,15 +1,17 @@
#include "mbed.h"
#include "L6208.h"
+#include "pitches.h"
+#include "MIDI.h"
#define VREFA_PWM_PIN D3
#define VREFB_PWM_PIN D9
-#define BAUDRATE 9600
-#define JOINT 2
+
+
l6208_init_t init =
{
- 8000, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
+ 65000, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
80, //Acceleration current torque in % (from 0 to 100)
- 8000, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
+ 65000, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
80, //Deceleration current torque in % (from 0 to 100)
8000, //Running speed in step/s or (1/16)th step/s for microstep modes
80, //Running current torque in % (from 0 to 100)
@@ -21,7 +23,8 @@
100000 //VREFA and VREFB PWM frequency (Hz)
};
-
+unsigned long motorSpeeds[] = {0, 0, 0, 0, 0};
+int flag=0;
// Utility
//InterruptIn button(USER_BUTTON);
DigitalOut led(LED1);
@@ -31,96 +34,31 @@
InterruptIn end1(USER_BUTTON, PullUp);
DigitalIn end0(PA_5, PullUp);
-Serial serial(PA_2, PA_3);
-
-
-float pose, current_pose;
-float speed, current_speed;
-void zero()
+
+MIDI MIDI(PA_2, PA_3);
+
+void handleNoteOn(byte channel, byte pitch, byte velocity) //MIDI Note ON Command
{
- printf("zero");
- motor->run(StepperMotor::BWD);
- while(!end0){
- }
- motor->hard_stop();
- motor->set_home();
- motor->go_to(0);
- printf("END0: Pressed\n\rPOSITION: %d\n\r", motor->get_position());
-}
-
-void motor_error_handler(uint16_t error)
-{
- printf("ERROR: Motor Runtime\n\r");
-}
-
-void end1_int_handler()
-{
- // motor->hard_stop();
-
- motor->run(StepperMotor::FWD);
-
- printf("END1: Pressed\n\rPOSITION: %d\n\r", motor->get_position());
+ motorSpeeds[channel] = pitchVals[pitch]/4; //set the motor speed to specified pitch
+
}
-
-void serialrx()
+void handleNoteOff(byte channel, byte pitch, byte velocity) //MIDI Note OFF Command
{
-
- int id, speed;
-
-
- if(serial.readable() )
- {
- serial.scanf("%d %d", &id, &speed );
- printf("%d %d\n", id, speed);
- if (id==JOINT)
- {
- led=!led;
- current_speed=speed;
- }
-
-
- }
+ motorSpeeds[channel] = 0; //set motor speed to zero
+ flag=!flag;
}
-
- void fmotor()
- {
-
-
- if (current_speed>0)
- {
- printf("run FWD\n");
- motor->set_max_speed(abs(current_speed*80));
- motor->run(StepperMotor::BWD);
- }
- else if (current_speed<0)
- {
- printf("run BWD\n");
- motor->set_max_speed(abs(current_speed*80));
- motor->run(StepperMotor::FWD);
- }
-
- else
- {
- motor->hard_stop();
- current_pose= motor->get_position();
- motor->go_to(current_pose);
- }
-
-
-
-
- }
-
-
/* Main ----------------------------------------------------------------------*/
int main()
{
led=1;
- serial.baud(BAUDRATE);
+
+ MIDI.begin(MIDI_CHANNEL_OMNI); //listen to all MIDI channels
+ MIDI.setHandleNoteOn(handleNoteOn); //execute function when note on message is recieved
+ MIDI.setHandleNoteOff(handleNoteOff); //execute function when note off message is recieved
// Motor Initialization
motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN);
@@ -130,24 +68,27 @@
printf("ERROR: vvMotor Init\n\r");
exit(EXIT_FAILURE);
}
-
- motor->attach_error_handler(&motor_error_handler);
-
-
- // end1.rise(&end1_int_handler);
+
- printf("DONE: Motor Init\n\r");
-
-
+ printf("DONE: Motor Init\n\r");
printf("Running!\n\r");
-
- //zero();
-
+
while(true)
{
- serialrx();
- //wait (0.001);
- fmotor();
+ MIDI.read();
+ if(motorSpeeds[0]==0)
+ motor->hard_stop();
+ else
+ {
+
+ motor->set_max_speed(motorSpeeds[0]);
+ if (flag==1)
+ motor->run(StepperMotor::BWD);
+ else
+ motor->run(StepperMotor::FWD);
+
+
- }
- }
\ No newline at end of file
+ }
+ }
+}
\ No newline at end of file
diff -r c1cefad6d338 -r 215d5ee0f434 pitches.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/pitches.h Tue Oct 01 10:42:23 2019 +0000
@@ -0,0 +1,132 @@
+const long pitchVals[] = {
+ 0, //0, C-1
+ 0, //1, C#-1
+ 0, //2, D-1
+ 0, //3, D#-1
+ 0, //4, E-1
+ 0, //5, F-1
+ 0, //6, F#-1
+ 0, //7, G-1
+ 0, //8, G#-1
+ 0, //9, A-1
+ 0, //10, A#-1
+ 0, //11, B-1
+ 0, //12, C0
+ 0, //13, C#0
+ 0, //14, D0
+ 0, //15, D#0
+ 0, //16, E0
+ 0, //17, F0
+ 0, //18, F#0
+ 0, //19, G0
+ 0, //20, G#0
+ 0, //21, A0
+ 0, //22, A#0
+ 32000, // 23 B0 31
+ 30303, // 24 C1 33
+ 28571, // 25 CS1 35
+ 27027, // 26 D1 37
+ 25641, // 27 DS1 39
+ 24390, // 28 E1 41
+ 22727, // 29 F1 44
+ 21739, // 30 FS1 46
+ 20408, // 31 G1 49
+ 19230, // 32 GS1 52
+ 18182, // 33 A1 55
+ 17241, // 34 AS1 58
+ 16129, // 35 B1 62
+ 15385, // 36 C2 65
+ 14493, // 37 CS2 69
+ 13699, // 38 D2 73
+ 12821, // 39 DS2 78
+ 12195, // 40 E2 82
+ 11494, // 41 F2 87
+ 10753, // 42 FS2 93
+ 10204, // 43 G2 98
+ 9615, // 44 GS2 104
+ 9091, // 45 A2 110
+ 8547, // 46 AS2 117
+ 8130, // 47 B2 123
+ 7634, // 48 C3 131
+ 7194, // 49 CS3 139
+ 6803, // 50 D3 147
+ 6410, // 51 DS3 156
+ 6061, // 52 E3 165
+ 5714, // 53 F3 175
+ 5405, // 54 FS3 185
+ 5102, // 55 G3 196
+ 4808, // 56 GS3 208
+ 4545, // 57 A3 220
+ 4292, // 58 AS3 233
+ 4049, // 59 B3 247
+ 3817, // 60 C4 262
+ 3610, // 61 CS4 277
+ 3401, // 62 D4 294
+ 3215, // 63 DS4 311
+ 3030, // 64 E4 330
+ 2865, // 65 F4 349
+ 2703, // 66 FS4 370
+ 2551, // 67 G4 392
+ 2410, // 68 GS4 415
+ 2273, // 69 A4 440
+ 2146, // 70 AS4 466
+ 2024, // 71 B4 494
+ 1912, // 72 C5 523
+ 1805, // 73 CS5 554
+ 1704, // 74 D5 587
+ 1608, // 75 DS5 622
+ 1517, // 76 E5 659
+ 1433, // 77 F5 698
+ 1351, // 78 FS5 740
+ 1276, // 79 G5 784
+ 1203, // 80 GS5 831
+ 1136, // 81 A5 880
+ 1073, // 82 AS5 932
+ 1012, // 83 B5 988
+ 955, // 84 C6 1047
+ 902, // 85 CS6 1109
+ 851, // 86 D6 1175
+ 803, // 87 DS6 1245
+ 758, // 88 E6 1319
+ 716, // 89 F6 1397
+ 676, // 90 FS6 1480
+ 638, // 91 G6 1568
+ 602, // 92 GS6 1661
+ 568, // 93 A6 1760
+ 536, // 94 AS6 1865
+ 506, // 95 B6 1976
+ 478, // 96 C7 2093
+ 451, // 97 CS7 2217
+ 426, // 98 D7 2349
+ 402, // 99 DS7 2489
+ 379, // 100 E7 2637
+ 358, // 101 F7 2794
+ 338, // 102 FS7 2960
+ 315, // 103 G7 3136
+ 301, // 104 GS7 3322
+ 284, // 105 A7 3520
+ 268, // 106 AS7 3729
+ 253, // 107 B7 3951
+ 239, // 108 C8 4186
+ 225, // 109 CS8 4435
+ 213, // 110 D8 4699
+ 201, // 111 DS8 4978
+ 0, //112, E8
+ 0, //113, F8
+ 0, //114, F#8
+ 0, //115, G8
+ 0, //116, G#8
+ 0, //117, A8
+ 0, //118, A#8
+ 0, //119, B8
+ 0, //120, C9
+ 0, //121, C#9
+ 0, //122, D9
+ 0, //123, D#9
+ 0, //124, E9
+ 0, //125, F9
+ 0, //126, F#9
+ 0, //127, G9
+};
+
+