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

--- /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

--- 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

--- /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
+};
+
+