Diff: main.cpp

Revision:

5:2908292a8cf3

Parent:

4:3ab1e94b3bc4

Child:

6:3d15e8b4d035

--- a/main.cpp	Fri Mar 27 15:53:41 2015 +0000
+++ b/main.cpp	Wed Aug 12 14:58:59 2015 +0000
@@ -3,7 +3,7 @@
 #include "WoodenDevice.h"
 
 //We declare a USBHID device. Input out output reports have a length of 8 bytes
-USBHID hid(48, 48);
+USBHID hid(8, 8);
  
 //This report will contain data to be sent
 HID_REPORT send_report;
@@ -99,7 +99,21 @@
                             actual_current_0(0),actual_current_1(0),actual_current_2(0),
                             temperature_0(0),temperature_1(0),temperature_2(0){}
 };
- 
+
+struct hid_to_pc_message { // 4*2 = 8 bytes
+    short encoder_a;
+    short encoder_b;
+    short encoder_c;
+    unsigned short debug;
+};
+
+struct pc_to_hid_message {  // 4*2 = 8 bytes
+    short current_motor_a_mA;
+    short current_motor_b_mA;
+    short current_motor_c_mA;
+    unsigned int debug;
+};
+
  
 int main(void) {
     myled1 = 1;   // SETUP
@@ -135,8 +149,12 @@
     
     pc.baud(115200);
     
-    send_report.length = 48; 
-    woodenhaptics_message msg;
+    send_report.length = 8; 
+    //woodenhaptics_message msg;
+    
+    hid_to_pc_message hid_to_pc;
+    hid_to_pc.debug = 0;
+    pc_to_hid_message pc_to_hid;
     
     Timer t;
     t.start();
@@ -162,28 +180,29 @@
             myled3 = !myled3; // We got data
             
 
-            if(recv_report.length == 4*12){ // It should always be!                
+            if(recv_report.length == 8){ // It should always be!                
             
-                msg = *reinterpret_cast<woodenhaptics_message*>(recv_report.data);
+                pc_to_hid = *reinterpret_cast<pc_to_hid_message*>(recv_report.data);
                 
-                if(debug_t.read() > 0.5){
-                    pc.printf("Force: %f\n\r",msg.command_force_x);
-                    debug_t.reset();
-                }
+                //if(debug_t.read() > 0.5){
+                //    pc.printf("Force: %f\n\r",pc_to_hid.current_motor_a_mA);
+                //    debug_t.reset();
+                //}
                 
                 //float f[3] = {msg.command_force_x, msg.command_force_y, msg.command_force_z};
                 
-                float f[3] = {msg.command_force_x, msg.command_force_y, msg.command_force_z};
+                //float f[3] = {msg.command_force_x, msg.command_force_y, msg.command_force_z};
+                float f[3] = {pc_to_hid.current_motor_a_mA*0.001, pc_to_hid.current_motor_b_mA*0.001,pc_to_hid.current_motor_c_mA*0.001};
                 for(int i=0;i<3;i++){
                     int dir = f[i] > 0 ? 1 : 0;
                     direction[i].write(dir);
 //                    if(i==1)
 //                        pc.printf("Direction: %d (direction %d) \n\r", dir, direction[1].read());
                     float abs_val = std::abs(f[i]);
-                    if(f[i] > 3.3)
+                    if(f[i] > 3.0)
                         pwm[i].write(0.9);
                     else
-                        pwm[i].write(0.8*f[i]/3.3+0.1);
+                        pwm[i].write(0.8*abs_val/3.0+0.1);
                 }
 
                 
@@ -200,15 +219,23 @@
         
             
         // "move the haptic device to the right"        
-        vec p = getPosition(config, counter);
-        msg.position_x = p.x;
-        msg.position_y = p.y;//0.05*sin(t.read());
-        msg.position_z = p.z;
+        //vec p = getPosition(config, counter);
+        //msg.position_x = p.x;
+        //msg.position_y = p.y;//0.05*sin(t.read());
+        //msg.position_z = p.z;
         
-        if(usb_timer.read() > 0.01) {
+        //msg.temperature_0 = counter[0]; // TODO: temperature is used temprarily as a carrier for counter values
+        //msg.temperature_1 = counter[1];
+        //msg.temperature_2 = counter[2]; 
+        hid_to_pc.encoder_a = counter[0];
+        hid_to_pc.encoder_b = counter[1];
+        hid_to_pc.encoder_c = counter[2];
+        
+        if(usb_timer.read() > 0.001) {
             usb_timer.reset();
 
-            unsigned char* out_buf = reinterpret_cast<unsigned char*>(&msg);
+            hid_to_pc.debug++;
+            unsigned char* out_buf = reinterpret_cast<unsigned char*>(&hid_to_pc);
     
             //Fill the report
             for (int i = 0; i < send_report.length; i++) {