Alvaro Cassinelli / Mbed 2 deprecated skinGames_forktest

just a test

Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

rigidLoop.cpp@14:0fc33a3a7b4b, 2012-04-12 (annotated)

Committer:
mbedalvaro
Date:
Thu Apr 12 13:02:59 2012 +0000
Revision:
14:0fc33a3a7b4b
Parent:
12:0de9cd2bced5
Child:
15:56a0bf424e8d
checking old version, need to branch

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 1:a4050fee11f7 1 #include "rigidLoop.h"
mbedalvaro 1:a4050fee11f7 2
mbedalvaro 1:a4050fee11f7 3 // SHOULD NOT BE HERE: (only because I am using AD_MIRRIOR... max and min in the set region function that should not be here)
mbedalvaro 1:a4050fee11f7 4 #include "hardwareIO.h"
mbedalvaro 1:a4050fee11f7 5
mbedalvaro 1:a4050fee11f7 6 rigidLoop::rigidLoop() {
mbedalvaro 1:a4050fee11f7 7 }
mbedalvaro 1:a4050fee11f7 8
mbedalvaro 1:a4050fee11f7 9 rigidLoop::~rigidLoop() {
mbedalvaro 1:a4050fee11f7 10
mbedalvaro 1:a4050fee11f7 11 }
mbedalvaro 1:a4050fee11f7 12
mbedalvaro 1:a4050fee11f7 13
mbedalvaro 1:a4050fee11f7 14 // Note: this method is hidding the abstract method in the base class... and has DIFFERENT parameters than another child would have (enum type).
mbedalvaro 12:0de9cd2bced5 15 void rigidLoop::createBlob(int _id, RigidLoopMode _elasticBlobMode, vector2Df _initPos, vector2Df _initSpeed) {
mbedalvaro 1:a4050fee11f7 16 // (1) set ID:
mbedalvaro 1:a4050fee11f7 17 identifier=_id;
mbedalvaro 1:a4050fee11f7 18
mbedalvaro 1:a4050fee11f7 19 updateMode=_elasticBlobMode;
mbedalvaro 4:f9d364f10335 20
mbedalvaro 4:f9d364f10335 21 startCenter=_initPos;
mbedalvaro 4:f9d364f10335 22 startSpeed=_initSpeed;
mbedalvaro 4:f9d364f10335 23
mbedalvaro 1:a4050fee11f7 24 // (2) Initialize common variables of all blobs (base class):
mbedalvaro 1:a4050fee11f7 25 initCommonVariables();
mbedalvaro 1:a4050fee11f7 26
mbedalvaro 1:a4050fee11f7 27 // (3) initialize common variables for the different modes of this rigid loop (even if some are not used, better not to have more subclasses...)
mbedalvaro 4:f9d364f10335 28
mbedalvaro 5:73cd58b58f95 29 // angleCorrectionForceLoop=0; // this will depend on the size of the blob (in principle), and number of blobs...
mbedalvaro 3:b44ff6de81bd 30
mbedalvaro 3:b44ff6de81bd 31
mbedalvaro 1:a4050fee11f7 32 // (3) Initialize secondary variables depending on the behaviour mode (may be changed afterwards in real time)
mbedalvaro 1:a4050fee11f7 33
mbedalvaro 1:a4050fee11f7 34 switch (updateMode) {
mbedalvaro 4:f9d364f10335 35
mbedalvaro 4:f9d364f10335 36 case SPOT_TEST:
mbedalvaro 4:f9d364f10335 37 // Name of this kind of spot:
mbedalvaro 4:f9d364f10335 38 sprintf(spotName,"spot_test");
mbedalvaro 4:f9d364f10335 39
mbedalvaro 4:f9d364f10335 40 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 4:f9d364f10335 41 setColor(0x04);
mbedalvaro 4:f9d364f10335 42
mbedalvaro 14:0fc33a3a7b4b 43 saccadeRadius=250;
mbedalvaro 4:f9d364f10335 44
mbedalvaro 4:f9d364f10335 45 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 14:0fc33a3a7b4b 46 // NOTE: number of points in the case of need to compute recentering vector needs to be EVEN
mbedalvaro 14:0fc33a3a7b4b 47 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 16); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 4:f9d364f10335 48
mbedalvaro 4:f9d364f10335 49 // Note: We may assume NO MASS for the center of the contour following loop. Adding mass may be interesting though (smooth motion).
mbedalvaro 4:f9d364f10335 50 massCenter=0.01;
mbedalvaro 4:f9d364f10335 51 dampMotionCenterMass=0.001;
mbedalvaro 4:f9d364f10335 52
mbedalvaro 4:f9d364f10335 53 // Finally, we can create the loop (not much to do in this case, only set the central position, and some other things):
mbedalvaro 4:f9d364f10335 54 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 55
mbedalvaro 5:73cd58b58f95 56 // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
mbedalvaro 5:73cd58b58f95 57 // But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software).
mbedalvaro 5:73cd58b58f95 58 // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop:
mbedalvaro 7:0df17f3078bc 59 displaySensingBuffer.setDelayMirrors(1);
mbedalvaro 7:0df17f3078bc 60 angleCorrectionForceLoop=0;//360.0/bluePrint.scafold.size()/2; // in DEGREES
mbedalvaro 4:f9d364f10335 61
mbedalvaro 4:f9d364f10335 62 break;
mbedalvaro 4:f9d364f10335 63
mbedalvaro 1:a4050fee11f7 64 case SPOT_FOLLOWING:
mbedalvaro 1:a4050fee11f7 65
mbedalvaro 1:a4050fee11f7 66 // Name of this kind of spot:
mbedalvaro 1:a4050fee11f7 67 sprintf(spotName,"rigid_following");
mbedalvaro 1:a4050fee11f7 68
mbedalvaro 3:b44ff6de81bd 69 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 3:b44ff6de81bd 70 setColor(0x04);
mbedalvaro 1:a4050fee11f7 71
mbedalvaro 1:a4050fee11f7 72 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 7:0df17f3078bc 73 saccadeRadius=35;
mbedalvaro 12:0de9cd2bced5 74 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 18); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 1:a4050fee11f7 75
mbedalvaro 1:a4050fee11f7 76 // Note: We may assume NO MASS for the center of the contour following loop. Adding mass may be interesting though (smooth motion).
mbedalvaro 1:a4050fee11f7 77 massCenter=0.01;
mbedalvaro 1:a4050fee11f7 78 dampMotionCenterMass=0.001;
mbedalvaro 1:a4050fee11f7 79
mbedalvaro 4:f9d364f10335 80 // Finally, we can create the loop (not much to do in this case, only set the central position, and some other things):
mbedalvaro 4:f9d364f10335 81 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 82
mbedalvaro 5:73cd58b58f95 83 slidingDirection=true; // For contour following (will change direction when touching wall)
mbedalvaro 7:0df17f3078bc 84 speedContourFollowing=1.3*saccadeRadius;
mbedalvaro 7:0df17f3078bc 85 justSearched=false;
mbedalvaro 5:73cd58b58f95 86
mbedalvaro 7:0df17f3078bc 87 // per-blob mirror delay: ONLY USEFUL FOR ELASTIC BLOBS, because otherwise it can be corrected by "angleCorrection"
mbedalvaro 7:0df17f3078bc 88 // (if things were well adjusted - in particular mirror waiting times, then this could be 0.
mbedalvaro 5:73cd58b58f95 89 // But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software).
mbedalvaro 7:0df17f3078bc 90 // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop.
mbedalvaro 7:0df17f3078bc 91 // BUT because we may want to see the blue laser where there is dark zone, then we would try to adjust mirror delay as close as possible to the
mbedalvaro 7:0df17f3078bc 92 // optimal value, and finish the correction (fine tunned) with the angle correction (only possible in the case of circular rigid blob).
mbedalvaro 7:0df17f3078bc 93 displaySensingBuffer.setDelayMirrors(3); // this corresponds to an angular correction of -delayMirrors * 360/numPoints
mbedalvaro 7:0df17f3078bc 94 angleCorrectionForceLoop=-5;//-65;//360.0/bluePrint.scafold.size()/2; // in DEGREES
mbedalvaro 4:f9d364f10335 95
mbedalvaro 1:a4050fee11f7 96 break;
mbedalvaro 1:a4050fee11f7 97
mbedalvaro 1:a4050fee11f7 98 case SPOT_BOUNCING:
mbedalvaro 1:a4050fee11f7 99 // Name of this kind of spot:
mbedalvaro 1:a4050fee11f7 100 sprintf(spotName,"rigid_bouncing");
mbedalvaro 1:a4050fee11f7 101
mbedalvaro 3:b44ff6de81bd 102 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 3:b44ff6de81bd 103 setColor(0x04);
mbedalvaro 1:a4050fee11f7 104
mbedalvaro 7:0df17f3078bc 105 saccadeRadius=85;
mbedalvaro 1:a4050fee11f7 106 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 12:0de9cd2bced5 107 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 18); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 1:a4050fee11f7 108
mbedalvaro 1:a4050fee11f7 109 // Numeric parameters for the simulated mechanical system:
mbedalvaro 7:0df17f3078bc 110 massCenter=0.0012;
mbedalvaro 7:0df17f3078bc 111 dampMotionCenterMass=0.0005;//0.00015;//00003;
mbedalvaro 7:0df17f3078bc 112 factorBouncingForce=0.0018; // this is because we will use a force on the central mass
mbedalvaro 1:a4050fee11f7 113
mbedalvaro 4:f9d364f10335 114 // Finally, we can create the loop (not much to do in this case, only set the central position, and some other things):
mbedalvaro 4:f9d364f10335 115 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 116
mbedalvaro 5:73cd58b58f95 117 // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
mbedalvaro 5:73cd58b58f95 118 // But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software).
mbedalvaro 5:73cd58b58f95 119 // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop:
mbedalvaro 7:0df17f3078bc 120 displaySensingBuffer.setDelayMirrors(3);
mbedalvaro 7:0df17f3078bc 121 angleCorrectionForceLoop=-5;// in degrees
mbedalvaro 1:a4050fee11f7 122
mbedalvaro 1:a4050fee11f7 123 break;
mbedalvaro 1:a4050fee11f7 124 }
mbedalvaro 7:0df17f3078bc 125
mbedalvaro 7:0df17f3078bc 126 saccadeRadius_initial=saccadeRadius; // this is for search mode for instance.
mbedalvaro 12:0de9cd2bced5 127
mbedalvaro 12:0de9cd2bced5 128 // Excursion limits (for all points). Tthis will set the limits of motion for the rigid loop, which is given by it's central position, so we have to correct by the radius:
mbedalvaro 12:0de9cd2bced5 129 setRegionMotion(MIN_AD_MIRRORS+saccadeRadius, MIN_AD_MIRRORS+saccadeRadius, MAX_AD_MIRRORS-saccadeRadius, MAX_AD_MIRRORS-saccadeRadius);
mbedalvaro 12:0de9cd2bced5 130
mbedalvaro 3:b44ff6de81bd 131
mbedalvaro 1:a4050fee11f7 132 }
mbedalvaro 1:a4050fee11f7 133
mbedalvaro 1:a4050fee11f7 134
mbedalvaro 1:a4050fee11f7 135 void rigidLoop::initSizeBlob(int _numPoints) {
mbedalvaro 1:a4050fee11f7 136 // Iinitialize blob size (number of points for the loop, as well as other structures such as lsdTrajectory)
mbedalvaro 1:a4050fee11f7 137 numPoints=_numPoints;
mbedalvaro 1:a4050fee11f7 138
mbedalvaro 1:a4050fee11f7 139 // Sensing and Display trajectory:
mbedalvaro 1:a4050fee11f7 140 displaySensingBuffer.lsdTrajectory.resize(numPoints); // the lsdTrajectory and the elastic loop will have the same number of points (this could be different - decimation?).
mbedalvaro 1:a4050fee11f7 141 }
mbedalvaro 1:a4050fee11f7 142
mbedalvaro 1:a4050fee11f7 143 void rigidLoop::createLoopFromScafold(void) {
mbedalvaro 1:a4050fee11f7 144
mbedalvaro 1:a4050fee11f7 145 initSizeBlob(bluePrint.scafold.size()); // very simple here (only need to set the size of the lsd buffer)
mbedalvaro 1:a4050fee11f7 146
mbedalvaro 1:a4050fee11f7 147 centerMass.mass=massCenter;
mbedalvaro 1:a4050fee11f7 148 centerMass.dampMotion = dampMotionCenterMass;
mbedalvaro 1:a4050fee11f7 149
mbedalvaro 1:a4050fee11f7 150 // note: the following may not be required in case of contour following:
mbedalvaro 2:34157ebbf56b 151 centerMass.setIntegrationStep(0.23); // VERY IMPORTANT! in the case of verlet integration, we need to set dt BEFORE setting the initial speed.
mbedalvaro 4:f9d364f10335 152 centerMass.setInitialCondition(startCenter, startSpeed);
mbedalvaro 1:a4050fee11f7 153 // centerMass.setInitialCondition(2047.0, 2047.0,0.0,0.0);
mbedalvaro 1:a4050fee11f7 154 }
mbedalvaro 1:a4050fee11f7 155
mbedalvaro 12:0de9cd2bced5 156 void rigidLoop::setRegionMotion(float mmix, float mmiy, float mmax, float mmay) { // wrapper for setWallLimits, because there is no more things to do than set this for a unique mass
mbedalvaro 12:0de9cd2bced5 157 // centerMass.setWallLimits(mmix+10, mmiy+10, mmax-10, mmay-10);
mbedalvaro 12:0de9cd2bced5 158 // Use the static method of the pointMass class:
mbedalvaro 12:0de9cd2bced5 159 pointMass::setWallLimits(mmix+10, mmiy+10, mmax-10, mmay-10);
mbedalvaro 1:a4050fee11f7 160 }
mbedalvaro 1:a4050fee11f7 161
mbedalvaro 1:a4050fee11f7 162
mbedalvaro 1:a4050fee11f7 163 void rigidLoop::update() {
mbedalvaro 1:a4050fee11f7 164
mbedalvaro 1:a4050fee11f7 165 // (I) process loop geometry: not needed (rigid)
mbedalvaro 1:a4050fee11f7 166 // Just check if the blob touched the borders (only need to do this with the central mass):
mbedalvaro 1:a4050fee11f7 167 blobWallCollision=centerMass.bWallCollision;
mbedalvaro 1:a4050fee11f7 168
mbedalvaro 1:a4050fee11f7 169 // (II) Process sensing buffer and compute light forces:
mbedalvaro 1:a4050fee11f7 170 displaySensingBuffer.processSensedData(); // note: region with light is -1, and without is 2 (TO CHANGE!!! then we don't need to do "if" in the moment computation, but just a product)
mbedalvaro 1:a4050fee11f7 171
mbedalvaro 1:a4050fee11f7 172 // (III) Compute recentering vector (the "penetration vector in fact"), using "first order moment":
mbedalvaro 3:b44ff6de81bd 173 // ATTENTION!! for this simple method (of "first order moment") to work, we have either to have numPoints very large, OR an EVEN quantity - so the
mbedalvaro 3:b44ff6de81bd 174 // sum in the circle is 0).
mbedalvaro 12:0de9cd2bced5 175 vector2Df momentVector(0,0);
mbedalvaro 7:0df17f3078bc 176 int counterDarkZone=0; // note: for a VERY strange reason, if I put this on the laserSensingtrajectory class, the program does not work anymore!!
mbedalvaro 7:0df17f3078bc 177 for (int i = 0; i < numPoints; i++) { // note: numPoints should be EVEN
mbedalvaro 1:a4050fee11f7 178 if (displaySensingBuffer.lsdTrajectory[i].lightZone>0) { // this is, we are in a dark zone (better to integrate there, because it is normally smaller)
mbedalvaro 12:0de9cd2bced5 179
mbedalvaro 12:0de9cd2bced5 180 momentVector.x+=(float)bluePrint.scafold[i].x; // note: casting is happening here automatically (unsigned short to float), but I put (float) to remember that types are different
mbedalvaro 12:0de9cd2bced5 181 momentVector.y+=(float)bluePrint.scafold[i].y;
mbedalvaro 12:0de9cd2bced5 182
mbedalvaro 12:0de9cd2bced5 183 // We can also do the following, but ATTENTION: momentVector is of type vector2Df, and scafold[i] of type vector2Dd...
mbedalvaro 12:0de9cd2bced5 184 // momentVector+=bluePrint.scafold[i];// note: no need to do -centerMass.pos, because the scafold is "centered" around 0
mbedalvaro 12:0de9cd2bced5 185
mbedalvaro 7:0df17f3078bc 186 counterDarkZone++;
mbedalvaro 1:a4050fee11f7 187 }
mbedalvaro 1:a4050fee11f7 188 }
mbedalvaro 7:0df17f3078bc 189 momentVector=momentVector*(2*PI/numPoints);
mbedalvaro 7:0df17f3078bc 190 float momentNorm=momentVector.length(); // = 2.R.sin(half_angle) in the direction of the dark zone
mbedalvaro 5:73cd58b58f95 191
mbedalvaro 12:0de9cd2bced5 192 vector2Df unitTowardsLight; // this is the normed vector, pointing towards the light zone
mbedalvaro 2:34157ebbf56b 193 if (momentNorm==0) {
mbedalvaro 7:0df17f3078bc 194 unitTowardsLight.set(0,0);
mbedalvaro 3:b44ff6de81bd 195 recenteringVectorLoop.set(0,0);
mbedalvaro 3:b44ff6de81bd 196 normRecenteringVector=0;
mbedalvaro 3:b44ff6de81bd 197 angleRecenteringVector=0;
mbedalvaro 3:b44ff6de81bd 198 } else {
mbedalvaro 7:0df17f3078bc 199 unitTowardsLight=momentVector/(-1.0*momentNorm);
mbedalvaro 7:0df17f3078bc 200 // Apply correction angle (delay mirrors):
mbedalvaro 7:0df17f3078bc 201 unitTowardsLight.rotateDeg(angleCorrectionForceLoop);
mbedalvaro 7:0df17f3078bc 202
mbedalvaro 7:0df17f3078bc 203 // Compute "recenteringVectorLoop" (in fact, the vector making the spot goes completely away form the dark zone):
mbedalvaro 7:0df17f3078bc 204 float aux=0.5*momentNorm/saccadeRadius; // note: in principle, we ALWAYS have momentNorm < 2.R, so aux < 1
mbedalvaro 7:0df17f3078bc 205 if (aux>1) aux=1.0; // can happen because of the discrete integration!
mbedalvaro 7:0df17f3078bc 206 if (counterDarkZone<=numPoints/2) { // note: numPoints HAS to be EVEN
mbedalvaro 7:0df17f3078bc 207 recenteringVectorLoop=unitTowardsLight*saccadeRadius*(1.0-sqrt(1.0-aux*aux));
mbedalvaro 7:0df17f3078bc 208 } else {
mbedalvaro 7:0df17f3078bc 209 recenteringVectorLoop=unitTowardsLight*saccadeRadius*(1.0+sqrt(1.0-aux*aux));
mbedalvaro 7:0df17f3078bc 210 }
mbedalvaro 7:0df17f3078bc 211
mbedalvaro 7:0df17f3078bc 212
mbedalvaro 3:b44ff6de81bd 213 // Compute redundant quantities (if necessary, for sending through OSC, etc):
mbedalvaro 3:b44ff6de81bd 214 normRecenteringVector=recenteringVectorLoop.length();
mbedalvaro 3:b44ff6de81bd 215 angleRecenteringVector=recenteringVectorLoop.angleDegHoriz();
mbedalvaro 3:b44ff6de81bd 216 }
mbedalvaro 3:b44ff6de81bd 217
mbedalvaro 1:a4050fee11f7 218 // Now, depending on the mode of operation, we have two types of behaviour:
mbedalvaro 12:0de9cd2bced5 219 vector2Df slidingVector; //( need to declare it here because a switch "jump" cannot bypass an initialization)
mbedalvaro 1:a4050fee11f7 220 switch (updateMode) {
mbedalvaro 4:f9d364f10335 221
mbedalvaro 4:f9d364f10335 222 case SPOT_TEST: // this is just for adjusting mirror delays, checking recentering vector, etc:
mbedalvaro 4:f9d364f10335 223 // do nothing for the time being
mbedalvaro 4:f9d364f10335 224 // NOTE: it is not so easy to show the recentering vector without affecting the mirror delay BECAUSE I AM USING THE INTERRUPT METHOD for display.
mbedalvaro 4:f9d364f10335 225 // A possible solution is to instantiate ANOTHER blob with a shape just equal to a line, and rotate it using data from the this blob. Make a new class? Seems a good idea.
mbedalvaro 4:f9d364f10335 226
mbedalvaro 4:f9d364f10335 227 break;
mbedalvaro 1:a4050fee11f7 228
mbedalvaro 1:a4050fee11f7 229 case SPOT_FOLLOWING:
mbedalvaro 1:a4050fee11f7 230 // we need to compute the tangencial "speed":
mbedalvaro 1:a4050fee11f7 231 // vector2D slidingVector;
mbedalvaro 2:34157ebbf56b 232 if (momentNorm>0) {
mbedalvaro 5:73cd58b58f95 233 //momentVector/=momentNorm;
mbedalvaro 3:b44ff6de81bd 234 // We can now compute the sliding vector as:
mbedalvaro 7:0df17f3078bc 235 slidingVector=unitTowardsLight.getRotatedDeg(slidingDirection? 90 : -90) * speedContourFollowing;
mbedalvaro 7:0df17f3078bc 236
mbedalvaro 7:0df17f3078bc 237 // Then the final correcting vector is the sum of sliding plus a recentering vector (with a factor if one want some smothing)
mbedalvaro 3:b44ff6de81bd 238 // This is used to update the position of the central mass - WITHOUT INTEGRATION (or with it, but for the time being, we don't do that):
mbedalvaro 7:0df17f3078bc 239
mbedalvaro 7:0df17f3078bc 240 centerMass.pos +=slidingVector+ ( unitTowardsLight*(-1.0*saccadeRadius) + recenteringVectorLoop )* 0.6;
mbedalvaro 7:0df17f3078bc 241 // ATTENTION!!! the REAL radius may be smaller if the mirrors are running fast!!! (hence the last factor, that is not only for "smoothing" the
mbedalvaro 7:0df17f3078bc 242 // re-entry and avoid oscillations).
mbedalvaro 3:b44ff6de81bd 243
mbedalvaro 3:b44ff6de81bd 244 // The following function can help constraining the position "pos", but it also does too much. Do something simpler perhaps?
mbedalvaro 7:0df17f3078bc 245 centerMass.posOld=centerMass.pos; // this is necessary to compute bouceOffWalls using Verlet method... (MAKE A new variable INTEGRATION METHOD?)
mbedalvaro 7:0df17f3078bc 246
mbedalvaro 3:b44ff6de81bd 247 centerMass.bounceOffWalls(); // constrain position (and compute wall "hit")
mbedalvaro 7:0df17f3078bc 248
mbedalvaro 7:0df17f3078bc 249 if (justSearched) {
mbedalvaro 7:0df17f3078bc 250 saccadeRadius=saccadeRadius_initial;
mbedalvaro 12:0de9cd2bced5 251 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), numPoints);
mbedalvaro 7:0df17f3078bc 252 justSearched=false;
mbedalvaro 7:0df17f3078bc 253 }
mbedalvaro 7:0df17f3078bc 254
mbedalvaro 3:b44ff6de81bd 255
mbedalvaro 2:34157ebbf56b 256 } else {
mbedalvaro 7:0df17f3078bc 257 // not on something. SEARCH MODE (or go to spot_bouncing mode?)
mbedalvaro 7:0df17f3078bc 258 saccadeRadius+=10; if (saccadeRadius>800) saccadeRadius=saccadeRadius_initial;
mbedalvaro 12:0de9cd2bced5 259 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), numPoints);
mbedalvaro 7:0df17f3078bc 260 justSearched=true;
mbedalvaro 2:34157ebbf56b 261 }
mbedalvaro 1:a4050fee11f7 262
mbedalvaro 1:a4050fee11f7 263 break;
mbedalvaro 1:a4050fee11f7 264
mbedalvaro 1:a4050fee11f7 265 case SPOT_BOUNCING:
mbedalvaro 1:a4050fee11f7 266 // this is very simple: we need to give a force to the centralMass that is OPPOSITE to the recenteringVectorLoop vector
mbedalvaro 1:a4050fee11f7 267 centerMass.resetForce();
mbedalvaro 5:73cd58b58f95 268
mbedalvaro 5:73cd58b58f95 269 if (displaySensingBuffer.lightTouched) {
mbedalvaro 7:0df17f3078bc 270 // add force; MANY POSSIBILITIES:
mbedalvaro 7:0df17f3078bc 271 // (1) Constant in norm:
mbedalvaro 7:0df17f3078bc 272 //centerMass.addForce(unitTowardsLight*saccadeRadius*factorBouncingForce);
mbedalvaro 7:0df17f3078bc 273 // Exactly what is needed to have an elastic bouncing:
mbedalvaro 7:0df17f3078bc 274
mbedalvaro 7:0df17f3078bc 275 // Proportional to the penetration depth in the dark zone (spring):
mbedalvaro 5:73cd58b58f95 276 centerMass.addForce(recenteringVectorLoop*factorBouncingForce);
mbedalvaro 7:0df17f3078bc 277 // Or proportional to the square (or something else) of the penetration:
mbedalvaro 7:0df17f3078bc 278 //centerMass.addForce(recenteringVectorLoop*normRecenteringVector*factorBouncingForce);
mbedalvaro 7:0df17f3078bc 279
mbedalvaro 5:73cd58b58f95 280 }
mbedalvaro 1:a4050fee11f7 281
mbedalvaro 1:a4050fee11f7 282 // update dynamics for the central mass::
mbedalvaro 1:a4050fee11f7 283 #ifndef VERLET_METHOD
mbedalvaro 1:a4050fee11f7 284 centerMass.addDampingForce(); // // only in case of EULER method (damping in VERLET mode is done automatically when updating)
mbedalvaro 1:a4050fee11f7 285 #endif
mbedalvaro 1:a4050fee11f7 286
mbedalvaro 1:a4050fee11f7 287 centerMass.update(); // unconstrained
mbedalvaro 1:a4050fee11f7 288 centerMass.bounceOffWalls(); // constrain position (and compute wall "hit")
mbedalvaro 5:73cd58b58f95 289
mbedalvaro 5:73cd58b58f95 290 if (displaySensingBuffer.lightTouched) {
mbedalvaro 5:73cd58b58f95 291 // do collision damping:
mbedalvaro 7:0df17f3078bc 292 centerMass.setSpeed(centerMass.getSpeed()*0.99);
mbedalvaro 5:73cd58b58f95 293 }
mbedalvaro 5:73cd58b58f95 294
mbedalvaro 1:a4050fee11f7 295
mbedalvaro 1:a4050fee11f7 296 break;
mbedalvaro 1:a4050fee11f7 297
mbedalvaro 1:a4050fee11f7 298 }
mbedalvaro 1:a4050fee11f7 299
mbedalvaro 1:a4050fee11f7 300 // OTHER PARTICULAR THINGS:
mbedalvaro 1:a4050fee11f7 301 // change sliding direction (for countour following):
mbedalvaro 1:a4050fee11f7 302 if (blobWallCollision) {
mbedalvaro 7:0df17f3078bc 303 if (wallCounter>5) {
mbedalvaro 1:a4050fee11f7 304 slidingDirection=!slidingDirection;
mbedalvaro 1:a4050fee11f7 305 wallCounter=0;
mbedalvaro 1:a4050fee11f7 306 }
mbedalvaro 1:a4050fee11f7 307 }
mbedalvaro 1:a4050fee11f7 308 wallCounter++;
mbedalvaro 1:a4050fee11f7 309 }
mbedalvaro 1:a4050fee11f7 310
mbedalvaro 1:a4050fee11f7 311
mbedalvaro 1:a4050fee11f7 312 // Drawing the graphics - this will in fact use the graphic renderer - if any - and produce the trajectory to be displayed by the laser
mbedalvaro 1:a4050fee11f7 313 void rigidLoop::draw() {
mbedalvaro 1:a4050fee11f7 314 // for the time being, there is no "opengl" like renderer, so we just copy into the lsdTrajectory:
mbedalvaro 1:a4050fee11f7 315 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 316 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 317 for (int i = 0; i < numPoints; i++) {
mbedalvaro 1:a4050fee11f7 318 // The shape is drawn by translating the scafold shape (centered on centerMass):
mbedalvaro 12:0de9cd2bced5 319 displaySensingBuffer.lsdTrajectory[i].x= (unsigned short)(bluePrint.scafold[i].x + cx ); // note: it should be an unsigned short!!
mbedalvaro 12:0de9cd2bced5 320 displaySensingBuffer.lsdTrajectory[i].y= (unsigned short)(bluePrint.scafold[i].y + cy );
mbedalvaro 12:0de9cd2bced5 321
mbedalvaro 12:0de9cd2bced5 322 // We can also do this, but ATTENTION: centerMass.pos is a vector2Df, and scafold[i] is a vector2Dd (typecasting?)
mbedalvaro 12:0de9cd2bced5 323 // displaySensingBuffer.lsdTrajectory[i]= bluePrint.scafold[i] + centerMass.pos;
mbedalvaro 12:0de9cd2bced5 324
mbedalvaro 1:a4050fee11f7 325 //displaySensingBuffer.lsdTrajectory[i].color=blobColor; // perhaps per point color is not a good idea for the time being...
mbedalvaro 1:a4050fee11f7 326 }
mbedalvaro 1:a4050fee11f7 327 // global color for the whole loop:
mbedalvaro 1:a4050fee11f7 328 displaySensingBuffer.displayColor=blobColor;
mbedalvaro 1:a4050fee11f7 329 }
mbedalvaro 1:a4050fee11f7 330
mbedalvaro 1:a4050fee11f7 331 void rigidLoop::computeBoundingBox() {
mbedalvaro 1:a4050fee11f7 332 }
mbedalvaro 1:a4050fee11f7 333
mbedalvaro 1:a4050fee11f7 334
mbedalvaro 1:a4050fee11f7 335
mbedalvaro 1:a4050fee11f7 336 void rigidLoop::sendDataSpecific() {
mbedalvaro 1:a4050fee11f7 337 char auxstring[10];
mbedalvaro 1:a4050fee11f7 338 myled2=1; // for tests...
mbedalvaro 1:a4050fee11f7 339
mbedalvaro 1:a4050fee11f7 340 // First, set the top address of the message to the ID of the blob (not the name):
mbedalvaro 1:a4050fee11f7 341 sprintf(auxstring, "%d", identifier);
mbedalvaro 1:a4050fee11f7 342 sendMes.setTopAddress("0");//auxstring);
mbedalvaro 1:a4050fee11f7 343
mbedalvaro 1:a4050fee11f7 344 // ===================== OSC ======================
mbedalvaro 1:a4050fee11f7 345 if (sendOSC) {
mbedalvaro 1:a4050fee11f7 346
mbedalvaro 1:a4050fee11f7 347 // (a) Anchor mass:
mbedalvaro 1:a4050fee11f7 348 if (sendingAnchorPosition) {
mbedalvaro 1:a4050fee11f7 349 sendMes.setSubAddress("/apos");
mbedalvaro 1:a4050fee11f7 350 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 351 x=(long)(centerMass.pos.x);
mbedalvaro 1:a4050fee11f7 352 y=(long)(centerMass.pos.y);
mbedalvaro 1:a4050fee11f7 353 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 354 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 355 }
mbedalvaro 1:a4050fee11f7 356
mbedalvaro 1:a4050fee11f7 357 // (b) data from blob points (this is ONLY FOR TESTS, because the loop is rigid - sending the center is enough)
mbedalvaro 1:a4050fee11f7 358 if (sendingLoopPositions) {
mbedalvaro 1:a4050fee11f7 359 #ifdef SEND_AS_POINTS
mbedalvaro 1:a4050fee11f7 360 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 361 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 362 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 363 for (int i = 0; i < numPoints; i++) {
mbedalvaro 2:34157ebbf56b 364 sprintf(auxstring, "/p%d",identifier*10+ i);//20+ i+(identifier-1)*10); // auxstring read as "/p1", "/p2", ...
mbedalvaro 1:a4050fee11f7 365 sendMes.setSubAddress(auxstring); // ATTENTION: the host computer needs to know in advance how many points are in the loop (I did not implement "bundle" messages yet...)
mbedalvaro 1:a4050fee11f7 366 x=(long)(bluePrint.scafold[i].x + cx);
mbedalvaro 1:a4050fee11f7 367 y=(long)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 368 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 369 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 370 }
mbedalvaro 1:a4050fee11f7 371
mbedalvaro 1:a4050fee11f7 372 #endif
mbedalvaro 1:a4050fee11f7 373 #ifdef SEND_AS_BLOB
mbedalvaro 1:a4050fee11f7 374 sendMes.clearArgs(); // no need, we won't use osc.sendOsc()...
mbedalvaro 1:a4050fee11f7 375 uint8_t blobdata[4*numPoints]; // 2 bytes per coordinate, and 2 coordinates
mbedalvaro 1:a4050fee11f7 376 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 377 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 378 for (int i = 0; i < numPoints; i++ ) {
mbedalvaro 1:a4050fee11f7 379 // note: massesLoop[i].pos.x is a "float"
mbedalvaro 1:a4050fee11f7 380 uint16_t x=(uint16_t)(bluePrint.scafold[i].x + cx);
mbedalvaro 1:a4050fee11f7 381 blobdata[4*i]=(uint8_t)x>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 382 blobdata[4*i+1]=(uint8_t)x;
mbedalvaro 1:a4050fee11f7 383
mbedalvaro 1:a4050fee11f7 384 uint16_t y=(uint16_t)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 385 blobdata[4*i+2]=(uint8_t)y>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 386 blobdata[4*i+3]=(uint8_t)y;
mbedalvaro 1:a4050fee11f7 387 }
mbedalvaro 1:a4050fee11f7 388 osc.sendOscBlob(&(blobdata[0]), 4*numPoints, &sendMes ); // second parameter is osc blob size in bytes
mbedalvaro 1:a4050fee11f7 389 #endif
mbedalvaro 1:a4050fee11f7 390 #ifdef SEND_AS_STRING
mbedalvaro 1:a4050fee11f7 391 sendMes.clearArgs(); // no need, we won't use osc.sendOsc()...
mbedalvaro 1:a4050fee11f7 392 uint8_t blobdata[4*numPoints]; // 2 bytes per coordinate, and 2 coordinates
mbedalvaro 1:a4050fee11f7 393 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 394 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 395 for (int i = 0; i < numPoints; i++ ) {
mbedalvaro 1:a4050fee11f7 396 // note: massesLoop[i].pos.x is a "float"
mbedalvaro 1:a4050fee11f7 397 uint16_t x=(uint16_t)(bluePrint.scafold[i].x + cx );
mbedalvaro 1:a4050fee11f7 398 blobdata[4*i]=(uint8_t)x>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 399 blobdata[4*i+1]=(uint8_t)x;
mbedalvaro 1:a4050fee11f7 400
mbedalvaro 1:a4050fee11f7 401 uint16_t y=(uint16_t)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 402 blobdata[4*i+2]=(uint8_t)y>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 403 blobdata[4*i+3]=(uint8_t)y;
mbedalvaro 1:a4050fee11f7 404 }
mbedalvaro 1:a4050fee11f7 405 osc.sendOscString(blobdata, 4*numPoints, &sendMes ); // second parameter is osc blob size in bytes
mbedalvaro 1:a4050fee11f7 406 #endif
mbedalvaro 1:a4050fee11f7 407 }
mbedalvaro 1:a4050fee11f7 408 if (sendingLoopRegions) {
mbedalvaro 1:a4050fee11f7 409 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 410 for (int i = 0; i < numPoints; i++) {
mbedalvaro 1:a4050fee11f7 411 sprintf(auxstring, "/r%d", i); // auxstring read as "/f1", "/f2", ...
mbedalvaro 1:a4050fee11f7 412 sendMes.setSubAddress(auxstring); // ATTENTION: the host computer needs to know in advance how many points are in the loop (I did not implement "bundle" messages yet...)
mbedalvaro 1:a4050fee11f7 413 x=(long)(displaySensingBuffer.lsdTrajectory[i].lightZone>0? 1 : 0);
mbedalvaro 1:a4050fee11f7 414 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 415 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 416 }
mbedalvaro 1:a4050fee11f7 417 }
mbedalvaro 1:a4050fee11f7 418 if (sendingLoopTouchWall) { // global touch wall for the loop (not per point)
mbedalvaro 1:a4050fee11f7 419 long wall; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 420 sprintf(auxstring, "/bWall");
mbedalvaro 1:a4050fee11f7 421 sendMes.setSubAddress(auxstring);
mbedalvaro 1:a4050fee11f7 422 wall=(long)(blobWallCollision? 1 : 0);
mbedalvaro 1:a4050fee11f7 423 sendMes.setArgs( "i", &wall);
mbedalvaro 1:a4050fee11f7 424 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 425 }
mbedalvaro 1:a4050fee11f7 426
mbedalvaro 1:a4050fee11f7 427 // (d) Light sensing statistics:
mbedalvaro 1:a4050fee11f7 428 if (sendingBlobMaxMin) {
mbedalvaro 1:a4050fee11f7 429 sendMes.setSubAddress("/maxmin");
mbedalvaro 1:a4050fee11f7 430 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 431 x=(long)(displaySensingBuffer.maxI);
mbedalvaro 1:a4050fee11f7 432 y=(long)(displaySensingBuffer.minI);
mbedalvaro 1:a4050fee11f7 433 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 434 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 435 }
mbedalvaro 1:a4050fee11f7 436
mbedalvaro 1:a4050fee11f7 437 // (e) Recentering vector: (note: redundant with sendingLightForce, IF the correction angle is known).
mbedalvaro 1:a4050fee11f7 438 if (sendingRecenteringVector) {
mbedalvaro 1:a4050fee11f7 439 sendMes.setSubAddress("/rvector");
mbedalvaro 1:a4050fee11f7 440 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 441 x=(long)(recenteringVectorLoop.x);
mbedalvaro 1:a4050fee11f7 442 y=(long)(recenteringVectorLoop.y);
mbedalvaro 1:a4050fee11f7 443 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 444 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 445 }
mbedalvaro 1:a4050fee11f7 446 if (sendingRecenteringAngle) {
mbedalvaro 1:a4050fee11f7 447 sendMes.setSubAddress("/rangle");
mbedalvaro 1:a4050fee11f7 448 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 449 x=(long)(angleRecenteringVector);
mbedalvaro 1:a4050fee11f7 450 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 451 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 452 }
mbedalvaro 1:a4050fee11f7 453 if (sendingRecenteringNorm) {
mbedalvaro 1:a4050fee11f7 454 sendMes.setSubAddress("/rnorm");
mbedalvaro 1:a4050fee11f7 455 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 456 x=(long)(normRecenteringVector);
mbedalvaro 1:a4050fee11f7 457 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 458 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 459 }
mbedalvaro 1:a4050fee11f7 460
mbedalvaro 1:a4050fee11f7 461 if (sendingTouched) {
mbedalvaro 1:a4050fee11f7 462 if (displaySensingBuffer.lightTouched) {
mbedalvaro 1:a4050fee11f7 463 sendMes.clearArgs(); // there are no arguments to send
mbedalvaro 1:a4050fee11f7 464 sendMes.setSubAddress("/touched");
mbedalvaro 1:a4050fee11f7 465 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 466 }
mbedalvaro 1:a4050fee11f7 467 }
mbedalvaro 1:a4050fee11f7 468
mbedalvaro 1:a4050fee11f7 469 } // end of OSC sending per-spot
mbedalvaro 1:a4050fee11f7 470
mbedalvaro 1:a4050fee11f7 471 // ===================== SERIAL ======================
mbedalvaro 1:a4050fee11f7 472 if (sendSerial) {
mbedalvaro 1:a4050fee11f7 473 //.. to do
mbedalvaro 1:a4050fee11f7 474 }
mbedalvaro 1:a4050fee11f7 475
mbedalvaro 1:a4050fee11f7 476 myled2=0; // for tests...
mbedalvaro 1:a4050fee11f7 477 }