Alvaro Cassinelli / Mbed 2 deprecated skinGames_forktest

just a test

Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

rigidLoop.cpp@21:bc9b9383f4b6, 2012-05-06 (annotated)

Committer:
mbedalvaro
Date:
Sun May 06 14:40:19 2012 +0000
Revision:
21:bc9b9383f4b6
Parent:
20:8e82b95180e7
Child:
22:d87317d7ca91
Version working but not optimal for CHI. This is the first day of the setup.

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 18:d72935b13858 28 // Sending data:
mbedalvaro 20:8e82b95180e7 29 periodSendingData=10; // in ms
mbedalvaro 18:d72935b13858 30 sendingRecenteringAngle=true;
mbedalvaro 18:d72935b13858 31 sendingAnchorPosition=true;
mbedalvaro 18:d72935b13858 32 sendingOnlyWhenTouch=true;
mbedalvaro 21:bc9b9383f4b6 33
mbedalvaro 21:bc9b9383f4b6 34 // Gravity field:
mbedalvaro 21:bc9b9383f4b6 35 gravity.set(.5,0);
mbedalvaro 3:b44ff6de81bd 36
mbedalvaro 1:a4050fee11f7 37 // (3) Initialize secondary variables depending on the behaviour mode (may be changed afterwards in real time)
mbedalvaro 1:a4050fee11f7 38
mbedalvaro 1:a4050fee11f7 39 switch (updateMode) {
mbedalvaro 4:f9d364f10335 40
mbedalvaro 4:f9d364f10335 41 case SPOT_TEST:
mbedalvaro 4:f9d364f10335 42 // Name of this kind of spot:
mbedalvaro 4:f9d364f10335 43 sprintf(spotName,"spot_test");
mbedalvaro 4:f9d364f10335 44
mbedalvaro 4:f9d364f10335 45 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 4:f9d364f10335 46 setColor(0x04);
mbedalvaro 4:f9d364f10335 47
mbedalvaro 14:0fc33a3a7b4b 48 saccadeRadius=250;
mbedalvaro 4:f9d364f10335 49
mbedalvaro 4:f9d364f10335 50 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 14:0fc33a3a7b4b 51 // NOTE: number of points in the case of need to compute recentering vector needs to be EVEN
mbedalvaro 14:0fc33a3a7b4b 52 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 16); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 4:f9d364f10335 53
mbedalvaro 4:f9d364f10335 54 // 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 55 massCenter=0.01;
mbedalvaro 4:f9d364f10335 56 dampMotionCenterMass=0.001;
mbedalvaro 4:f9d364f10335 57
mbedalvaro 4:f9d364f10335 58 // 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 59 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 60
mbedalvaro 5:73cd58b58f95 61 // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
mbedalvaro 5:73cd58b58f95 62 // But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software).
mbedalvaro 5:73cd58b58f95 63 // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop:
mbedalvaro 7:0df17f3078bc 64 displaySensingBuffer.setDelayMirrors(1);
mbedalvaro 7:0df17f3078bc 65 angleCorrectionForceLoop=0;//360.0/bluePrint.scafold.size()/2; // in DEGREES
mbedalvaro 4:f9d364f10335 66
mbedalvaro 4:f9d364f10335 67 break;
mbedalvaro 4:f9d364f10335 68
mbedalvaro 1:a4050fee11f7 69 case SPOT_FOLLOWING:
mbedalvaro 1:a4050fee11f7 70
mbedalvaro 1:a4050fee11f7 71 // Name of this kind of spot:
mbedalvaro 1:a4050fee11f7 72 sprintf(spotName,"rigid_following");
mbedalvaro 1:a4050fee11f7 73
mbedalvaro 3:b44ff6de81bd 74 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 3:b44ff6de81bd 75 setColor(0x04);
mbedalvaro 1:a4050fee11f7 76
mbedalvaro 1:a4050fee11f7 77 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 17:356ca5690a59 78 saccadeRadius=25;
mbedalvaro 12:0de9cd2bced5 79 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 18); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 1:a4050fee11f7 80
mbedalvaro 1:a4050fee11f7 81 // 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 82 massCenter=0.01;
mbedalvaro 1:a4050fee11f7 83 dampMotionCenterMass=0.001;
mbedalvaro 1:a4050fee11f7 84
mbedalvaro 4:f9d364f10335 85 // 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 86 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 87
mbedalvaro 5:73cd58b58f95 88 slidingDirection=true; // For contour following (will change direction when touching wall)
mbedalvaro 7:0df17f3078bc 89 speedContourFollowing=1.3*saccadeRadius;
mbedalvaro 7:0df17f3078bc 90 justSearched=false;
mbedalvaro 5:73cd58b58f95 91
mbedalvaro 7:0df17f3078bc 92 // per-blob mirror delay: ONLY USEFUL FOR ELASTIC BLOBS, because otherwise it can be corrected by "angleCorrection"
mbedalvaro 7:0df17f3078bc 93 // (if things were well adjusted - in particular mirror waiting times, then this could be 0.
mbedalvaro 5:73cd58b58f95 94 // But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software).
mbedalvaro 7:0df17f3078bc 95 // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop.
mbedalvaro 7:0df17f3078bc 96 // 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 97 // optimal value, and finish the correction (fine tunned) with the angle correction (only possible in the case of circular rigid blob).
mbedalvaro 7:0df17f3078bc 98 displaySensingBuffer.setDelayMirrors(3); // this corresponds to an angular correction of -delayMirrors * 360/numPoints
mbedalvaro 15:56a0bf424e8d 99 angleCorrectionForceLoop= -5;// good for ONE spot: -5;// in DEGREES
mbedalvaro 4:f9d364f10335 100
mbedalvaro 1:a4050fee11f7 101 break;
mbedalvaro 1:a4050fee11f7 102
mbedalvaro 1:a4050fee11f7 103 case SPOT_BOUNCING:
mbedalvaro 1:a4050fee11f7 104 // Name of this kind of spot:
mbedalvaro 1:a4050fee11f7 105 sprintf(spotName,"rigid_bouncing");
mbedalvaro 1:a4050fee11f7 106
mbedalvaro 3:b44ff6de81bd 107 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 3:b44ff6de81bd 108 setColor(0x04);
mbedalvaro 1:a4050fee11f7 109
mbedalvaro 7:0df17f3078bc 110 saccadeRadius=85;
mbedalvaro 1:a4050fee11f7 111 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 12:0de9cd2bced5 112 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 18); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 1:a4050fee11f7 113
mbedalvaro 1:a4050fee11f7 114 // Numeric parameters for the simulated mechanical system:
mbedalvaro 7:0df17f3078bc 115 massCenter=0.0012;
mbedalvaro 7:0df17f3078bc 116 dampMotionCenterMass=0.0005;//0.00015;//00003;
mbedalvaro 7:0df17f3078bc 117 factorBouncingForce=0.0018; // this is because we will use a force on the central mass
mbedalvaro 1:a4050fee11f7 118
mbedalvaro 4:f9d364f10335 119 // 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 120 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 121
mbedalvaro 5:73cd58b58f95 122 // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
mbedalvaro 5:73cd58b58f95 123 // But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software).
mbedalvaro 5:73cd58b58f95 124 // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop:
mbedalvaro 7:0df17f3078bc 125 displaySensingBuffer.setDelayMirrors(3);
mbedalvaro 7:0df17f3078bc 126 angleCorrectionForceLoop=-5;// in degrees
mbedalvaro 1:a4050fee11f7 127
mbedalvaro 1:a4050fee11f7 128 break;
mbedalvaro 1:a4050fee11f7 129 }
mbedalvaro 7:0df17f3078bc 130
mbedalvaro 7:0df17f3078bc 131 saccadeRadius_initial=saccadeRadius; // this is for search mode for instance.
mbedalvaro 12:0de9cd2bced5 132
mbedalvaro 12:0de9cd2bced5 133 // 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 134 setRegionMotion(MIN_AD_MIRRORS+saccadeRadius, MIN_AD_MIRRORS+saccadeRadius, MAX_AD_MIRRORS-saccadeRadius, MAX_AD_MIRRORS-saccadeRadius);
mbedalvaro 12:0de9cd2bced5 135
mbedalvaro 3:b44ff6de81bd 136
mbedalvaro 1:a4050fee11f7 137 }
mbedalvaro 1:a4050fee11f7 138
mbedalvaro 1:a4050fee11f7 139
mbedalvaro 1:a4050fee11f7 140 void rigidLoop::initSizeBlob(int _numPoints) {
mbedalvaro 1:a4050fee11f7 141 // Iinitialize blob size (number of points for the loop, as well as other structures such as lsdTrajectory)
mbedalvaro 1:a4050fee11f7 142 numPoints=_numPoints;
mbedalvaro 1:a4050fee11f7 143
mbedalvaro 1:a4050fee11f7 144 // Sensing and Display trajectory:
mbedalvaro 1:a4050fee11f7 145 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 146 }
mbedalvaro 1:a4050fee11f7 147
mbedalvaro 1:a4050fee11f7 148 void rigidLoop::createLoopFromScafold(void) {
mbedalvaro 1:a4050fee11f7 149
mbedalvaro 1:a4050fee11f7 150 initSizeBlob(bluePrint.scafold.size()); // very simple here (only need to set the size of the lsd buffer)
mbedalvaro 1:a4050fee11f7 151
mbedalvaro 1:a4050fee11f7 152 centerMass.mass=massCenter;
mbedalvaro 1:a4050fee11f7 153 centerMass.dampMotion = dampMotionCenterMass;
mbedalvaro 1:a4050fee11f7 154
mbedalvaro 1:a4050fee11f7 155 // note: the following may not be required in case of contour following:
mbedalvaro 2:34157ebbf56b 156 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 157 centerMass.setInitialCondition(startCenter, startSpeed);
mbedalvaro 1:a4050fee11f7 158 // centerMass.setInitialCondition(2047.0, 2047.0,0.0,0.0);
mbedalvaro 1:a4050fee11f7 159 }
mbedalvaro 1:a4050fee11f7 160
mbedalvaro 12:0de9cd2bced5 161 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 162 // centerMass.setWallLimits(mmix+10, mmiy+10, mmax-10, mmay-10);
mbedalvaro 12:0de9cd2bced5 163 // Use the static method of the pointMass class:
mbedalvaro 12:0de9cd2bced5 164 pointMass::setWallLimits(mmix+10, mmiy+10, mmax-10, mmay-10);
mbedalvaro 1:a4050fee11f7 165 }
mbedalvaro 1:a4050fee11f7 166
mbedalvaro 1:a4050fee11f7 167
mbedalvaro 1:a4050fee11f7 168 void rigidLoop::update() {
mbedalvaro 1:a4050fee11f7 169
mbedalvaro 1:a4050fee11f7 170 // (I) process loop geometry: not needed (rigid)
mbedalvaro 1:a4050fee11f7 171 // Just check if the blob touched the borders (only need to do this with the central mass):
mbedalvaro 1:a4050fee11f7 172 blobWallCollision=centerMass.bWallCollision;
mbedalvaro 1:a4050fee11f7 173
mbedalvaro 1:a4050fee11f7 174 // (II) Process sensing buffer and compute light forces:
mbedalvaro 1:a4050fee11f7 175 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 176
mbedalvaro 1:a4050fee11f7 177 // (III) Compute recentering vector (the "penetration vector in fact"), using "first order moment":
mbedalvaro 3:b44ff6de81bd 178 // 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 179 // sum in the circle is 0).
mbedalvaro 12:0de9cd2bced5 180 vector2Df momentVector(0,0);
mbedalvaro 7:0df17f3078bc 181 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 182 for (int i = 0; i < numPoints; i++) { // note: numPoints should be EVEN
mbedalvaro 1:a4050fee11f7 183 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 184
mbedalvaro 12:0de9cd2bced5 185 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 186 momentVector.y+=(float)bluePrint.scafold[i].y;
mbedalvaro 12:0de9cd2bced5 187
mbedalvaro 12:0de9cd2bced5 188 // We can also do the following, but ATTENTION: momentVector is of type vector2Df, and scafold[i] of type vector2Dd...
mbedalvaro 12:0de9cd2bced5 189 // momentVector+=bluePrint.scafold[i];// note: no need to do -centerMass.pos, because the scafold is "centered" around 0
mbedalvaro 12:0de9cd2bced5 190
mbedalvaro 7:0df17f3078bc 191 counterDarkZone++;
mbedalvaro 1:a4050fee11f7 192 }
mbedalvaro 1:a4050fee11f7 193 }
mbedalvaro 7:0df17f3078bc 194 momentVector=momentVector*(2*PI/numPoints);
mbedalvaro 7:0df17f3078bc 195 float momentNorm=momentVector.length(); // = 2.R.sin(half_angle) in the direction of the dark zone
mbedalvaro 5:73cd58b58f95 196
mbedalvaro 12:0de9cd2bced5 197 vector2Df unitTowardsLight; // this is the normed vector, pointing towards the light zone
mbedalvaro 2:34157ebbf56b 198 if (momentNorm==0) {
mbedalvaro 7:0df17f3078bc 199 unitTowardsLight.set(0,0);
mbedalvaro 3:b44ff6de81bd 200 recenteringVectorLoop.set(0,0);
mbedalvaro 3:b44ff6de81bd 201 normRecenteringVector=0;
mbedalvaro 3:b44ff6de81bd 202 angleRecenteringVector=0;
mbedalvaro 3:b44ff6de81bd 203 } else {
mbedalvaro 7:0df17f3078bc 204 unitTowardsLight=momentVector/(-1.0*momentNorm);
mbedalvaro 7:0df17f3078bc 205 // Apply correction angle (delay mirrors):
mbedalvaro 7:0df17f3078bc 206 unitTowardsLight.rotateDeg(angleCorrectionForceLoop);
mbedalvaro 7:0df17f3078bc 207
mbedalvaro 7:0df17f3078bc 208 // Compute "recenteringVectorLoop" (in fact, the vector making the spot goes completely away form the dark zone):
mbedalvaro 7:0df17f3078bc 209 float aux=0.5*momentNorm/saccadeRadius; // note: in principle, we ALWAYS have momentNorm < 2.R, so aux < 1
mbedalvaro 7:0df17f3078bc 210 if (aux>1) aux=1.0; // can happen because of the discrete integration!
mbedalvaro 7:0df17f3078bc 211 if (counterDarkZone<=numPoints/2) { // note: numPoints HAS to be EVEN
mbedalvaro 7:0df17f3078bc 212 recenteringVectorLoop=unitTowardsLight*saccadeRadius*(1.0-sqrt(1.0-aux*aux));
mbedalvaro 7:0df17f3078bc 213 } else {
mbedalvaro 7:0df17f3078bc 214 recenteringVectorLoop=unitTowardsLight*saccadeRadius*(1.0+sqrt(1.0-aux*aux));
mbedalvaro 7:0df17f3078bc 215 }
mbedalvaro 7:0df17f3078bc 216
mbedalvaro 7:0df17f3078bc 217
mbedalvaro 3:b44ff6de81bd 218 // Compute redundant quantities (if necessary, for sending through OSC, etc):
mbedalvaro 3:b44ff6de81bd 219 normRecenteringVector=recenteringVectorLoop.length();
mbedalvaro 3:b44ff6de81bd 220 angleRecenteringVector=recenteringVectorLoop.angleDegHoriz();
mbedalvaro 3:b44ff6de81bd 221 }
mbedalvaro 3:b44ff6de81bd 222
mbedalvaro 1:a4050fee11f7 223 // Now, depending on the mode of operation, we have two types of behaviour:
mbedalvaro 12:0de9cd2bced5 224 vector2Df slidingVector; //( need to declare it here because a switch "jump" cannot bypass an initialization)
mbedalvaro 1:a4050fee11f7 225 switch (updateMode) {
mbedalvaro 4:f9d364f10335 226
mbedalvaro 4:f9d364f10335 227 case SPOT_TEST: // this is just for adjusting mirror delays, checking recentering vector, etc:
mbedalvaro 4:f9d364f10335 228 // do nothing for the time being
mbedalvaro 4:f9d364f10335 229 // 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 230 // 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 231
mbedalvaro 4:f9d364f10335 232 break;
mbedalvaro 1:a4050fee11f7 233
mbedalvaro 1:a4050fee11f7 234 case SPOT_FOLLOWING:
mbedalvaro 1:a4050fee11f7 235 // we need to compute the tangencial "speed":
mbedalvaro 1:a4050fee11f7 236 // vector2D slidingVector;
mbedalvaro 2:34157ebbf56b 237 if (momentNorm>0) {
mbedalvaro 5:73cd58b58f95 238 //momentVector/=momentNorm;
mbedalvaro 3:b44ff6de81bd 239 // We can now compute the sliding vector as:
mbedalvaro 7:0df17f3078bc 240 slidingVector=unitTowardsLight.getRotatedDeg(slidingDirection? 90 : -90) * speedContourFollowing;
mbedalvaro 7:0df17f3078bc 241
mbedalvaro 7:0df17f3078bc 242 // 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 243 // 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 244
mbedalvaro 7:0df17f3078bc 245 centerMass.pos +=slidingVector+ ( unitTowardsLight*(-1.0*saccadeRadius) + recenteringVectorLoop )* 0.6;
mbedalvaro 7:0df17f3078bc 246 // 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 247 // re-entry and avoid oscillations).
mbedalvaro 3:b44ff6de81bd 248
mbedalvaro 3:b44ff6de81bd 249 // The following function can help constraining the position "pos", but it also does too much. Do something simpler perhaps?
mbedalvaro 7:0df17f3078bc 250 centerMass.posOld=centerMass.pos; // this is necessary to compute bouceOffWalls using Verlet method... (MAKE A new variable INTEGRATION METHOD?)
mbedalvaro 7:0df17f3078bc 251
mbedalvaro 3:b44ff6de81bd 252 centerMass.bounceOffWalls(); // constrain position (and compute wall "hit")
mbedalvaro 7:0df17f3078bc 253
mbedalvaro 7:0df17f3078bc 254 if (justSearched) {
mbedalvaro 7:0df17f3078bc 255 saccadeRadius=saccadeRadius_initial;
mbedalvaro 12:0de9cd2bced5 256 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), numPoints);
mbedalvaro 7:0df17f3078bc 257 justSearched=false;
mbedalvaro 7:0df17f3078bc 258 }
mbedalvaro 7:0df17f3078bc 259
mbedalvaro 3:b44ff6de81bd 260
mbedalvaro 2:34157ebbf56b 261 } else {
mbedalvaro 7:0df17f3078bc 262 // not on something. SEARCH MODE (or go to spot_bouncing mode?)
mbedalvaro 15:56a0bf424e8d 263 saccadeRadius+=30; if (saccadeRadius>800) saccadeRadius=saccadeRadius_initial;
mbedalvaro 12:0de9cd2bced5 264 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), numPoints);
mbedalvaro 7:0df17f3078bc 265 justSearched=true;
mbedalvaro 2:34157ebbf56b 266 }
mbedalvaro 1:a4050fee11f7 267
mbedalvaro 1:a4050fee11f7 268 break;
mbedalvaro 1:a4050fee11f7 269
mbedalvaro 1:a4050fee11f7 270 case SPOT_BOUNCING:
mbedalvaro 1:a4050fee11f7 271 // this is very simple: we need to give a force to the centralMass that is OPPOSITE to the recenteringVectorLoop vector
mbedalvaro 1:a4050fee11f7 272 centerMass.resetForce();
mbedalvaro 5:73cd58b58f95 273
mbedalvaro 21:bc9b9383f4b6 274 if (displaySensingBuffer.lightTouched) {
mbedalvaro 7:0df17f3078bc 275 // add force; MANY POSSIBILITIES:
mbedalvaro 7:0df17f3078bc 276 // (1) Constant in norm:
mbedalvaro 7:0df17f3078bc 277 //centerMass.addForce(unitTowardsLight*saccadeRadius*factorBouncingForce);
mbedalvaro 7:0df17f3078bc 278 // Exactly what is needed to have an elastic bouncing:
mbedalvaro 7:0df17f3078bc 279
mbedalvaro 7:0df17f3078bc 280 // Proportional to the penetration depth in the dark zone (spring):
mbedalvaro 5:73cd58b58f95 281 centerMass.addForce(recenteringVectorLoop*factorBouncingForce);
mbedalvaro 7:0df17f3078bc 282 // Or proportional to the square (or something else) of the penetration:
mbedalvaro 7:0df17f3078bc 283 //centerMass.addForce(recenteringVectorLoop*normRecenteringVector*factorBouncingForce);
mbedalvaro 7:0df17f3078bc 284
mbedalvaro 5:73cd58b58f95 285 }
mbedalvaro 21:bc9b9383f4b6 286
mbedalvaro 21:bc9b9383f4b6 287 // Gravity?
mbedalvaro 21:bc9b9383f4b6 288 centerMass.addForce(gravity*centerMass.mass);
mbedalvaro 1:a4050fee11f7 289
mbedalvaro 1:a4050fee11f7 290 // update dynamics for the central mass::
mbedalvaro 1:a4050fee11f7 291 #ifndef VERLET_METHOD
mbedalvaro 1:a4050fee11f7 292 centerMass.addDampingForce(); // // only in case of EULER method (damping in VERLET mode is done automatically when updating)
mbedalvaro 1:a4050fee11f7 293 #endif
mbedalvaro 1:a4050fee11f7 294
mbedalvaro 1:a4050fee11f7 295 centerMass.update(); // unconstrained
mbedalvaro 1:a4050fee11f7 296 centerMass.bounceOffWalls(); // constrain position (and compute wall "hit")
mbedalvaro 5:73cd58b58f95 297
mbedalvaro 5:73cd58b58f95 298 if (displaySensingBuffer.lightTouched) {
mbedalvaro 5:73cd58b58f95 299 // do collision damping:
mbedalvaro 7:0df17f3078bc 300 centerMass.setSpeed(centerMass.getSpeed()*0.99);
mbedalvaro 5:73cd58b58f95 301 }
mbedalvaro 5:73cd58b58f95 302
mbedalvaro 1:a4050fee11f7 303
mbedalvaro 1:a4050fee11f7 304 break;
mbedalvaro 1:a4050fee11f7 305
mbedalvaro 1:a4050fee11f7 306 }
mbedalvaro 1:a4050fee11f7 307
mbedalvaro 1:a4050fee11f7 308 // OTHER PARTICULAR THINGS:
mbedalvaro 21:bc9b9383f4b6 309 if (displaySensingBuffer.lightTouched) {
mbedalvaro 21:bc9b9383f4b6 310 // setGreenPower(1); // setColor(0x02); // green on
mbedalvaro 21:bc9b9383f4b6 311 setColor(0x02|blobColor); // set green ON, regardless of the initial color
mbedalvaro 21:bc9b9383f4b6 312 } else {
mbedalvaro 21:bc9b9383f4b6 313 // setGreenPower(0); //setColor(0x00); // green off
mbedalvaro 21:bc9b9383f4b6 314 setColor(blobColor); // set green OFF (IF it was off from the start)
mbedalvaro 21:bc9b9383f4b6 315 }
mbedalvaro 17:356ca5690a59 316
mbedalvaro 17:356ca5690a59 317
mbedalvaro 1:a4050fee11f7 318 // change sliding direction (for countour following):
mbedalvaro 1:a4050fee11f7 319 if (blobWallCollision) {
mbedalvaro 7:0df17f3078bc 320 if (wallCounter>5) {
mbedalvaro 1:a4050fee11f7 321 slidingDirection=!slidingDirection;
mbedalvaro 1:a4050fee11f7 322 wallCounter=0;
mbedalvaro 1:a4050fee11f7 323 }
mbedalvaro 1:a4050fee11f7 324 }
mbedalvaro 1:a4050fee11f7 325 wallCounter++;
mbedalvaro 1:a4050fee11f7 326 }
mbedalvaro 1:a4050fee11f7 327
mbedalvaro 1:a4050fee11f7 328
mbedalvaro 1:a4050fee11f7 329 // 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 330 void rigidLoop::draw() {
mbedalvaro 1:a4050fee11f7 331 // for the time being, there is no "opengl" like renderer, so we just copy into the lsdTrajectory:
mbedalvaro 1:a4050fee11f7 332 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 333 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 334 for (int i = 0; i < numPoints; i++) {
mbedalvaro 1:a4050fee11f7 335 // The shape is drawn by translating the scafold shape (centered on centerMass):
mbedalvaro 12:0de9cd2bced5 336 displaySensingBuffer.lsdTrajectory[i].x= (unsigned short)(bluePrint.scafold[i].x + cx ); // note: it should be an unsigned short!!
mbedalvaro 12:0de9cd2bced5 337 displaySensingBuffer.lsdTrajectory[i].y= (unsigned short)(bluePrint.scafold[i].y + cy );
mbedalvaro 12:0de9cd2bced5 338
mbedalvaro 12:0de9cd2bced5 339 // We can also do this, but ATTENTION: centerMass.pos is a vector2Df, and scafold[i] is a vector2Dd (typecasting?)
mbedalvaro 12:0de9cd2bced5 340 // displaySensingBuffer.lsdTrajectory[i]= bluePrint.scafold[i] + centerMass.pos;
mbedalvaro 12:0de9cd2bced5 341
mbedalvaro 17:356ca5690a59 342 displaySensingBuffer.displayColor=blobColor; // perhaps per point color is not a good idea for the time being...
mbedalvaro 1:a4050fee11f7 343 }
mbedalvaro 1:a4050fee11f7 344 // global color for the whole loop:
mbedalvaro 1:a4050fee11f7 345 displaySensingBuffer.displayColor=blobColor;
mbedalvaro 1:a4050fee11f7 346 }
mbedalvaro 1:a4050fee11f7 347
mbedalvaro 1:a4050fee11f7 348 void rigidLoop::computeBoundingBox() {
mbedalvaro 1:a4050fee11f7 349 }
mbedalvaro 1:a4050fee11f7 350
mbedalvaro 1:a4050fee11f7 351
mbedalvaro 1:a4050fee11f7 352
mbedalvaro 1:a4050fee11f7 353 void rigidLoop::sendDataSpecific() {
mbedalvaro 1:a4050fee11f7 354 char auxstring[10];
mbedalvaro 1:a4050fee11f7 355 myled2=1; // for tests...
mbedalvaro 1:a4050fee11f7 356
mbedalvaro 1:a4050fee11f7 357 // First, set the top address of the message to the ID of the blob (not the name):
mbedalvaro 18:d72935b13858 358 // sprintf(auxstring, "%d", identifier);
mbedalvaro 18:d72935b13858 359 // sendMes.setTopAddress("0");//auxstring);
mbedalvaro 1:a4050fee11f7 360
mbedalvaro 1:a4050fee11f7 361 // ===================== OSC ======================
mbedalvaro 1:a4050fee11f7 362 if (sendOSC) {
mbedalvaro 1:a4050fee11f7 363
mbedalvaro 1:a4050fee11f7 364 // (a) Anchor mass:
mbedalvaro 1:a4050fee11f7 365 if (sendingAnchorPosition) {
mbedalvaro 18:d72935b13858 366 sprintf(auxstring, "/p %d",identifier);
mbedalvaro 18:d72935b13858 367 sendMes.setSubAddress(auxstring);
mbedalvaro 1:a4050fee11f7 368 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 369 x=(long)(centerMass.pos.x);
mbedalvaro 1:a4050fee11f7 370 y=(long)(centerMass.pos.y);
mbedalvaro 1:a4050fee11f7 371 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 372 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 373 }
mbedalvaro 1:a4050fee11f7 374
mbedalvaro 1:a4050fee11f7 375 // (b) data from blob points (this is ONLY FOR TESTS, because the loop is rigid - sending the center is enough)
mbedalvaro 1:a4050fee11f7 376 if (sendingLoopPositions) {
mbedalvaro 1:a4050fee11f7 377 #ifdef SEND_AS_POINTS
mbedalvaro 1:a4050fee11f7 378 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 379 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 380 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 381 for (int i = 0; i < numPoints; i++) {
mbedalvaro 2:34157ebbf56b 382 sprintf(auxstring, "/p%d",identifier*10+ i);//20+ i+(identifier-1)*10); // auxstring read as "/p1", "/p2", ...
mbedalvaro 1:a4050fee11f7 383 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 384 x=(long)(bluePrint.scafold[i].x + cx);
mbedalvaro 1:a4050fee11f7 385 y=(long)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 386 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 387 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 388 }
mbedalvaro 1:a4050fee11f7 389
mbedalvaro 1:a4050fee11f7 390 #endif
mbedalvaro 1:a4050fee11f7 391 #ifdef SEND_AS_BLOB
mbedalvaro 1:a4050fee11f7 392 sendMes.clearArgs(); // no need, we won't use osc.sendOsc()...
mbedalvaro 1:a4050fee11f7 393 uint8_t blobdata[4*numPoints]; // 2 bytes per coordinate, and 2 coordinates
mbedalvaro 1:a4050fee11f7 394 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 395 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 396 for (int i = 0; i < numPoints; i++ ) {
mbedalvaro 1:a4050fee11f7 397 // note: massesLoop[i].pos.x is a "float"
mbedalvaro 1:a4050fee11f7 398 uint16_t x=(uint16_t)(bluePrint.scafold[i].x + cx);
mbedalvaro 1:a4050fee11f7 399 blobdata[4*i]=(uint8_t)x>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 400 blobdata[4*i+1]=(uint8_t)x;
mbedalvaro 1:a4050fee11f7 401
mbedalvaro 1:a4050fee11f7 402 uint16_t y=(uint16_t)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 403 blobdata[4*i+2]=(uint8_t)y>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 404 blobdata[4*i+3]=(uint8_t)y;
mbedalvaro 1:a4050fee11f7 405 }
mbedalvaro 1:a4050fee11f7 406 osc.sendOscBlob(&(blobdata[0]), 4*numPoints, &sendMes ); // second parameter is osc blob size in bytes
mbedalvaro 1:a4050fee11f7 407 #endif
mbedalvaro 1:a4050fee11f7 408 #ifdef SEND_AS_STRING
mbedalvaro 1:a4050fee11f7 409 sendMes.clearArgs(); // no need, we won't use osc.sendOsc()...
mbedalvaro 1:a4050fee11f7 410 uint8_t blobdata[4*numPoints]; // 2 bytes per coordinate, and 2 coordinates
mbedalvaro 1:a4050fee11f7 411 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 412 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 413 for (int i = 0; i < numPoints; i++ ) {
mbedalvaro 1:a4050fee11f7 414 // note: massesLoop[i].pos.x is a "float"
mbedalvaro 1:a4050fee11f7 415 uint16_t x=(uint16_t)(bluePrint.scafold[i].x + cx );
mbedalvaro 1:a4050fee11f7 416 blobdata[4*i]=(uint8_t)x>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 417 blobdata[4*i+1]=(uint8_t)x;
mbedalvaro 1:a4050fee11f7 418
mbedalvaro 1:a4050fee11f7 419 uint16_t y=(uint16_t)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 420 blobdata[4*i+2]=(uint8_t)y>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 421 blobdata[4*i+3]=(uint8_t)y;
mbedalvaro 1:a4050fee11f7 422 }
mbedalvaro 1:a4050fee11f7 423 osc.sendOscString(blobdata, 4*numPoints, &sendMes ); // second parameter is osc blob size in bytes
mbedalvaro 1:a4050fee11f7 424 #endif
mbedalvaro 1:a4050fee11f7 425 }
mbedalvaro 1:a4050fee11f7 426 if (sendingLoopRegions) {
mbedalvaro 1:a4050fee11f7 427 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 428 for (int i = 0; i < numPoints; i++) {
mbedalvaro 1:a4050fee11f7 429 sprintf(auxstring, "/r%d", i); // auxstring read as "/f1", "/f2", ...
mbedalvaro 1:a4050fee11f7 430 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 431 x=(long)(displaySensingBuffer.lsdTrajectory[i].lightZone>0? 1 : 0);
mbedalvaro 1:a4050fee11f7 432 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 433 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 434 }
mbedalvaro 1:a4050fee11f7 435 }
mbedalvaro 1:a4050fee11f7 436 if (sendingLoopTouchWall) { // global touch wall for the loop (not per point)
mbedalvaro 1:a4050fee11f7 437 long wall; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 438 sprintf(auxstring, "/bWall");
mbedalvaro 1:a4050fee11f7 439 sendMes.setSubAddress(auxstring);
mbedalvaro 1:a4050fee11f7 440 wall=(long)(blobWallCollision? 1 : 0);
mbedalvaro 1:a4050fee11f7 441 sendMes.setArgs( "i", &wall);
mbedalvaro 1:a4050fee11f7 442 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 443 }
mbedalvaro 1:a4050fee11f7 444
mbedalvaro 1:a4050fee11f7 445 // (d) Light sensing statistics:
mbedalvaro 1:a4050fee11f7 446 if (sendingBlobMaxMin) {
mbedalvaro 1:a4050fee11f7 447 sendMes.setSubAddress("/maxmin");
mbedalvaro 1:a4050fee11f7 448 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 449 x=(long)(displaySensingBuffer.maxI);
mbedalvaro 1:a4050fee11f7 450 y=(long)(displaySensingBuffer.minI);
mbedalvaro 1:a4050fee11f7 451 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 452 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 453 }
mbedalvaro 1:a4050fee11f7 454
mbedalvaro 1:a4050fee11f7 455 // (e) Recentering vector: (note: redundant with sendingLightForce, IF the correction angle is known).
mbedalvaro 1:a4050fee11f7 456 if (sendingRecenteringVector) {
mbedalvaro 1:a4050fee11f7 457 sendMes.setSubAddress("/rvector");
mbedalvaro 1:a4050fee11f7 458 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 459 x=(long)(recenteringVectorLoop.x);
mbedalvaro 1:a4050fee11f7 460 y=(long)(recenteringVectorLoop.y);
mbedalvaro 1:a4050fee11f7 461 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 462 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 463 }
mbedalvaro 1:a4050fee11f7 464 if (sendingRecenteringAngle) {
mbedalvaro 18:d72935b13858 465 sprintf(auxstring, "/v %d",identifier);
mbedalvaro 18:d72935b13858 466 sendMes.setSubAddress(auxstring);
mbedalvaro 1:a4050fee11f7 467 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 468 x=(long)(angleRecenteringVector);
mbedalvaro 1:a4050fee11f7 469 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 470 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 471 }
mbedalvaro 1:a4050fee11f7 472 if (sendingRecenteringNorm) {
mbedalvaro 1:a4050fee11f7 473 sendMes.setSubAddress("/rnorm");
mbedalvaro 1:a4050fee11f7 474 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 475 x=(long)(normRecenteringVector);
mbedalvaro 1:a4050fee11f7 476 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 477 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 478 }
mbedalvaro 1:a4050fee11f7 479
mbedalvaro 1:a4050fee11f7 480 if (sendingTouched) {
mbedalvaro 1:a4050fee11f7 481 if (displaySensingBuffer.lightTouched) {
mbedalvaro 1:a4050fee11f7 482 sendMes.clearArgs(); // there are no arguments to send
mbedalvaro 1:a4050fee11f7 483 sendMes.setSubAddress("/touched");
mbedalvaro 1:a4050fee11f7 484 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 485 }
mbedalvaro 1:a4050fee11f7 486 }
mbedalvaro 1:a4050fee11f7 487
mbedalvaro 1:a4050fee11f7 488 } // end of OSC sending per-spot
mbedalvaro 1:a4050fee11f7 489
mbedalvaro 1:a4050fee11f7 490 // ===================== SERIAL ======================
mbedalvaro 1:a4050fee11f7 491 if (sendSerial) {
mbedalvaro 1:a4050fee11f7 492 //.. to do
mbedalvaro 1:a4050fee11f7 493 }
mbedalvaro 1:a4050fee11f7 494
mbedalvaro 1:a4050fee11f7 495 myled2=0; // for tests...
mbedalvaro 1:a4050fee11f7 496 }