hapticFeedback.cpp

00001 //11/13/12 MM Made fix to haptic error where exo would freak out when it was in the sitting position and you commanded it to stand up
00002 #include "mbed.h"
00003 #include "HipControl.h"
00004 #include "hapticFeedback.h"
00005 
00006 // arpeggio down (A E C# A) = f(880 659 554 440) = T(.0011363 .00151745 .00180505 .0022727)
00007 // doogie howser MD theme (A(high) A(high) A(Low) A(low) A(high) D#) = f(880 880 440 440 880 622) = T(.0011363 .0011363 .0022727 .0022727 .0011363 .0016077)
00008 
00009 const float arpeggio[] = {.0011363, .00151745, .00180505, .0022727};
00010 const float arpeggio_t[] = {.1, .1, .1, .1};
00011 const float DH[] = {.0011363, .00005, .0011363, .00005, .0022727, .00005, .0022727, .00005, .0011363, .00005, .0016077}; // doogie howser periods
00012 const float DH_t[] = {.1, .05, .1, .05, .1, .05, .1, .05, .1, .05, .1};
00013 const float IronMan[] = {0.0010124,0.0008513,0.00005,0.0008513,0.00005,0.0007584,0.00005,0.0007584,0.0006378,0.0006757,0.0006378,0.0006757,0.0006378,0.0006757,0.0008513,0.000050,0.0008513,0.000050,.0007584,0.00005,0.0007584};
00014 const float IronMan_t[] = {.8,.5,.3,.3,.1,.3,.1,.4,.2,.2,.2,.2,.2,.2,.3,.1,.3,.1,.3,.1,.3};
00015 const float lockSound[] = {.0011363,.0022727};
00016 const float lockSound_t[] = {.3, .3};
00017 const float unlockSound[] = {.0022727,.0011363};
00018 const float unlockSound_t[] = {.2, .2};
00019 const float LowBatterySound[] = {.00151745,.00151745};
00020 const float LowBatterySound_t[] = {.1,.1};
00021 const short unsigned int IronMan_count=(sizeof(IronMan)/sizeof(IronMan[0]))-1;
00022 const short unsigned int arpeggio_count=(sizeof(arpeggio)/sizeof(arpeggio[0]))-1;
00023 const short unsigned int DH_count=(sizeof(DH)/sizeof(DH[0]))-1;
00024 const short unsigned int lockSound_count=(sizeof(lockSound)/sizeof(lockSound[0]))-1;
00025 const short unsigned int unlockSound_count=(sizeof(unlockSound)/sizeof(unlockSound[0]))-1;
00026 
00027 
00028 bool hapticOn = false;
00029 int buzzMode;
00030 
00031 MotorMusic::MotorMusic(HipControl& left, HipControl& right):pwmDefault(0.00005),count(0),count_max(0),_left(left),_right(right)
00032 {
00033     time.start();
00034 }
00035 void MotorMusic::setDefault(float a)
00036 {
00037     pwmDefault=a;
00038 }
00039 void MotorMusic::check()
00040 {
00041     if (musicFlag==1) {
00042         song();
00043     }
00044 }
00045 void MotorMusic::init()
00046 {
00047     _left.pwmPeriod(ptrNotes[count]); //play first note
00048     _right.pwmPeriod(ptrNotes[count]); //play first note
00049 }
00050 void MotorMusic::song()
00051 {
00052     if(time.read()>=ptrTimes[count]) { //change note if the time to play the previous note is over
00053         count++; //change note counter
00054         time.reset(); //reset and start timer
00055         _left.pwmPeriod(ptrNotes[count]); //increment note
00056         _right.pwmPeriod(ptrNotes[count]); //increment note
00057     }
00058     if(count>count_max) {
00059         _left.pwmPeriod(pwmDefault); //increment note
00060         _right.pwmPeriod(pwmDefault); //increment note
00061         count=0; //counter to change notes
00062         musicFlag=0; //flag to signal playing music
00063     }
00064 }
00065 
00066 
00067 void MotorMusic::playIronMan()
00068 {
00069     ptrNotes=IronMan; //point to the Iron Man notes array
00070     ptrTimes=IronMan_t;//point to the Iron Man times array
00071     time.reset();//reset timer for music
00072     musicFlag=1;//flag to play music
00073     count_max=IronMan_count;
00074     init();
00075 }
00076 void MotorMusic::playArpeggio()
00077 {
00078     ptrNotes=arpeggio; //point to the Iron Man notes array
00079     ptrTimes=arpeggio_t;//point to the Iron Man times array
00080     time.reset();//reset timer for music
00081     musicFlag=1;//flag to play music
00082     count_max=arpeggio_count;
00083     init();
00084 }
00085 void MotorMusic::playDH()
00086 {
00087     ptrNotes=DH; //point to the Iron Man notes array
00088     ptrTimes=DH_t;//point to the Iron Man times array
00089     time.reset();//reset timer for music
00090     musicFlag=1;//flag to play music
00091     count_max=DH_count;
00092     init();
00093 }
00094 void MotorMusic::playLock()
00095 {
00096     ptrNotes=lockSound; //point to the Iron Man notes array
00097     ptrTimes=lockSound_t;//point to the Iron Man times array
00098     time.reset();//reset timer for music
00099     musicFlag=1;//flag to play music
00100     count_max=lockSound_count;
00101     init();
00102 }
00103 void MotorMusic::playUnlock()
00104 {
00105     ptrNotes=unlockSound; //point to the Iron Man notes array
00106     ptrTimes=unlockSound_t;//point to the Iron Man times array
00107     time.reset();//reset timer for music
00108     musicFlag=1;//flag to play music
00109     count_max=unlockSound_count;
00110     init();
00111 }
00112 //WTF is this? MM
00113 
00114