Carter Montgomery / Mbed 2 deprecated VoodooBoi9000

ECE3872 HW/SW Project Code

Dependencies:   mbed Servo mbed-rtos 4DGL-uLCD-SE PinDetect X_NUCLEO_53L0A1

motor_ctl_t.h@26:2063ee8419cc, 2020-04-14 (annotated)

Committer:
trmontgomery
Date:
Tue Apr 14 01:40:26 2020 +0000
Revision:
26:2063ee8419cc
Parent:
25:7764baddb7bc 
map of distinct movements is playable. can record and play music at the same time.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
trmontgomery 25:7764baddb7bc 1 // Move servos in playback mode
trmontgomery 25:7764baddb7bc 2
trmontgomery 25:7764baddb7bc 3 #include "mbed.h"
trmontgomery 25:7764baddb7bc 4 #include "Servo.h"
trmontgomery 25:7764baddb7bc 5 #include "rtos.h"
trmontgomery 25:7764baddb7bc 6
trmontgomery 25:7764baddb7bc 7 Servo r_arm(p24);
trmontgomery 25:7764baddb7bc 8 Servo l_arm(p23);
trmontgomery 25:7764baddb7bc 9 Servo r_leg(p22);
trmontgomery 25:7764baddb7bc 10 Servo l_leg(p21);
trmontgomery 25:7764baddb7bc 11
trmontgomery 25:7764baddb7bc 12 Thread t_r_arm;
trmontgomery 25:7764baddb7bc 13 Thread t_l_arm;
trmontgomery 25:7764baddb7bc 14 Thread t_r_leg;
trmontgomery 25:7764baddb7bc 15 Thread t_l_leg;
trmontgomery 25:7764baddb7bc 16
trmontgomery 25:7764baddb7bc 17 DigitalOut led(LED4);
trmontgomery 25:7764baddb7bc 18
trmontgomery 25:7764baddb7bc 19 int i = 0;
trmontgomery 25:7764baddb7bc 20 int j = 0;
trmontgomery 25:7764baddb7bc 21
trmontgomery 25:7764baddb7bc 22 //left sensor move whole left side
trmontgomery 25:7764baddb7bc 23 //right sensor moves whole right side //not gonna think about this right now. Dicuss ideas with team.
trmontgomery 25:7764baddb7bc 24 //and then the distance can just control the height
trmontgomery 25:7764baddb7bc 25 //movement pattern can be random.. right now every other note recorded will be distributed to one side and the rest will go to the other
trmontgomery 25:7764baddb7bc 26
trmontgomery 25:7764baddb7bc 27 unsigned short move_map[] {0x149, 0x14A, 0x14C, 0x151, 0x152, 0x154, 0x291, 0x292, 0x294, 0x2A1, 0x2A2, 0x2A4};
trmontgomery 25:7764baddb7bc 28 unsigned short ra_mask = 0x0C0;
trmontgomery 25:7764baddb7bc 29 unsigned short la_mask = 0x300;
trmontgomery 25:7764baddb7bc 30 unsigned short rl_mask = 0x03C;
trmontgomery 25:7764baddb7bc 31 unsigned short ll_mask = 0x007;
trmontgomery 25:7764baddb7bc 32
trmontgomery 25:7764baddb7bc 33 //for testing run through move map
trmontgomery 25:7764baddb7bc 34
trmontgomery 25:7764baddb7bc 35 // new class to play a note on Speaker based on PwmOut class
trmontgomery 25:7764baddb7bc 36 class Puppet
trmontgomery 25:7764baddb7bc 37 {
trmontgomery 25:7764baddb7bc 38 public:
trmontgomery 25:7764baddb7bc 39 Puppet(){ //do I need pins if I keep the global var?
trmontgomery 25:7764baddb7bc 40 }
trmontgomery 25:7764baddb7bc 41 void dance(unsigned short[]);
trmontgomery 25:7764baddb7bc 42 void ra_dance(unsigned short);
trmontgomery 25:7764baddb7bc 43 void la_dance(unsigned short);
trmontgomery 25:7764baddb7bc 44 void nextmove();
trmontgomery 25:7764baddb7bc 45 private:
trmontgomery 25:7764baddb7bc 46 Timeout moveduration;
trmontgomery 25:7764baddb7bc 47 int movecount;
trmontgomery 25:7764baddb7bc 48 float vol;
trmontgomery 25:7764baddb7bc 49 unsigned short * movementptr;
trmontgomery 25:7764baddb7bc 50 };
trmontgomery 25:7764baddb7bc 51 //Interrupt Routine to play next note
trmontgomery 25:7764baddb7bc 52 void Puppet::nextmove()
trmontgomery 25:7764baddb7bc 53 {
trmontgomery 25:7764baddb7bc 54 //_pin = 0.0; //need to set the servo to start up here?
trmontgomery 25:7764baddb7bc 55 r_arm.write(0);
trmontgomery 25:7764baddb7bc 56 l_arm.write(0);
trmontgomery 25:7764baddb7bc 57 movecount++; //setup next note in song
trmontgomery 25:7764baddb7bc 58 if (movementptr[movecount++] == 0.0) movecount = 0;
trmontgomery 25:7764baddb7bc 59 ra_dance(movementptr[movecount]);
trmontgomery 25:7764baddb7bc 60 la_dance(movementptr[movecount]);
trmontgomery 25:7764baddb7bc 61 moveduration.attach(this,&Puppet::nextmove, 0.2);
trmontgomery 25:7764baddb7bc 62
trmontgomery 25:7764baddb7bc 63 }
trmontgomery 25:7764baddb7bc 64
trmontgomery 25:7764baddb7bc 65
trmontgomery 25:7764baddb7bc 66 void Puppet::ra_dance(unsigned short move) {
trmontgomery 25:7764baddb7bc 67 /*
trmontgomery 25:7764baddb7bc 68 if (move & ra_mask == 0x040){
trmontgomery 25:7764baddb7bc 69 r_arm.write(1);
trmontgomery 25:7764baddb7bc 70 } else {
trmontgomery 25:7764baddb7bc 71 r_arm.write(.2);
trmontgomery 25:7764baddb7bc 72 }*/
trmontgomery 25:7764baddb7bc 73 if(i > 1) i = 0;
trmontgomery 25:7764baddb7bc 74 r_arm.write(i);
trmontgomery 25:7764baddb7bc 75 i += 0.1;
trmontgomery 25:7764baddb7bc 76
trmontgomery 25:7764baddb7bc 77 }
trmontgomery 25:7764baddb7bc 78
trmontgomery 25:7764baddb7bc 79 void Puppet::la_dance(unsigned short move) {
trmontgomery 25:7764baddb7bc 80 /* if (move & ra_mask == 0x100){
trmontgomery 25:7764baddb7bc 81 l_arm.write(1);
trmontgomery 25:7764baddb7bc 82 } else {
trmontgomery 25:7764baddb7bc 83 l_arm.write(.25);
trmontgomery 25:7764baddb7bc 84 }*/
trmontgomery 25:7764baddb7bc 85 if(j > 1) j = 0;
trmontgomery 25:7764baddb7bc 86 l_arm.write(i);
trmontgomery 25:7764baddb7bc 87 j += 0.1;
trmontgomery 25:7764baddb7bc 88 }
trmontgomery 25:7764baddb7bc 89
trmontgomery 25:7764baddb7bc 90 void Puppet::dance(unsigned short movement[]) {
trmontgomery 25:7764baddb7bc 91 movecount = 0;
trmontgomery 25:7764baddb7bc 92 movementptr = movement;
trmontgomery 25:7764baddb7bc 93 ra_dance(movement[movecount]);
trmontgomery 25:7764baddb7bc 94 la_dance(movement[movecount]);
trmontgomery 25:7764baddb7bc 95 moveduration.attach(this,&Puppet::nextmove, 0.2);
trmontgomery 25:7764baddb7bc 96 // setup timer to interrupt for next note to play
trmontgomery 25:7764baddb7bc 97
trmontgomery 25:7764baddb7bc 98 //returns after first note starts to play
trmontgomery 25:7764baddb7bc 99 }
trmontgomery 25:7764baddb7bc 100
trmontgomery 25:7764baddb7bc 101 void puppet_move(){
trmontgomery 25:7764baddb7bc 102 Puppet pupper;
trmontgomery 25:7764baddb7bc 103 // Start song and return once playing starts
trmontgomery 25:7764baddb7bc 104 pupper.dance(move_map);
trmontgomery 25:7764baddb7bc 105 // loops forever while song continues to play to end using interrupts
trmontgomery 25:7764baddb7bc 106 while(1) {
trmontgomery 25:7764baddb7bc 107 led = !led;
trmontgomery 25:7764baddb7bc 108 wait(.1);
trmontgomery 25:7764baddb7bc 109 }
trmontgomery 25:7764baddb7bc 110 }
trmontgomery 25:7764baddb7bc 111
trmontgomery 25:7764baddb7bc 112
trmontgomery 25:7764baddb7bc 113