Revision 25:7764baddb7bc, committed 2020-04-13

Comitter:

trmontgomery

Date:

Mon Apr 13 21:32:00 2020 +0000

Parent:

18:0e0edd4f9e4d

Child:

26:2063ee8419cc

Commit message:

trying to make a servo move back and forth. tried to use SongPlayer class to control servos.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SongPlayer.h	Mon Apr 13 21:32:00 2020 +0000
@@ -0,0 +1,41 @@
+#include "mbed.h"
+// new class to play a note on Speaker based on PwmOut class
+class SongPlayer
+{
+public:
+    SongPlayer(PinName pin) : _pin(pin) {
+// _pin(pin) means pass pin to the constructor
+    }
+// class method to play a note based on PwmOut class
+    void PlaySong(float frequency[], float duration[], float volume=1.0) {
+        vol = volume;
+        notecount = 0;
+        _pin.period(1.0/frequency[notecount]);
+        _pin = volume/2.0;
+        noteduration.attach(this,&SongPlayer::nextnote, duration[notecount]);
+        // setup timer to interrupt for next note to play
+        frequencyptr = frequency;
+        durationptr = duration;
+        //returns after first note starts to play
+    }
+    void nextnote();
+private:
+    Timeout noteduration;
+    PwmOut _pin;
+    int notecount;
+    float vol;
+    float * frequencyptr;
+    float * durationptr;
+};
+//Interrupt Routine to play next note
+void SongPlayer::nextnote()
+{
+    _pin = 0.0;
+    notecount++; //setup next note in song
+    if (durationptr[notecount]!=0.0) {
+        _pin.period(1.0/frequencyptr[notecount]);
+        noteduration.attach(this,&SongPlayer::nextnote, durationptr[notecount]);
+        _pin = vol/2.0;
+    } else
+        _pin = 0.0; //turn off on last note
+}
\ No newline at end of file

--- a/main.cpp	Mon Apr 13 02:43:08 2020 +0000
+++ b/main.cpp	Mon Apr 13 21:32:00 2020 +0000
@@ -1,8 +1,9 @@
 #include "mbed.h"
 #include <iostream>
+#include <vector>
 #include "speaker_out.h"
-#include "uLCD_4DGL.h"
 #include "motor_ctl.h"
+
 DigitalOut myled1(LED1);
 DigitalOut myled2(LED2);
 DigitalOut myled3(LED3);
@@ -17,6 +18,10 @@
 
 enum sm_state {sRESET, sSTOP, sRECORD, sPLAY, sERASE};
 
+//SongPlayer music; 
+//Puppet puppet;
+vector<float> song; //stores all notes recorded by user
+
 void reset(){ 
     /* reset state:
         Initial state upon powering up the device
@@ -28,6 +33,9 @@
         6. LED goes from green to red
         NOTE: ONLY exits to stop or erase state 
     */
+    //puppet.reset();
+    //music.reset();
+    //led = red; //use rgb red for this
 }
 void stop(){
     /* stop state:
@@ -36,6 +44,8 @@
         2. Stop recording
         3. Mute all audio
     */
+    //puppet.stop();
+    //music.stop(); 
 }
 void record(){
     /* record state:
@@ -46,6 +56,7 @@
         4. Append to list of frequencies
         5. 
     */
+    //music.record(); //need to play as recording happens
 }
 void play(){
     /* play state:
@@ -55,11 +66,14 @@
             - moving servo motors accordingly
             - playing corresponding sounds
     */
+    //puppet.dance();
+    //music.play();
 }
 void erase(){
     /* erase state:
         erases entire audio recording
     */
+    //song.erase();
 }
 
 void state_machine_mgr(){
@@ -156,8 +170,6 @@
 }
 
 int main() {
-    myled1 = 1; 
-    //hardware_init();
     //state_machine_mgr();
-    move_motors();
+    puppet_move();
 }

--- a/motor_ctl.h	Mon Apr 13 02:43:08 2020 +0000
+++ b/motor_ctl.h	Mon Apr 13 21:32:00 2020 +0000
@@ -1,5 +1,3 @@
-// Move servos in playback mode
-
 #include "mbed.h"
 #include "Servo.h"
 #include "rtos.h"
@@ -14,68 +12,85 @@
 Thread t_r_leg;
 Thread t_l_leg;
 
-DigitalOut led(LED4); 
+DigitalOut led(LED4);
 
-//left sensor move whole left side
-//right sensor moves whole right side //not gonna think about this right now. Dicuss ideas with team. 
-//and then the distance can just control the height
-//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
-
-unsigned short move_map[] {0x149, 0x14A, 0x14C, 0x151, 0x152, 0x154, 0x291, 0x292, 0x294, 0x2A1, 0x2A2, 0x2A4};
+unsigned short move_map1[] = {0x149, 0x14A, 0x14C, 0x151, 0x152, 0x154, 0x291, 0x292, 0x294, 0x2A1, 0x2A2, 0x2A4};
 unsigned short ra_mask = 0x0C0;
 unsigned short la_mask = 0x300;
 unsigned short rl_mask = 0x03C;
 unsigned short ll_mask = 0x007; 
 
-//for testing run through move map
+unsigned short move_map[] = {1,2,4,1,2,4,1,2,4,1,2,4,1,2,4,1,2,4};
 
-void ra_dance(unsigned short move) {    
-    if (move & ra_mask == 0x040){
-        r_arm.write(.50);
-    } else {
-        r_arm.write(.25);
+void ra_dance() {
+    //r_arm = 0;
+    //wait(1);
+    for(int p=0; p<12; ++p) {
+        unsigned short pos = move_map[p];
+        switch(pos){
+            case 1: r_arm.write(1.0);
+            case 2: r_arm.write(0.5);
+            case 4: r_arm.write(1.0);
+        }
+        wait(0.5);
+        r_arm = 0.5;
     }
     
+    r_arm = 1;
+    wait(0.5);
+    r_arm = 0.5;
+    wait(0.5);
+    r_arm = 1; 
+    r_arm.write(.50);
+    r_arm.write()
+
 }
 
-void la_dance(unsigned short move) {    
-     if (move & ra_mask == 0x100){
-        l_arm.write(.50);
-    } else {
-        l_arm.write(.25);
+void la_dance() {
+    l_arm = 0;
+    wait(1);
+    for(float p=0; p<1.0; p += 0.1) {
+        l_arm = p;
+        wait(0.2);
     }
-    
+    l_arm.write(.50);
+
 }
 
-void rl_dance() {    
-    r_leg = 0; 
+void rl_dance() {
+    r_leg = 0;
     wait(1);
     for(float p=0; p<1.0; p += 0.1) {
         r_leg = p;
         wait(0.2);
     }
     r_leg.write(.50);
-    
+
 }
 
-void ll_dance() {    
-    l_leg = 0; 
+void ll_dance() {
+    l_leg = 0;
     wait(1);
     for(float p=0; p<1.0; p += 0.1) {
         l_leg = p;
         wait(0.2);
     }
     l_leg.write(.50);
-    
+
 }
 
 
-void move_motors(){
-    for (int i = 0; i < 12; ++i){
-        ra_dance(move_map[i]);
-        la_dance(move_map[i]);
-        wait(0.2); 
-    }
+void puppet_move(){
+    //while(1){
+    //t_r_arm.start(ra_dance);
+    //wait(1);
+    //t_l_arm.start(la_dance);
+    //wait(1);
+    //t_r_leg.start(rl_dance);
+    //wait(1);
+    //t_l_leg.start(ll_dance);
+    //wait(1);
+  // }
+  ra_dance();
 }
 
-

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor_ctl_t.h	Mon Apr 13 21:32:00 2020 +0000
@@ -0,0 +1,113 @@
+// Move servos in playback mode
+
+#include "mbed.h"
+#include "Servo.h"
+#include "rtos.h"
+
+Servo r_arm(p24);
+Servo l_arm(p23);
+Servo r_leg(p22);
+Servo l_leg(p21);
+
+Thread t_r_arm;
+Thread t_l_arm;
+Thread t_r_leg;
+Thread t_l_leg;
+
+DigitalOut led(LED4); 
+
+int i = 0; 
+int j = 0; 
+
+//left sensor move whole left side
+//right sensor moves whole right side //not gonna think about this right now. Dicuss ideas with team. 
+//and then the distance can just control the height
+//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
+
+unsigned short move_map[] {0x149, 0x14A, 0x14C, 0x151, 0x152, 0x154, 0x291, 0x292, 0x294, 0x2A1, 0x2A2, 0x2A4};
+unsigned short ra_mask = 0x0C0;
+unsigned short la_mask = 0x300;
+unsigned short rl_mask = 0x03C;
+unsigned short ll_mask = 0x007; 
+
+//for testing run through move map
+
+// new class to play a note on Speaker based on PwmOut class
+class Puppet
+{
+public:
+    Puppet(){ //do I need pins if I keep the global var?
+    }
+    void dance(unsigned short[]);
+    void ra_dance(unsigned short);
+    void la_dance(unsigned short);
+    void nextmove();
+private:
+    Timeout moveduration;
+    int movecount;
+    float vol;
+    unsigned short * movementptr;
+};
+//Interrupt Routine to play next note
+void Puppet::nextmove()
+{
+    //_pin = 0.0; //need to set the servo to start up here?
+    r_arm.write(0);
+    l_arm.write(0);
+    movecount++; //setup next note in song
+    if (movementptr[movecount++] == 0.0) movecount = 0;
+    ra_dance(movementptr[movecount]);
+    la_dance(movementptr[movecount]);
+    moveduration.attach(this,&Puppet::nextmove, 0.2);
+
+}
+
+
+void Puppet::ra_dance(unsigned short move) {    
+    /*
+    if (move & ra_mask == 0x040){
+        r_arm.write(1);
+    } else {
+        r_arm.write(.2);
+    }*/
+    if(i > 1) i = 0;
+    r_arm.write(i); 
+    i += 0.1; 
+    
+}
+
+void Puppet::la_dance(unsigned short move) {    
+    /* if (move & ra_mask == 0x100){
+        l_arm.write(1);
+    } else {
+        l_arm.write(.25);
+    }*/
+    if(j > 1) j = 0;
+    l_arm.write(i); 
+    j += 0.1; 
+}
+
+void Puppet::dance(unsigned short movement[]) {
+    movecount = 0;
+    movementptr = movement; 
+    ra_dance(movement[movecount]);
+    la_dance(movement[movecount]);
+    moveduration.attach(this,&Puppet::nextmove, 0.2);
+    // setup timer to interrupt for next note to play
+    
+    //returns after first note starts to play
+}
+
+void puppet_move(){
+    Puppet pupper;
+// Start song and return once playing starts
+    pupper.dance(move_map);
+    // loops forever while song continues to play to end using interrupts
+    while(1) {
+        led = !led;
+        wait(.1);
+    }
+}
+
+
+