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Fix dumb issues with haptic arduino code. Add tyre slip vibrations to test script.

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This commit is contained in:
Paul Dino Jones
2024-07-09 17:14:40 -04:00
parent f413e749b9
commit 03b96e84b0
7 changed files with 87 additions and 39 deletions
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src/arduino/simhaptic/simhaptic.h
+1 -2
View File
@@ -7,8 +7,7 @@
typedef struct
{
int motor;
float effect;
float power;
int effect;
}
SimHapticData;
src/arduino/simhaptic/simhaptic.ino
+11 -29
View File
@@ -12,7 +12,8 @@ Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3);
//Adafruit_DCMotor *myMotor4 = AFMS.getMotor(4);
SimHapticData sd;
int velocity = 0;
int effect = 0;
int motor = 15;
void setup() {
Serial.begin(9600);
@@ -20,7 +21,8 @@ void setup() {
Serial.println("Could not find Motor Shield. Check wiring.");
while (1);
}
sd.velocity = 10;
sd.effect = 0;
sd.motor = 15;
myMotor1->setSpeed(0);
myMotor1->run(FORWARD);
@@ -42,43 +44,23 @@ void loop() {
{
Serial.readBytes(buff, BYTE_SIZE);
memcpy(&sd, &buff, BYTE_SIZE);
velocity = sd.velocity;
effect = sd.effect;
motor = sd.motor;
}
int v = ceil(effect * 255);
if (v >= 255)
{
v = 255;
}
MOTOR_1 = 0,
MOTOR_2 = 1,
MOTOR_3 = 2,
MOTOR_4 = 3,
MOTOR_1_4 = 4,
MOTOR_2_4 = 5,
MOTOR_3_4 = 6,
MOTOR_1_2 = 7,
MOTOR_1_3 = 8,
MOTOR_2_3 = 9,
MOTOR_1_2_3_4 = 10,
MOTOR_1_2_3 = 11,
MOTOR_2_3_4 = 12,
MOTOR_1_2_4 = 13,
MOTOR_1_3_4 = 14
if (motor == 0 || motor == 4 || motor == 7 || motor == 8 || motor == 10 || motor == 11 || motor == 13 || motor == 14)
{
myMotor1->setSpeed(v*POWER);
myMotor1->setSpeed(effect);
}
//if (motor == 1 || motor == 5 || motor = 7 || motor == 9 || motor == 10 || motor == 11 || motor == 12 || motor = 13)
//if (motor == 1 || motor == 5 || motor == 7 || motor == 9 || motor == 10 || motor == 11 || motor == 12 || motor == 13)
//{
// myMotor2->setSpeed(v*POWER);
//}
if (motor == 2 || motor == 6 || motor = 8 || motor == 9 || motor == 10 || motor == 11 || motor == 12 || motor = 14)
if (motor == 2 || motor == 6 || motor == 8 || motor == 9 || motor == 10 || motor == 11 || motor == 12 || motor == 14)
{
myMotor3->setSpeed(v*POWER);
myMotor3->setSpeed(effect);
}
//if (motor == 3 || motor == 4 || motor = 5 || motor == 6 || motor == 10 || motor == 12 || motor == 13 || motor = 14)
//if (motor == 3 || motor == 4 || motor == 5 || motor == 6 || motor == 10 || motor == 12 || motor == 13 || motor == 14)
//{
// myMotor4->setSpeed(v*POWER);
//}