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Fix issues with data not being correctly sent to motors for sim haptic.

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This commit is contained in:
Paul Dino Jones
2024-07-12 20:42:55 -04:00
parent 03b96e84b0
commit 42d63ffe89
4 changed files with 106 additions and 52 deletions
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src/arduino/simhaptic/simhaptic.h
+8 -2
View File
@@ -6,8 +6,14 @@
typedef struct
{
int motor;
int effect;
uint32_t motor1;
uint32_t effect1;
uint32_t motor2;
uint32_t effect2;
uint32_t motor3;
uint32_t effect3;
uint32_t motor4;
uint32_t effect4;
}
SimHapticData;
src/arduino/simhaptic/simhaptic.ino
+32 -12
View File
@@ -12,8 +12,14 @@ Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3);
//Adafruit_DCMotor *myMotor4 = AFMS.getMotor(4);
SimHapticData sd;
int effect = 0;
int motor = 15;
int motor1 = 0;
int motor2 = 0;
int motor3 = 0;
int motor4 = 0;
int effect1 = 0;
int effect2 = 0;
int effect3 = 0;
int effect4 = 0;
void setup() {
Serial.begin(9600);
@@ -21,8 +27,10 @@ void setup() {
Serial.println("Could not find Motor Shield. Check wiring.");
while (1);
}
sd.effect = 0;
sd.motor = 15;
sd.motor1 = 0;
sd.motor2 = 0;
sd.motor3 = 0;
sd.motor4 = 0;
myMotor1->setSpeed(0);
myMotor1->run(FORWARD);
@@ -44,24 +52,36 @@ void loop() {
{
Serial.readBytes(buff, BYTE_SIZE);
memcpy(&sd, &buff, BYTE_SIZE);
effect = sd.effect;
motor = sd.motor;
motor1 = sd.motor1;
motor2 = sd.motor2;
motor3 = sd.motor3;
motor4 = sd.motor4;
effect1 = sd.effect1;
effect2 = sd.effect2;
effect3 = sd.effect3;
effect4 = sd.effect4;
}
if (motor == 0 || motor == 4 || motor == 7 || motor == 8 || motor == 10 || motor == 11 || motor == 13 || motor == 14)
//if (motor == 0 || motor == 4 || motor == 7 || motor == 8 || motor == 10 || motor == 11 || motor == 13 || motor == 14)
//{
if (motor1 >= 1)
{
myMotor1->setSpeed(effect);
myMotor1->setSpeed(effect1);
}
//}
//if (motor == 1 || motor == 5 || motor == 7 || motor == 9 || motor == 10 || motor == 11 || motor == 12 || motor == 13)
//{
// myMotor2->setSpeed(v*POWER);
// myMotor2->setSpeed(motor2);
//}
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)
//{
if (motor3 >= 1)
{
myMotor3->setSpeed(effect);
myMotor3->setSpeed(effect3);
}
//}
//if (motor == 3 || motor == 4 || motor == 5 || motor == 6 || motor == 10 || motor == 12 || motor == 13 || motor == 14)
//{
// myMotor4->setSpeed(v*POWER);
// myMotor4->setSpeed(motor4);
//}
}