Alvaro Cassinelli / Mbed 2 deprecated skinGames_forktest

just a test

Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

rigidLoop.cpp@25:74cb85b85fd2, 2012-06-18 (annotated)

Committer:
mbedalvaro
Date:
Mon Jun 18 11:37:00 2012 +0000
Revision:
25:74cb85b85fd2
Parent:
24:4e52031a495b
Child:
26:c9329c4fc20a
corrected some mistakes on color control;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 1:a4050fee11f7 1 #include "rigidLoop.h"
mbedalvaro 1:a4050fee11f7 2
mbedalvaro 1:a4050fee11f7 3 // SHOULD NOT BE HERE: (only because I am using AD_MIRRIOR... max and min in the set region function that should not be here)
mbedalvaro 1:a4050fee11f7 4 #include "hardwareIO.h"
mbedalvaro 1:a4050fee11f7 5
mbedalvaro 1:a4050fee11f7 6 rigidLoop::rigidLoop() {
mbedalvaro 1:a4050fee11f7 7 }
mbedalvaro 1:a4050fee11f7 8
mbedalvaro 1:a4050fee11f7 9 rigidLoop::~rigidLoop() {
mbedalvaro 1:a4050fee11f7 10
mbedalvaro 1:a4050fee11f7 11 }
mbedalvaro 1:a4050fee11f7 12
mbedalvaro 1:a4050fee11f7 13
mbedalvaro 1:a4050fee11f7 14 // Note: this method is hidding the abstract method in the base class... and has DIFFERENT parameters than another child would have (enum type).
mbedalvaro 12:0de9cd2bced5 15 void rigidLoop::createBlob(int _id, RigidLoopMode _elasticBlobMode, vector2Df _initPos, vector2Df _initSpeed) {
mbedalvaro 1:a4050fee11f7 16 // (1) set ID:
mbedalvaro 1:a4050fee11f7 17 identifier=_id;
mbedalvaro 1:a4050fee11f7 18
mbedalvaro 1:a4050fee11f7 19 updateMode=_elasticBlobMode;
mbedalvaro 4:f9d364f10335 20
mbedalvaro 4:f9d364f10335 21 startCenter=_initPos;
mbedalvaro 4:f9d364f10335 22 startSpeed=_initSpeed;
mbedalvaro 4:f9d364f10335 23
mbedalvaro 1:a4050fee11f7 24 // (2) Initialize common variables of all blobs (base class):
mbedalvaro 1:a4050fee11f7 25 initCommonVariables();
mbedalvaro 1:a4050fee11f7 26
mbedalvaro 1:a4050fee11f7 27 // (3) initialize common variables for the different modes of this rigid loop (even if some are not used, better not to have more subclasses...)
mbedalvaro 18:d72935b13858 28 // Sending data:
mbedalvaro 20:8e82b95180e7 29 periodSendingData=10; // in ms
mbedalvaro 18:d72935b13858 30 sendingRecenteringAngle=true;
mbedalvaro 18:d72935b13858 31 sendingAnchorPosition=true;
mbedalvaro 18:d72935b13858 32 sendingOnlyWhenTouch=true;
mbedalvaro 21:bc9b9383f4b6 33
mbedalvaro 21:bc9b9383f4b6 34 // Gravity field:
mbedalvaro 21:bc9b9383f4b6 35 gravity.set(.5,0);
mbedalvaro 3:b44ff6de81bd 36
mbedalvaro 1:a4050fee11f7 37 // (3) Initialize secondary variables depending on the behaviour mode (may be changed afterwards in real time)
mbedalvaro 1:a4050fee11f7 38
mbedalvaro 1:a4050fee11f7 39 switch (updateMode) {
mbedalvaro 4:f9d364f10335 40
mbedalvaro 4:f9d364f10335 41 case SPOT_TEST:
mbedalvaro 4:f9d364f10335 42 // Name of this kind of spot:
mbedalvaro 4:f9d364f10335 43 sprintf(spotName,"spot_test");
mbedalvaro 4:f9d364f10335 44
mbedalvaro 4:f9d364f10335 45 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 4:f9d364f10335 46 setColor(0x04);
mbedalvaro 4:f9d364f10335 47
mbedalvaro 14:0fc33a3a7b4b 48 saccadeRadius=250;
mbedalvaro 4:f9d364f10335 49
mbedalvaro 4:f9d364f10335 50 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 14:0fc33a3a7b4b 51 // NOTE: number of points in the case of need to compute recentering vector needs to be EVEN
mbedalvaro 14:0fc33a3a7b4b 52 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 16); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 4:f9d364f10335 53
mbedalvaro 4:f9d364f10335 54 // Note: We may assume NO MASS for the center of the contour following loop. Adding mass may be interesting though (smooth motion).
mbedalvaro 4:f9d364f10335 55 massCenter=0.01;
mbedalvaro 4:f9d364f10335 56 dampMotionCenterMass=0.001;
mbedalvaro 4:f9d364f10335 57
mbedalvaro 4:f9d364f10335 58 // Finally, we can create the loop (not much to do in this case, only set the central position, and some other things):
mbedalvaro 4:f9d364f10335 59 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 60
mbedalvaro 5:73cd58b58f95 61 // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
mbedalvaro 5:73cd58b58f95 62 // But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software).
mbedalvaro 5:73cd58b58f95 63 // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop:
mbedalvaro 7:0df17f3078bc 64 displaySensingBuffer.setDelayMirrors(1);
mbedalvaro 7:0df17f3078bc 65 angleCorrectionForceLoop=0;//360.0/bluePrint.scafold.size()/2; // in DEGREES
mbedalvaro 4:f9d364f10335 66
mbedalvaro 4:f9d364f10335 67 break;
mbedalvaro 4:f9d364f10335 68
mbedalvaro 1:a4050fee11f7 69 case SPOT_FOLLOWING:
mbedalvaro 1:a4050fee11f7 70
mbedalvaro 1:a4050fee11f7 71 // Name of this kind of spot:
mbedalvaro 1:a4050fee11f7 72 sprintf(spotName,"rigid_following");
mbedalvaro 1:a4050fee11f7 73
mbedalvaro 3:b44ff6de81bd 74 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 3:b44ff6de81bd 75 setColor(0x04);
mbedalvaro 1:a4050fee11f7 76
mbedalvaro 1:a4050fee11f7 77 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 24:4e52031a495b 78 saccadeRadius=40;
mbedalvaro 12:0de9cd2bced5 79 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 18); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 1:a4050fee11f7 80
mbedalvaro 1:a4050fee11f7 81 // Note: We may assume NO MASS for the center of the contour following loop. Adding mass may be interesting though (smooth motion).
mbedalvaro 1:a4050fee11f7 82 massCenter=0.01;
mbedalvaro 1:a4050fee11f7 83 dampMotionCenterMass=0.001;
mbedalvaro 1:a4050fee11f7 84
mbedalvaro 4:f9d364f10335 85 // Finally, we can create the loop (not much to do in this case, only set the central position, and some other things):
mbedalvaro 4:f9d364f10335 86 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 87
mbedalvaro 5:73cd58b58f95 88 slidingDirection=true; // For contour following (will change direction when touching wall)
mbedalvaro 22:d87317d7ca91 89 speedContourFollowing=1.1*saccadeRadius;
mbedalvaro 7:0df17f3078bc 90 justSearched=false;
mbedalvaro 5:73cd58b58f95 91
mbedalvaro 7:0df17f3078bc 92 // per-blob mirror delay: ONLY USEFUL FOR ELASTIC BLOBS, because otherwise it can be corrected by "angleCorrection"
mbedalvaro 7:0df17f3078bc 93 // (if things were well adjusted - in particular mirror waiting times, then this could be 0.
mbedalvaro 5:73cd58b58f95 94 // But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software).
mbedalvaro 7:0df17f3078bc 95 // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop.
mbedalvaro 7:0df17f3078bc 96 // BUT because we may want to see the blue laser where there is dark zone, then we would try to adjust mirror delay as close as possible to the
mbedalvaro 7:0df17f3078bc 97 // optimal value, and finish the correction (fine tunned) with the angle correction (only possible in the case of circular rigid blob).
mbedalvaro 7:0df17f3078bc 98 displaySensingBuffer.setDelayMirrors(3); // this corresponds to an angular correction of -delayMirrors * 360/numPoints
mbedalvaro 15:56a0bf424e8d 99 angleCorrectionForceLoop= -5;// good for ONE spot: -5;// in DEGREES
mbedalvaro 4:f9d364f10335 100
mbedalvaro 1:a4050fee11f7 101 break;
mbedalvaro 1:a4050fee11f7 102
mbedalvaro 1:a4050fee11f7 103 case SPOT_BOUNCING:
mbedalvaro 1:a4050fee11f7 104 // Name of this kind of spot:
mbedalvaro 1:a4050fee11f7 105 sprintf(spotName,"rigid_bouncing");
mbedalvaro 1:a4050fee11f7 106
mbedalvaro 3:b44ff6de81bd 107 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 3:b44ff6de81bd 108 setColor(0x04);
mbedalvaro 1:a4050fee11f7 109
mbedalvaro 24:4e52031a495b 110 saccadeRadius=65;//+rand()%20;
mbedalvaro 1:a4050fee11f7 111 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 12:0de9cd2bced5 112 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 18); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 1:a4050fee11f7 113
mbedalvaro 1:a4050fee11f7 114 // Numeric parameters for the simulated mechanical system:
mbedalvaro 24:4e52031a495b 115 massCenter=0.0008;//+0.000005*(rand()%100);
mbedalvaro 22:d87317d7ca91 116 dampMotionCenterMass=0.00045;//0.00015;//00003;
mbedalvaro 7:0df17f3078bc 117 factorBouncingForce=0.0018; // this is because we will use a force on the central mass
mbedalvaro 1:a4050fee11f7 118
mbedalvaro 4:f9d364f10335 119 // Finally, we can create the loop (not much to do in this case, only set the central position, and some other things):
mbedalvaro 4:f9d364f10335 120 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 121
mbedalvaro 5:73cd58b58f95 122 // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
mbedalvaro 5:73cd58b58f95 123 // But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software).
mbedalvaro 5:73cd58b58f95 124 // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop:
mbedalvaro 7:0df17f3078bc 125 displaySensingBuffer.setDelayMirrors(3);
mbedalvaro 7:0df17f3078bc 126 angleCorrectionForceLoop=-5;// in degrees
mbedalvaro 1:a4050fee11f7 127
mbedalvaro 1:a4050fee11f7 128 break;
mbedalvaro 1:a4050fee11f7 129 }
mbedalvaro 7:0df17f3078bc 130
mbedalvaro 7:0df17f3078bc 131 saccadeRadius_initial=saccadeRadius; // this is for search mode for instance.
mbedalvaro 12:0de9cd2bced5 132
mbedalvaro 12:0de9cd2bced5 133 // Excursion limits (for all points). Tthis will set the limits of motion for the rigid loop, which is given by it's central position, so we have to correct by the radius:
mbedalvaro 12:0de9cd2bced5 134 setRegionMotion(MIN_AD_MIRRORS+saccadeRadius, MIN_AD_MIRRORS+saccadeRadius, MAX_AD_MIRRORS-saccadeRadius, MAX_AD_MIRRORS-saccadeRadius);
mbedalvaro 12:0de9cd2bced5 135
mbedalvaro 3:b44ff6de81bd 136
mbedalvaro 1:a4050fee11f7 137 }
mbedalvaro 1:a4050fee11f7 138
mbedalvaro 1:a4050fee11f7 139
mbedalvaro 1:a4050fee11f7 140 void rigidLoop::initSizeBlob(int _numPoints) {
mbedalvaro 1:a4050fee11f7 141 // Iinitialize blob size (number of points for the loop, as well as other structures such as lsdTrajectory)
mbedalvaro 1:a4050fee11f7 142 numPoints=_numPoints;
mbedalvaro 1:a4050fee11f7 143
mbedalvaro 1:a4050fee11f7 144 // Sensing and Display trajectory:
mbedalvaro 1:a4050fee11f7 145 displaySensingBuffer.lsdTrajectory.resize(numPoints); // the lsdTrajectory and the elastic loop will have the same number of points (this could be different - decimation?).
mbedalvaro 1:a4050fee11f7 146 }
mbedalvaro 1:a4050fee11f7 147
mbedalvaro 1:a4050fee11f7 148 void rigidLoop::createLoopFromScafold(void) {
mbedalvaro 1:a4050fee11f7 149
mbedalvaro 1:a4050fee11f7 150 initSizeBlob(bluePrint.scafold.size()); // very simple here (only need to set the size of the lsd buffer)
mbedalvaro 1:a4050fee11f7 151
mbedalvaro 1:a4050fee11f7 152 centerMass.mass=massCenter;
mbedalvaro 1:a4050fee11f7 153 centerMass.dampMotion = dampMotionCenterMass;
mbedalvaro 1:a4050fee11f7 154
mbedalvaro 1:a4050fee11f7 155 // note: the following may not be required in case of contour following:
mbedalvaro 2:34157ebbf56b 156 centerMass.setIntegrationStep(0.23); // VERY IMPORTANT! in the case of verlet integration, we need to set dt BEFORE setting the initial speed.
mbedalvaro 4:f9d364f10335 157 centerMass.setInitialCondition(startCenter, startSpeed);
mbedalvaro 1:a4050fee11f7 158 // centerMass.setInitialCondition(2047.0, 2047.0,0.0,0.0);
mbedalvaro 1:a4050fee11f7 159 }
mbedalvaro 1:a4050fee11f7 160
mbedalvaro 12:0de9cd2bced5 161 void rigidLoop::setRegionMotion(float mmix, float mmiy, float mmax, float mmay) { // wrapper for setWallLimits, because there is no more things to do than set this for a unique mass
mbedalvaro 12:0de9cd2bced5 162 // centerMass.setWallLimits(mmix+10, mmiy+10, mmax-10, mmay-10);
mbedalvaro 12:0de9cd2bced5 163 // Use the static method of the pointMass class:
mbedalvaro 12:0de9cd2bced5 164 pointMass::setWallLimits(mmix+10, mmiy+10, mmax-10, mmay-10);
mbedalvaro 1:a4050fee11f7 165 }
mbedalvaro 1:a4050fee11f7 166
mbedalvaro 24:4e52031a495b 167 void rigidLoop::speedFactor(float speedfactor) {
mbedalvaro 24:4e52031a495b 168 // in case of spot following:
mbedalvaro 24:4e52031a495b 169 speedContourFollowing*=speedfactor;
mbedalvaro 24:4e52031a495b 170
mbedalvaro 24:4e52031a495b 171 // in case of bouncing, there are many ways to change the speed (play with the mass, damping or the bouncing force).
mbedalvaro 24:4e52031a495b 172 //centerMass.mass/=speedfactor;//0.0008;//+0.000005*(rand()%100);
mbedalvaro 24:4e52031a495b 173 centerMass.dampMotion/=speedfactor;//0.00045;//0.00015;//00003;
mbedalvaro 24:4e52031a495b 174 //factorBouncingForce=0.0018; // this is because we will use a force on the central mass
mbedalvaro 24:4e52031a495b 175
mbedalvaro 24:4e52031a495b 176
mbedalvaro 24:4e52031a495b 177 }
mbedalvaro 1:a4050fee11f7 178
mbedalvaro 1:a4050fee11f7 179 void rigidLoop::update() {
mbedalvaro 1:a4050fee11f7 180
mbedalvaro 1:a4050fee11f7 181 // (I) process loop geometry: not needed (rigid)
mbedalvaro 1:a4050fee11f7 182 // Just check if the blob touched the borders (only need to do this with the central mass):
mbedalvaro 1:a4050fee11f7 183 blobWallCollision=centerMass.bWallCollision;
mbedalvaro 1:a4050fee11f7 184
mbedalvaro 1:a4050fee11f7 185 // (II) Process sensing buffer and compute light forces:
mbedalvaro 1:a4050fee11f7 186 displaySensingBuffer.processSensedData(); // note: region with light is -1, and without is 2 (TO CHANGE!!! then we don't need to do "if" in the moment computation, but just a product)
mbedalvaro 1:a4050fee11f7 187
mbedalvaro 1:a4050fee11f7 188 // (III) Compute recentering vector (the "penetration vector in fact"), using "first order moment":
mbedalvaro 3:b44ff6de81bd 189 // ATTENTION!! for this simple method (of "first order moment") to work, we have either to have numPoints very large, OR an EVEN quantity - so the
mbedalvaro 3:b44ff6de81bd 190 // sum in the circle is 0).
mbedalvaro 12:0de9cd2bced5 191 vector2Df momentVector(0,0);
mbedalvaro 7:0df17f3078bc 192 int counterDarkZone=0; // note: for a VERY strange reason, if I put this on the laserSensingtrajectory class, the program does not work anymore!!
mbedalvaro 7:0df17f3078bc 193 for (int i = 0; i < numPoints; i++) { // note: numPoints should be EVEN
mbedalvaro 1:a4050fee11f7 194 if (displaySensingBuffer.lsdTrajectory[i].lightZone>0) { // this is, we are in a dark zone (better to integrate there, because it is normally smaller)
mbedalvaro 12:0de9cd2bced5 195
mbedalvaro 12:0de9cd2bced5 196 momentVector.x+=(float)bluePrint.scafold[i].x; // note: casting is happening here automatically (unsigned short to float), but I put (float) to remember that types are different
mbedalvaro 12:0de9cd2bced5 197 momentVector.y+=(float)bluePrint.scafold[i].y;
mbedalvaro 12:0de9cd2bced5 198
mbedalvaro 12:0de9cd2bced5 199 // We can also do the following, but ATTENTION: momentVector is of type vector2Df, and scafold[i] of type vector2Dd...
mbedalvaro 12:0de9cd2bced5 200 // momentVector+=bluePrint.scafold[i];// note: no need to do -centerMass.pos, because the scafold is "centered" around 0
mbedalvaro 12:0de9cd2bced5 201
mbedalvaro 7:0df17f3078bc 202 counterDarkZone++;
mbedalvaro 1:a4050fee11f7 203 }
mbedalvaro 1:a4050fee11f7 204 }
mbedalvaro 7:0df17f3078bc 205 momentVector=momentVector*(2*PI/numPoints);
mbedalvaro 7:0df17f3078bc 206 float momentNorm=momentVector.length(); // = 2.R.sin(half_angle) in the direction of the dark zone
mbedalvaro 5:73cd58b58f95 207
mbedalvaro 12:0de9cd2bced5 208 vector2Df unitTowardsLight; // this is the normed vector, pointing towards the light zone
mbedalvaro 2:34157ebbf56b 209 if (momentNorm==0) {
mbedalvaro 7:0df17f3078bc 210 unitTowardsLight.set(0,0);
mbedalvaro 3:b44ff6de81bd 211 recenteringVectorLoop.set(0,0);
mbedalvaro 3:b44ff6de81bd 212 normRecenteringVector=0;
mbedalvaro 3:b44ff6de81bd 213 angleRecenteringVector=0;
mbedalvaro 3:b44ff6de81bd 214 } else {
mbedalvaro 7:0df17f3078bc 215 unitTowardsLight=momentVector/(-1.0*momentNorm);
mbedalvaro 7:0df17f3078bc 216 // Apply correction angle (delay mirrors):
mbedalvaro 7:0df17f3078bc 217 unitTowardsLight.rotateDeg(angleCorrectionForceLoop);
mbedalvaro 7:0df17f3078bc 218
mbedalvaro 7:0df17f3078bc 219 // Compute "recenteringVectorLoop" (in fact, the vector making the spot goes completely away form the dark zone):
mbedalvaro 7:0df17f3078bc 220 float aux=0.5*momentNorm/saccadeRadius; // note: in principle, we ALWAYS have momentNorm < 2.R, so aux < 1
mbedalvaro 7:0df17f3078bc 221 if (aux>1) aux=1.0; // can happen because of the discrete integration!
mbedalvaro 7:0df17f3078bc 222 if (counterDarkZone<=numPoints/2) { // note: numPoints HAS to be EVEN
mbedalvaro 7:0df17f3078bc 223 recenteringVectorLoop=unitTowardsLight*saccadeRadius*(1.0-sqrt(1.0-aux*aux));
mbedalvaro 7:0df17f3078bc 224 } else {
mbedalvaro 7:0df17f3078bc 225 recenteringVectorLoop=unitTowardsLight*saccadeRadius*(1.0+sqrt(1.0-aux*aux));
mbedalvaro 7:0df17f3078bc 226 }
mbedalvaro 7:0df17f3078bc 227
mbedalvaro 7:0df17f3078bc 228
mbedalvaro 3:b44ff6de81bd 229 // Compute redundant quantities (if necessary, for sending through OSC, etc):
mbedalvaro 3:b44ff6de81bd 230 normRecenteringVector=recenteringVectorLoop.length();
mbedalvaro 3:b44ff6de81bd 231 angleRecenteringVector=recenteringVectorLoop.angleDegHoriz();
mbedalvaro 3:b44ff6de81bd 232 }
mbedalvaro 3:b44ff6de81bd 233
mbedalvaro 1:a4050fee11f7 234 // Now, depending on the mode of operation, we have two types of behaviour:
mbedalvaro 12:0de9cd2bced5 235 vector2Df slidingVector; //( need to declare it here because a switch "jump" cannot bypass an initialization)
mbedalvaro 1:a4050fee11f7 236 switch (updateMode) {
mbedalvaro 4:f9d364f10335 237
mbedalvaro 4:f9d364f10335 238 case SPOT_TEST: // this is just for adjusting mirror delays, checking recentering vector, etc:
mbedalvaro 4:f9d364f10335 239 // do nothing for the time being
mbedalvaro 4:f9d364f10335 240 // NOTE: it is not so easy to show the recentering vector without affecting the mirror delay BECAUSE I AM USING THE INTERRUPT METHOD for display.
mbedalvaro 4:f9d364f10335 241 // A possible solution is to instantiate ANOTHER blob with a shape just equal to a line, and rotate it using data from the this blob. Make a new class? Seems a good idea.
mbedalvaro 4:f9d364f10335 242
mbedalvaro 4:f9d364f10335 243 break;
mbedalvaro 1:a4050fee11f7 244
mbedalvaro 1:a4050fee11f7 245 case SPOT_FOLLOWING:
mbedalvaro 1:a4050fee11f7 246 // we need to compute the tangencial "speed":
mbedalvaro 1:a4050fee11f7 247 // vector2D slidingVector;
mbedalvaro 2:34157ebbf56b 248 if (momentNorm>0) {
mbedalvaro 5:73cd58b58f95 249 //momentVector/=momentNorm;
mbedalvaro 3:b44ff6de81bd 250 // We can now compute the sliding vector as:
mbedalvaro 7:0df17f3078bc 251 slidingVector=unitTowardsLight.getRotatedDeg(slidingDirection? 90 : -90) * speedContourFollowing;
mbedalvaro 7:0df17f3078bc 252
mbedalvaro 7:0df17f3078bc 253 // Then the final correcting vector is the sum of sliding plus a recentering vector (with a factor if one want some smothing)
mbedalvaro 3:b44ff6de81bd 254 // This is used to update the position of the central mass - WITHOUT INTEGRATION (or with it, but for the time being, we don't do that):
mbedalvaro 7:0df17f3078bc 255
mbedalvaro 7:0df17f3078bc 256 centerMass.pos +=slidingVector+ ( unitTowardsLight*(-1.0*saccadeRadius) + recenteringVectorLoop )* 0.6;
mbedalvaro 7:0df17f3078bc 257 // ATTENTION!!! the REAL radius may be smaller if the mirrors are running fast!!! (hence the last factor, that is not only for "smoothing" the
mbedalvaro 7:0df17f3078bc 258 // re-entry and avoid oscillations).
mbedalvaro 3:b44ff6de81bd 259
mbedalvaro 3:b44ff6de81bd 260 // The following function can help constraining the position "pos", but it also does too much. Do something simpler perhaps?
mbedalvaro 7:0df17f3078bc 261 centerMass.posOld=centerMass.pos; // this is necessary to compute bouceOffWalls using Verlet method... (MAKE A new variable INTEGRATION METHOD?)
mbedalvaro 7:0df17f3078bc 262
mbedalvaro 3:b44ff6de81bd 263 centerMass.bounceOffWalls(); // constrain position (and compute wall "hit")
mbedalvaro 7:0df17f3078bc 264
mbedalvaro 7:0df17f3078bc 265 if (justSearched) {
mbedalvaro 7:0df17f3078bc 266 saccadeRadius=saccadeRadius_initial;
mbedalvaro 12:0de9cd2bced5 267 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), numPoints);
mbedalvaro 7:0df17f3078bc 268 justSearched=false;
mbedalvaro 7:0df17f3078bc 269 }
mbedalvaro 7:0df17f3078bc 270
mbedalvaro 3:b44ff6de81bd 271
mbedalvaro 2:34157ebbf56b 272 } else {
mbedalvaro 7:0df17f3078bc 273 // not on something. SEARCH MODE (or go to spot_bouncing mode?)
mbedalvaro 15:56a0bf424e8d 274 saccadeRadius+=30; if (saccadeRadius>800) saccadeRadius=saccadeRadius_initial;
mbedalvaro 12:0de9cd2bced5 275 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), numPoints);
mbedalvaro 7:0df17f3078bc 276 justSearched=true;
mbedalvaro 2:34157ebbf56b 277 }
mbedalvaro 1:a4050fee11f7 278
mbedalvaro 1:a4050fee11f7 279 break;
mbedalvaro 1:a4050fee11f7 280
mbedalvaro 1:a4050fee11f7 281 case SPOT_BOUNCING:
mbedalvaro 1:a4050fee11f7 282 // this is very simple: we need to give a force to the centralMass that is OPPOSITE to the recenteringVectorLoop vector
mbedalvaro 1:a4050fee11f7 283 centerMass.resetForce();
mbedalvaro 5:73cd58b58f95 284
mbedalvaro 21:bc9b9383f4b6 285 if (displaySensingBuffer.lightTouched) {
mbedalvaro 7:0df17f3078bc 286 // add force; MANY POSSIBILITIES:
mbedalvaro 7:0df17f3078bc 287 // (1) Constant in norm:
mbedalvaro 7:0df17f3078bc 288 //centerMass.addForce(unitTowardsLight*saccadeRadius*factorBouncingForce);
mbedalvaro 7:0df17f3078bc 289 // Exactly what is needed to have an elastic bouncing:
mbedalvaro 7:0df17f3078bc 290
mbedalvaro 7:0df17f3078bc 291 // Proportional to the penetration depth in the dark zone (spring):
mbedalvaro 5:73cd58b58f95 292 centerMass.addForce(recenteringVectorLoop*factorBouncingForce);
mbedalvaro 7:0df17f3078bc 293 // Or proportional to the square (or something else) of the penetration:
mbedalvaro 7:0df17f3078bc 294 //centerMass.addForce(recenteringVectorLoop*normRecenteringVector*factorBouncingForce);
mbedalvaro 7:0df17f3078bc 295
mbedalvaro 5:73cd58b58f95 296 }
mbedalvaro 21:bc9b9383f4b6 297
mbedalvaro 22:d87317d7ca91 298 // Gravity? - side or central attraction?
mbedalvaro 22:d87317d7ca91 299 // centerMass.addForce(gravity*centerMass.mass);
mbedalvaro 24:4e52031a495b 300
mbedalvaro 22:d87317d7ca91 301 // or central spring attraction;
mbedalvaro 24:4e52031a495b 302 //vector2Df centerAttraction(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_X);
mbedalvaro 24:4e52031a495b 303 //vector2Df dist=centerMass.pos-centerAttraction;
mbedalvaro 24:4e52031a495b 304 //centerMass.addForce(-dist*centerMass.mass*0.0007);
mbedalvaro 24:4e52031a495b 305
mbedalvaro 24:4e52031a495b 306 // or "radial gravity":
mbedalvaro 22:d87317d7ca91 307 vector2Df centerAttraction(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_X);
mbedalvaro 22:d87317d7ca91 308 vector2Df dist=centerMass.pos-centerAttraction;
mbedalvaro 24:4e52031a495b 309 centerMass.addForce(dist.normalize()*centerMass.mass*0.5);
mbedalvaro 22:d87317d7ca91 310
mbedalvaro 1:a4050fee11f7 311
mbedalvaro 25:74cb85b85fd2 312 // update dynamics for the central mass:
mbedalvaro 1:a4050fee11f7 313 #ifndef VERLET_METHOD
mbedalvaro 1:a4050fee11f7 314 centerMass.addDampingForce(); // // only in case of EULER method (damping in VERLET mode is done automatically when updating)
mbedalvaro 1:a4050fee11f7 315 #endif
mbedalvaro 1:a4050fee11f7 316
mbedalvaro 1:a4050fee11f7 317 centerMass.update(); // unconstrained
mbedalvaro 1:a4050fee11f7 318 centerMass.bounceOffWalls(); // constrain position (and compute wall "hit")
mbedalvaro 5:73cd58b58f95 319
mbedalvaro 5:73cd58b58f95 320 if (displaySensingBuffer.lightTouched) {
mbedalvaro 5:73cd58b58f95 321 // do collision damping:
mbedalvaro 7:0df17f3078bc 322 centerMass.setSpeed(centerMass.getSpeed()*0.99);
mbedalvaro 5:73cd58b58f95 323 }
mbedalvaro 22:d87317d7ca91 324
mbedalvaro 1:a4050fee11f7 325 break;
mbedalvaro 1:a4050fee11f7 326 }
mbedalvaro 17:356ca5690a59 327
mbedalvaro 17:356ca5690a59 328
mbedalvaro 1:a4050fee11f7 329 // change sliding direction (for countour following):
mbedalvaro 1:a4050fee11f7 330 if (blobWallCollision) {
mbedalvaro 7:0df17f3078bc 331 if (wallCounter>5) {
mbedalvaro 1:a4050fee11f7 332 slidingDirection=!slidingDirection;
mbedalvaro 1:a4050fee11f7 333 wallCounter=0;
mbedalvaro 1:a4050fee11f7 334 }
mbedalvaro 1:a4050fee11f7 335 }
mbedalvaro 1:a4050fee11f7 336 wallCounter++;
mbedalvaro 1:a4050fee11f7 337 }
mbedalvaro 1:a4050fee11f7 338
mbedalvaro 1:a4050fee11f7 339
mbedalvaro 1:a4050fee11f7 340 // Drawing the graphics - this will in fact use the graphic renderer - if any - and produce the trajectory to be displayed by the laser
mbedalvaro 1:a4050fee11f7 341 void rigidLoop::draw() {
mbedalvaro 1:a4050fee11f7 342 // for the time being, there is no "opengl" like renderer, so we just copy into the lsdTrajectory:
mbedalvaro 1:a4050fee11f7 343 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 344 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 345 for (int i = 0; i < numPoints; i++) {
mbedalvaro 1:a4050fee11f7 346 // The shape is drawn by translating the scafold shape (centered on centerMass):
mbedalvaro 12:0de9cd2bced5 347 displaySensingBuffer.lsdTrajectory[i].x= (unsigned short)(bluePrint.scafold[i].x + cx ); // note: it should be an unsigned short!!
mbedalvaro 12:0de9cd2bced5 348 displaySensingBuffer.lsdTrajectory[i].y= (unsigned short)(bluePrint.scafold[i].y + cy );
mbedalvaro 12:0de9cd2bced5 349
mbedalvaro 12:0de9cd2bced5 350 // We can also do this, but ATTENTION: centerMass.pos is a vector2Df, and scafold[i] is a vector2Dd (typecasting?)
mbedalvaro 12:0de9cd2bced5 351 // displaySensingBuffer.lsdTrajectory[i]= bluePrint.scafold[i] + centerMass.pos;
mbedalvaro 12:0de9cd2bced5 352
mbedalvaro 25:74cb85b85fd2 353 //displaySensingBuffer.displayColor=blobColor; // perhaps per point color is not a good idea for the time being...
mbedalvaro 1:a4050fee11f7 354 }
mbedalvaro 25:74cb85b85fd2 355
mbedalvaro 25:74cb85b85fd2 356 // Global color for the whole loop:
mbedalvaro 25:74cb85b85fd2 357 if (displaySensingBuffer.lightTouched)
mbedalvaro 25:74cb85b85fd2 358 displaySensingBuffer.displayColor=blobColor|0x02; // set green ON on the trajectory, regardless of the initial color
mbedalvaro 25:74cb85b85fd2 359 else
mbedalvaro 25:74cb85b85fd2 360 displaySensingBuffer.displayColor=blobColor;
mbedalvaro 1:a4050fee11f7 361 }
mbedalvaro 1:a4050fee11f7 362
mbedalvaro 1:a4050fee11f7 363 void rigidLoop::computeBoundingBox() {
mbedalvaro 1:a4050fee11f7 364 }
mbedalvaro 1:a4050fee11f7 365
mbedalvaro 1:a4050fee11f7 366
mbedalvaro 1:a4050fee11f7 367
mbedalvaro 1:a4050fee11f7 368 void rigidLoop::sendDataSpecific() {
mbedalvaro 1:a4050fee11f7 369 char auxstring[10];
mbedalvaro 1:a4050fee11f7 370 myled2=1; // for tests...
mbedalvaro 1:a4050fee11f7 371
mbedalvaro 1:a4050fee11f7 372 // First, set the top address of the message to the ID of the blob (not the name):
mbedalvaro 18:d72935b13858 373 // sprintf(auxstring, "%d", identifier);
mbedalvaro 18:d72935b13858 374 // sendMes.setTopAddress("0");//auxstring);
mbedalvaro 1:a4050fee11f7 375
mbedalvaro 1:a4050fee11f7 376 // ===================== OSC ======================
mbedalvaro 1:a4050fee11f7 377 if (sendOSC) {
mbedalvaro 1:a4050fee11f7 378
mbedalvaro 1:a4050fee11f7 379 // (a) Anchor mass:
mbedalvaro 1:a4050fee11f7 380 if (sendingAnchorPosition) {
mbedalvaro 18:d72935b13858 381 sprintf(auxstring, "/p %d",identifier);
mbedalvaro 18:d72935b13858 382 sendMes.setSubAddress(auxstring);
mbedalvaro 1:a4050fee11f7 383 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 384 x=(long)(centerMass.pos.x);
mbedalvaro 1:a4050fee11f7 385 y=(long)(centerMass.pos.y);
mbedalvaro 1:a4050fee11f7 386 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 387 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 388 }
mbedalvaro 1:a4050fee11f7 389
mbedalvaro 1:a4050fee11f7 390 // (b) data from blob points (this is ONLY FOR TESTS, because the loop is rigid - sending the center is enough)
mbedalvaro 1:a4050fee11f7 391 if (sendingLoopPositions) {
mbedalvaro 1:a4050fee11f7 392 #ifdef SEND_AS_POINTS
mbedalvaro 1:a4050fee11f7 393 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 394 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 395 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 396 for (int i = 0; i < numPoints; i++) {
mbedalvaro 2:34157ebbf56b 397 sprintf(auxstring, "/p%d",identifier*10+ i);//20+ i+(identifier-1)*10); // auxstring read as "/p1", "/p2", ...
mbedalvaro 1:a4050fee11f7 398 sendMes.setSubAddress(auxstring); // ATTENTION: the host computer needs to know in advance how many points are in the loop (I did not implement "bundle" messages yet...)
mbedalvaro 1:a4050fee11f7 399 x=(long)(bluePrint.scafold[i].x + cx);
mbedalvaro 1:a4050fee11f7 400 y=(long)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 401 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 402 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 403 }
mbedalvaro 1:a4050fee11f7 404
mbedalvaro 1:a4050fee11f7 405 #endif
mbedalvaro 1:a4050fee11f7 406 #ifdef SEND_AS_BLOB
mbedalvaro 1:a4050fee11f7 407 sendMes.clearArgs(); // no need, we won't use osc.sendOsc()...
mbedalvaro 1:a4050fee11f7 408 uint8_t blobdata[4*numPoints]; // 2 bytes per coordinate, and 2 coordinates
mbedalvaro 1:a4050fee11f7 409 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 410 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 411 for (int i = 0; i < numPoints; i++ ) {
mbedalvaro 1:a4050fee11f7 412 // note: massesLoop[i].pos.x is a "float"
mbedalvaro 1:a4050fee11f7 413 uint16_t x=(uint16_t)(bluePrint.scafold[i].x + cx);
mbedalvaro 1:a4050fee11f7 414 blobdata[4*i]=(uint8_t)x>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 415 blobdata[4*i+1]=(uint8_t)x;
mbedalvaro 1:a4050fee11f7 416
mbedalvaro 1:a4050fee11f7 417 uint16_t y=(uint16_t)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 418 blobdata[4*i+2]=(uint8_t)y>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 419 blobdata[4*i+3]=(uint8_t)y;
mbedalvaro 1:a4050fee11f7 420 }
mbedalvaro 1:a4050fee11f7 421 osc.sendOscBlob(&(blobdata[0]), 4*numPoints, &sendMes ); // second parameter is osc blob size in bytes
mbedalvaro 1:a4050fee11f7 422 #endif
mbedalvaro 1:a4050fee11f7 423 #ifdef SEND_AS_STRING
mbedalvaro 1:a4050fee11f7 424 sendMes.clearArgs(); // no need, we won't use osc.sendOsc()...
mbedalvaro 1:a4050fee11f7 425 uint8_t blobdata[4*numPoints]; // 2 bytes per coordinate, and 2 coordinates
mbedalvaro 1:a4050fee11f7 426 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 427 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 428 for (int i = 0; i < numPoints; i++ ) {
mbedalvaro 1:a4050fee11f7 429 // note: massesLoop[i].pos.x is a "float"
mbedalvaro 1:a4050fee11f7 430 uint16_t x=(uint16_t)(bluePrint.scafold[i].x + cx );
mbedalvaro 1:a4050fee11f7 431 blobdata[4*i]=(uint8_t)x>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 432 blobdata[4*i+1]=(uint8_t)x;
mbedalvaro 1:a4050fee11f7 433
mbedalvaro 1:a4050fee11f7 434 uint16_t y=(uint16_t)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 435 blobdata[4*i+2]=(uint8_t)y>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 436 blobdata[4*i+3]=(uint8_t)y;
mbedalvaro 1:a4050fee11f7 437 }
mbedalvaro 1:a4050fee11f7 438 osc.sendOscString(blobdata, 4*numPoints, &sendMes ); // second parameter is osc blob size in bytes
mbedalvaro 1:a4050fee11f7 439 #endif
mbedalvaro 1:a4050fee11f7 440 }
mbedalvaro 1:a4050fee11f7 441 if (sendingLoopRegions) {
mbedalvaro 1:a4050fee11f7 442 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 443 for (int i = 0; i < numPoints; i++) {
mbedalvaro 1:a4050fee11f7 444 sprintf(auxstring, "/r%d", i); // auxstring read as "/f1", "/f2", ...
mbedalvaro 1:a4050fee11f7 445 sendMes.setSubAddress(auxstring); // ATTENTION: the host computer needs to know in advance how many points are in the loop (I did not implement "bundle" messages yet...)
mbedalvaro 1:a4050fee11f7 446 x=(long)(displaySensingBuffer.lsdTrajectory[i].lightZone>0? 1 : 0);
mbedalvaro 1:a4050fee11f7 447 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 448 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 449 }
mbedalvaro 1:a4050fee11f7 450 }
mbedalvaro 1:a4050fee11f7 451 if (sendingLoopTouchWall) { // global touch wall for the loop (not per point)
mbedalvaro 1:a4050fee11f7 452 long wall; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 453 sprintf(auxstring, "/bWall");
mbedalvaro 1:a4050fee11f7 454 sendMes.setSubAddress(auxstring);
mbedalvaro 1:a4050fee11f7 455 wall=(long)(blobWallCollision? 1 : 0);
mbedalvaro 1:a4050fee11f7 456 sendMes.setArgs( "i", &wall);
mbedalvaro 1:a4050fee11f7 457 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 458 }
mbedalvaro 1:a4050fee11f7 459
mbedalvaro 1:a4050fee11f7 460 // (d) Light sensing statistics:
mbedalvaro 1:a4050fee11f7 461 if (sendingBlobMaxMin) {
mbedalvaro 1:a4050fee11f7 462 sendMes.setSubAddress("/maxmin");
mbedalvaro 1:a4050fee11f7 463 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 464 x=(long)(displaySensingBuffer.maxI);
mbedalvaro 1:a4050fee11f7 465 y=(long)(displaySensingBuffer.minI);
mbedalvaro 1:a4050fee11f7 466 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 467 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 468 }
mbedalvaro 1:a4050fee11f7 469
mbedalvaro 1:a4050fee11f7 470 // (e) Recentering vector: (note: redundant with sendingLightForce, IF the correction angle is known).
mbedalvaro 1:a4050fee11f7 471 if (sendingRecenteringVector) {
mbedalvaro 1:a4050fee11f7 472 sendMes.setSubAddress("/rvector");
mbedalvaro 1:a4050fee11f7 473 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 474 x=(long)(recenteringVectorLoop.x);
mbedalvaro 1:a4050fee11f7 475 y=(long)(recenteringVectorLoop.y);
mbedalvaro 1:a4050fee11f7 476 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 477 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 478 }
mbedalvaro 1:a4050fee11f7 479 if (sendingRecenteringAngle) {
mbedalvaro 18:d72935b13858 480 sprintf(auxstring, "/v %d",identifier);
mbedalvaro 18:d72935b13858 481 sendMes.setSubAddress(auxstring);
mbedalvaro 1:a4050fee11f7 482 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 483 x=(long)(angleRecenteringVector);
mbedalvaro 1:a4050fee11f7 484 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 485 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 486 }
mbedalvaro 1:a4050fee11f7 487 if (sendingRecenteringNorm) {
mbedalvaro 1:a4050fee11f7 488 sendMes.setSubAddress("/rnorm");
mbedalvaro 1:a4050fee11f7 489 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 490 x=(long)(normRecenteringVector);
mbedalvaro 1:a4050fee11f7 491 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 492 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 493 }
mbedalvaro 1:a4050fee11f7 494
mbedalvaro 1:a4050fee11f7 495 if (sendingTouched) {
mbedalvaro 1:a4050fee11f7 496 if (displaySensingBuffer.lightTouched) {
mbedalvaro 1:a4050fee11f7 497 sendMes.clearArgs(); // there are no arguments to send
mbedalvaro 1:a4050fee11f7 498 sendMes.setSubAddress("/touched");
mbedalvaro 1:a4050fee11f7 499 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 500 }
mbedalvaro 1:a4050fee11f7 501 }
mbedalvaro 1:a4050fee11f7 502
mbedalvaro 1:a4050fee11f7 503 } // end of OSC sending per-spot
mbedalvaro 1:a4050fee11f7 504
mbedalvaro 1:a4050fee11f7 505 // ===================== SERIAL ======================
mbedalvaro 1:a4050fee11f7 506 if (sendSerial) {
mbedalvaro 1:a4050fee11f7 507 //.. to do
mbedalvaro 1:a4050fee11f7 508 }
mbedalvaro 1:a4050fee11f7 509
mbedalvaro 1:a4050fee11f7 510 myled2=0; // for tests...
mbedalvaro 1:a4050fee11f7 511 }