Alvaro Cassinelli / Mbed 2 deprecated skinGames_forktest

just a test

Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

rigidLoop.cpp@18:d72935b13858, 2012-04-28 (annotated)

Committer:
mbedalvaro
Date:
Sat Apr 28 12:35:21 2012 +0000
Revision:
18:d72935b13858
Parent:
17:356ca5690a59
Child:
20:8e82b95180e7
this works pretty nicely. I will change some parameters on the elastic loop, as well as compute the KINETIC ENERGY

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 18:d72935b13858 29 sendingRecenteringAngle=true;
mbedalvaro 18:d72935b13858 30 sendingAnchorPosition=true;
mbedalvaro 18:d72935b13858 31 sendingOnlyWhenTouch=true;
mbedalvaro 3:b44ff6de81bd 32
mbedalvaro 1:a4050fee11f7 33 // (3) Initialize secondary variables depending on the behaviour mode (may be changed afterwards in real time)
mbedalvaro 1:a4050fee11f7 34
mbedalvaro 1:a4050fee11f7 35 switch (updateMode) {
mbedalvaro 4:f9d364f10335 36
mbedalvaro 4:f9d364f10335 37 case SPOT_TEST:
mbedalvaro 4:f9d364f10335 38 // Name of this kind of spot:
mbedalvaro 4:f9d364f10335 39 sprintf(spotName,"spot_test");
mbedalvaro 4:f9d364f10335 40
mbedalvaro 4:f9d364f10335 41 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 4:f9d364f10335 42 setColor(0x04);
mbedalvaro 4:f9d364f10335 43
mbedalvaro 14:0fc33a3a7b4b 44 saccadeRadius=250;
mbedalvaro 4:f9d364f10335 45
mbedalvaro 4:f9d364f10335 46 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 14:0fc33a3a7b4b 47 // NOTE: number of points in the case of need to compute recentering vector needs to be EVEN
mbedalvaro 14:0fc33a3a7b4b 48 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 16); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 4:f9d364f10335 49
mbedalvaro 4:f9d364f10335 50 // 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 51 massCenter=0.01;
mbedalvaro 4:f9d364f10335 52 dampMotionCenterMass=0.001;
mbedalvaro 4:f9d364f10335 53
mbedalvaro 4:f9d364f10335 54 // 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 55 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 56
mbedalvaro 5:73cd58b58f95 57 // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
mbedalvaro 5:73cd58b58f95 58 // But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software).
mbedalvaro 5:73cd58b58f95 59 // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop:
mbedalvaro 7:0df17f3078bc 60 displaySensingBuffer.setDelayMirrors(1);
mbedalvaro 7:0df17f3078bc 61 angleCorrectionForceLoop=0;//360.0/bluePrint.scafold.size()/2; // in DEGREES
mbedalvaro 4:f9d364f10335 62
mbedalvaro 4:f9d364f10335 63 break;
mbedalvaro 4:f9d364f10335 64
mbedalvaro 1:a4050fee11f7 65 case SPOT_FOLLOWING:
mbedalvaro 1:a4050fee11f7 66
mbedalvaro 1:a4050fee11f7 67 // Name of this kind of spot:
mbedalvaro 1:a4050fee11f7 68 sprintf(spotName,"rigid_following");
mbedalvaro 1:a4050fee11f7 69
mbedalvaro 3:b44ff6de81bd 70 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 3:b44ff6de81bd 71 setColor(0x04);
mbedalvaro 1:a4050fee11f7 72
mbedalvaro 1:a4050fee11f7 73 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 17:356ca5690a59 74 saccadeRadius=25;
mbedalvaro 12:0de9cd2bced5 75 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 18); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 1:a4050fee11f7 76
mbedalvaro 1:a4050fee11f7 77 // 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 78 massCenter=0.01;
mbedalvaro 1:a4050fee11f7 79 dampMotionCenterMass=0.001;
mbedalvaro 1:a4050fee11f7 80
mbedalvaro 4:f9d364f10335 81 // 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 82 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 83
mbedalvaro 5:73cd58b58f95 84 slidingDirection=true; // For contour following (will change direction when touching wall)
mbedalvaro 7:0df17f3078bc 85 speedContourFollowing=1.3*saccadeRadius;
mbedalvaro 7:0df17f3078bc 86 justSearched=false;
mbedalvaro 5:73cd58b58f95 87
mbedalvaro 7:0df17f3078bc 88 // per-blob mirror delay: ONLY USEFUL FOR ELASTIC BLOBS, because otherwise it can be corrected by "angleCorrection"
mbedalvaro 7:0df17f3078bc 89 // (if things were well adjusted - in particular mirror waiting times, then this could be 0.
mbedalvaro 5:73cd58b58f95 90 // But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software).
mbedalvaro 7:0df17f3078bc 91 // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop.
mbedalvaro 7:0df17f3078bc 92 // 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 93 // optimal value, and finish the correction (fine tunned) with the angle correction (only possible in the case of circular rigid blob).
mbedalvaro 7:0df17f3078bc 94 displaySensingBuffer.setDelayMirrors(3); // this corresponds to an angular correction of -delayMirrors * 360/numPoints
mbedalvaro 15:56a0bf424e8d 95 angleCorrectionForceLoop= -5;// good for ONE spot: -5;// in DEGREES
mbedalvaro 4:f9d364f10335 96
mbedalvaro 1:a4050fee11f7 97 break;
mbedalvaro 1:a4050fee11f7 98
mbedalvaro 1:a4050fee11f7 99 case SPOT_BOUNCING:
mbedalvaro 1:a4050fee11f7 100 // Name of this kind of spot:
mbedalvaro 1:a4050fee11f7 101 sprintf(spotName,"rigid_bouncing");
mbedalvaro 1:a4050fee11f7 102
mbedalvaro 3:b44ff6de81bd 103 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 3:b44ff6de81bd 104 setColor(0x04);
mbedalvaro 1:a4050fee11f7 105
mbedalvaro 7:0df17f3078bc 106 saccadeRadius=85;
mbedalvaro 1:a4050fee11f7 107 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 12:0de9cd2bced5 108 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), 18); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 1:a4050fee11f7 109
mbedalvaro 1:a4050fee11f7 110 // Numeric parameters for the simulated mechanical system:
mbedalvaro 7:0df17f3078bc 111 massCenter=0.0012;
mbedalvaro 7:0df17f3078bc 112 dampMotionCenterMass=0.0005;//0.00015;//00003;
mbedalvaro 7:0df17f3078bc 113 factorBouncingForce=0.0018; // this is because we will use a force on the central mass
mbedalvaro 1:a4050fee11f7 114
mbedalvaro 4:f9d364f10335 115 // 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 116 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 117
mbedalvaro 5:73cd58b58f95 118 // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
mbedalvaro 5:73cd58b58f95 119 // But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software).
mbedalvaro 5:73cd58b58f95 120 // Even more interesting: in case of rigid circular blob, this can be coorected using angleCorrectionForceLoop:
mbedalvaro 7:0df17f3078bc 121 displaySensingBuffer.setDelayMirrors(3);
mbedalvaro 7:0df17f3078bc 122 angleCorrectionForceLoop=-5;// in degrees
mbedalvaro 1:a4050fee11f7 123
mbedalvaro 1:a4050fee11f7 124 break;
mbedalvaro 1:a4050fee11f7 125 }
mbedalvaro 7:0df17f3078bc 126
mbedalvaro 7:0df17f3078bc 127 saccadeRadius_initial=saccadeRadius; // this is for search mode for instance.
mbedalvaro 12:0de9cd2bced5 128
mbedalvaro 12:0de9cd2bced5 129 // 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 130 setRegionMotion(MIN_AD_MIRRORS+saccadeRadius, MIN_AD_MIRRORS+saccadeRadius, MAX_AD_MIRRORS-saccadeRadius, MAX_AD_MIRRORS-saccadeRadius);
mbedalvaro 12:0de9cd2bced5 131
mbedalvaro 3:b44ff6de81bd 132
mbedalvaro 1:a4050fee11f7 133 }
mbedalvaro 1:a4050fee11f7 134
mbedalvaro 1:a4050fee11f7 135
mbedalvaro 1:a4050fee11f7 136 void rigidLoop::initSizeBlob(int _numPoints) {
mbedalvaro 1:a4050fee11f7 137 // Iinitialize blob size (number of points for the loop, as well as other structures such as lsdTrajectory)
mbedalvaro 1:a4050fee11f7 138 numPoints=_numPoints;
mbedalvaro 1:a4050fee11f7 139
mbedalvaro 1:a4050fee11f7 140 // Sensing and Display trajectory:
mbedalvaro 1:a4050fee11f7 141 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 142 }
mbedalvaro 1:a4050fee11f7 143
mbedalvaro 1:a4050fee11f7 144 void rigidLoop::createLoopFromScafold(void) {
mbedalvaro 1:a4050fee11f7 145
mbedalvaro 1:a4050fee11f7 146 initSizeBlob(bluePrint.scafold.size()); // very simple here (only need to set the size of the lsd buffer)
mbedalvaro 1:a4050fee11f7 147
mbedalvaro 1:a4050fee11f7 148 centerMass.mass=massCenter;
mbedalvaro 1:a4050fee11f7 149 centerMass.dampMotion = dampMotionCenterMass;
mbedalvaro 1:a4050fee11f7 150
mbedalvaro 1:a4050fee11f7 151 // note: the following may not be required in case of contour following:
mbedalvaro 2:34157ebbf56b 152 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 153 centerMass.setInitialCondition(startCenter, startSpeed);
mbedalvaro 1:a4050fee11f7 154 // centerMass.setInitialCondition(2047.0, 2047.0,0.0,0.0);
mbedalvaro 1:a4050fee11f7 155 }
mbedalvaro 1:a4050fee11f7 156
mbedalvaro 12:0de9cd2bced5 157 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 158 // centerMass.setWallLimits(mmix+10, mmiy+10, mmax-10, mmay-10);
mbedalvaro 12:0de9cd2bced5 159 // Use the static method of the pointMass class:
mbedalvaro 12:0de9cd2bced5 160 pointMass::setWallLimits(mmix+10, mmiy+10, mmax-10, mmay-10);
mbedalvaro 1:a4050fee11f7 161 }
mbedalvaro 1:a4050fee11f7 162
mbedalvaro 1:a4050fee11f7 163
mbedalvaro 1:a4050fee11f7 164 void rigidLoop::update() {
mbedalvaro 1:a4050fee11f7 165
mbedalvaro 1:a4050fee11f7 166 // (I) process loop geometry: not needed (rigid)
mbedalvaro 1:a4050fee11f7 167 // Just check if the blob touched the borders (only need to do this with the central mass):
mbedalvaro 1:a4050fee11f7 168 blobWallCollision=centerMass.bWallCollision;
mbedalvaro 1:a4050fee11f7 169
mbedalvaro 1:a4050fee11f7 170 // (II) Process sensing buffer and compute light forces:
mbedalvaro 1:a4050fee11f7 171 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 172
mbedalvaro 1:a4050fee11f7 173 // (III) Compute recentering vector (the "penetration vector in fact"), using "first order moment":
mbedalvaro 3:b44ff6de81bd 174 // 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 175 // sum in the circle is 0).
mbedalvaro 12:0de9cd2bced5 176 vector2Df momentVector(0,0);
mbedalvaro 7:0df17f3078bc 177 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 178 for (int i = 0; i < numPoints; i++) { // note: numPoints should be EVEN
mbedalvaro 1:a4050fee11f7 179 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 180
mbedalvaro 12:0de9cd2bced5 181 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 182 momentVector.y+=(float)bluePrint.scafold[i].y;
mbedalvaro 12:0de9cd2bced5 183
mbedalvaro 12:0de9cd2bced5 184 // We can also do the following, but ATTENTION: momentVector is of type vector2Df, and scafold[i] of type vector2Dd...
mbedalvaro 12:0de9cd2bced5 185 // momentVector+=bluePrint.scafold[i];// note: no need to do -centerMass.pos, because the scafold is "centered" around 0
mbedalvaro 12:0de9cd2bced5 186
mbedalvaro 7:0df17f3078bc 187 counterDarkZone++;
mbedalvaro 1:a4050fee11f7 188 }
mbedalvaro 1:a4050fee11f7 189 }
mbedalvaro 7:0df17f3078bc 190 momentVector=momentVector*(2*PI/numPoints);
mbedalvaro 7:0df17f3078bc 191 float momentNorm=momentVector.length(); // = 2.R.sin(half_angle) in the direction of the dark zone
mbedalvaro 5:73cd58b58f95 192
mbedalvaro 12:0de9cd2bced5 193 vector2Df unitTowardsLight; // this is the normed vector, pointing towards the light zone
mbedalvaro 2:34157ebbf56b 194 if (momentNorm==0) {
mbedalvaro 7:0df17f3078bc 195 unitTowardsLight.set(0,0);
mbedalvaro 3:b44ff6de81bd 196 recenteringVectorLoop.set(0,0);
mbedalvaro 3:b44ff6de81bd 197 normRecenteringVector=0;
mbedalvaro 3:b44ff6de81bd 198 angleRecenteringVector=0;
mbedalvaro 3:b44ff6de81bd 199 } else {
mbedalvaro 7:0df17f3078bc 200 unitTowardsLight=momentVector/(-1.0*momentNorm);
mbedalvaro 7:0df17f3078bc 201 // Apply correction angle (delay mirrors):
mbedalvaro 7:0df17f3078bc 202 unitTowardsLight.rotateDeg(angleCorrectionForceLoop);
mbedalvaro 7:0df17f3078bc 203
mbedalvaro 7:0df17f3078bc 204 // Compute "recenteringVectorLoop" (in fact, the vector making the spot goes completely away form the dark zone):
mbedalvaro 7:0df17f3078bc 205 float aux=0.5*momentNorm/saccadeRadius; // note: in principle, we ALWAYS have momentNorm < 2.R, so aux < 1
mbedalvaro 7:0df17f3078bc 206 if (aux>1) aux=1.0; // can happen because of the discrete integration!
mbedalvaro 7:0df17f3078bc 207 if (counterDarkZone<=numPoints/2) { // note: numPoints HAS to be EVEN
mbedalvaro 7:0df17f3078bc 208 recenteringVectorLoop=unitTowardsLight*saccadeRadius*(1.0-sqrt(1.0-aux*aux));
mbedalvaro 7:0df17f3078bc 209 } else {
mbedalvaro 7:0df17f3078bc 210 recenteringVectorLoop=unitTowardsLight*saccadeRadius*(1.0+sqrt(1.0-aux*aux));
mbedalvaro 7:0df17f3078bc 211 }
mbedalvaro 7:0df17f3078bc 212
mbedalvaro 7:0df17f3078bc 213
mbedalvaro 3:b44ff6de81bd 214 // Compute redundant quantities (if necessary, for sending through OSC, etc):
mbedalvaro 3:b44ff6de81bd 215 normRecenteringVector=recenteringVectorLoop.length();
mbedalvaro 3:b44ff6de81bd 216 angleRecenteringVector=recenteringVectorLoop.angleDegHoriz();
mbedalvaro 3:b44ff6de81bd 217 }
mbedalvaro 3:b44ff6de81bd 218
mbedalvaro 1:a4050fee11f7 219 // Now, depending on the mode of operation, we have two types of behaviour:
mbedalvaro 12:0de9cd2bced5 220 vector2Df slidingVector; //( need to declare it here because a switch "jump" cannot bypass an initialization)
mbedalvaro 1:a4050fee11f7 221 switch (updateMode) {
mbedalvaro 4:f9d364f10335 222
mbedalvaro 4:f9d364f10335 223 case SPOT_TEST: // this is just for adjusting mirror delays, checking recentering vector, etc:
mbedalvaro 4:f9d364f10335 224 // do nothing for the time being
mbedalvaro 4:f9d364f10335 225 // 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 226 // 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 227
mbedalvaro 4:f9d364f10335 228 break;
mbedalvaro 1:a4050fee11f7 229
mbedalvaro 1:a4050fee11f7 230 case SPOT_FOLLOWING:
mbedalvaro 1:a4050fee11f7 231 // we need to compute the tangencial "speed":
mbedalvaro 1:a4050fee11f7 232 // vector2D slidingVector;
mbedalvaro 2:34157ebbf56b 233 if (momentNorm>0) {
mbedalvaro 5:73cd58b58f95 234 //momentVector/=momentNorm;
mbedalvaro 3:b44ff6de81bd 235 // We can now compute the sliding vector as:
mbedalvaro 7:0df17f3078bc 236 slidingVector=unitTowardsLight.getRotatedDeg(slidingDirection? 90 : -90) * speedContourFollowing;
mbedalvaro 7:0df17f3078bc 237
mbedalvaro 7:0df17f3078bc 238 // 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 239 // 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 240
mbedalvaro 7:0df17f3078bc 241 centerMass.pos +=slidingVector+ ( unitTowardsLight*(-1.0*saccadeRadius) + recenteringVectorLoop )* 0.6;
mbedalvaro 7:0df17f3078bc 242 // 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 243 // re-entry and avoid oscillations).
mbedalvaro 3:b44ff6de81bd 244
mbedalvaro 3:b44ff6de81bd 245 // The following function can help constraining the position "pos", but it also does too much. Do something simpler perhaps?
mbedalvaro 7:0df17f3078bc 246 centerMass.posOld=centerMass.pos; // this is necessary to compute bouceOffWalls using Verlet method... (MAKE A new variable INTEGRATION METHOD?)
mbedalvaro 7:0df17f3078bc 247
mbedalvaro 3:b44ff6de81bd 248 centerMass.bounceOffWalls(); // constrain position (and compute wall "hit")
mbedalvaro 7:0df17f3078bc 249
mbedalvaro 7:0df17f3078bc 250 if (justSearched) {
mbedalvaro 7:0df17f3078bc 251 saccadeRadius=saccadeRadius_initial;
mbedalvaro 12:0de9cd2bced5 252 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), numPoints);
mbedalvaro 7:0df17f3078bc 253 justSearched=false;
mbedalvaro 7:0df17f3078bc 254 }
mbedalvaro 7:0df17f3078bc 255
mbedalvaro 3:b44ff6de81bd 256
mbedalvaro 2:34157ebbf56b 257 } else {
mbedalvaro 7:0df17f3078bc 258 // not on something. SEARCH MODE (or go to spot_bouncing mode?)
mbedalvaro 15:56a0bf424e8d 259 saccadeRadius+=30; if (saccadeRadius>800) saccadeRadius=saccadeRadius_initial;
mbedalvaro 12:0de9cd2bced5 260 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), numPoints);
mbedalvaro 7:0df17f3078bc 261 justSearched=true;
mbedalvaro 2:34157ebbf56b 262 }
mbedalvaro 1:a4050fee11f7 263
mbedalvaro 1:a4050fee11f7 264 break;
mbedalvaro 1:a4050fee11f7 265
mbedalvaro 1:a4050fee11f7 266 case SPOT_BOUNCING:
mbedalvaro 1:a4050fee11f7 267 // this is very simple: we need to give a force to the centralMass that is OPPOSITE to the recenteringVectorLoop vector
mbedalvaro 1:a4050fee11f7 268 centerMass.resetForce();
mbedalvaro 5:73cd58b58f95 269
mbedalvaro 5:73cd58b58f95 270 if (displaySensingBuffer.lightTouched) {
mbedalvaro 7:0df17f3078bc 271 // add force; MANY POSSIBILITIES:
mbedalvaro 7:0df17f3078bc 272 // (1) Constant in norm:
mbedalvaro 7:0df17f3078bc 273 //centerMass.addForce(unitTowardsLight*saccadeRadius*factorBouncingForce);
mbedalvaro 7:0df17f3078bc 274 // Exactly what is needed to have an elastic bouncing:
mbedalvaro 7:0df17f3078bc 275
mbedalvaro 7:0df17f3078bc 276 // Proportional to the penetration depth in the dark zone (spring):
mbedalvaro 5:73cd58b58f95 277 centerMass.addForce(recenteringVectorLoop*factorBouncingForce);
mbedalvaro 7:0df17f3078bc 278 // Or proportional to the square (or something else) of the penetration:
mbedalvaro 7:0df17f3078bc 279 //centerMass.addForce(recenteringVectorLoop*normRecenteringVector*factorBouncingForce);
mbedalvaro 7:0df17f3078bc 280
mbedalvaro 5:73cd58b58f95 281 }
mbedalvaro 1:a4050fee11f7 282
mbedalvaro 1:a4050fee11f7 283 // update dynamics for the central mass::
mbedalvaro 1:a4050fee11f7 284 #ifndef VERLET_METHOD
mbedalvaro 1:a4050fee11f7 285 centerMass.addDampingForce(); // // only in case of EULER method (damping in VERLET mode is done automatically when updating)
mbedalvaro 1:a4050fee11f7 286 #endif
mbedalvaro 1:a4050fee11f7 287
mbedalvaro 1:a4050fee11f7 288 centerMass.update(); // unconstrained
mbedalvaro 1:a4050fee11f7 289 centerMass.bounceOffWalls(); // constrain position (and compute wall "hit")
mbedalvaro 5:73cd58b58f95 290
mbedalvaro 5:73cd58b58f95 291 if (displaySensingBuffer.lightTouched) {
mbedalvaro 5:73cd58b58f95 292 // do collision damping:
mbedalvaro 7:0df17f3078bc 293 centerMass.setSpeed(centerMass.getSpeed()*0.99);
mbedalvaro 5:73cd58b58f95 294 }
mbedalvaro 5:73cd58b58f95 295
mbedalvaro 1:a4050fee11f7 296
mbedalvaro 1:a4050fee11f7 297 break;
mbedalvaro 1:a4050fee11f7 298
mbedalvaro 1:a4050fee11f7 299 }
mbedalvaro 1:a4050fee11f7 300
mbedalvaro 1:a4050fee11f7 301 // OTHER PARTICULAR THINGS:
mbedalvaro 17:356ca5690a59 302 if (displaySensingBuffer.lightTouched) setColor(0x02); // green on
mbedalvaro 17:356ca5690a59 303 else setColor(0x00); // green off
mbedalvaro 17:356ca5690a59 304
mbedalvaro 17:356ca5690a59 305
mbedalvaro 1:a4050fee11f7 306 // change sliding direction (for countour following):
mbedalvaro 1:a4050fee11f7 307 if (blobWallCollision) {
mbedalvaro 7:0df17f3078bc 308 if (wallCounter>5) {
mbedalvaro 1:a4050fee11f7 309 slidingDirection=!slidingDirection;
mbedalvaro 1:a4050fee11f7 310 wallCounter=0;
mbedalvaro 1:a4050fee11f7 311 }
mbedalvaro 1:a4050fee11f7 312 }
mbedalvaro 1:a4050fee11f7 313 wallCounter++;
mbedalvaro 1:a4050fee11f7 314 }
mbedalvaro 1:a4050fee11f7 315
mbedalvaro 1:a4050fee11f7 316
mbedalvaro 1:a4050fee11f7 317 // 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 318 void rigidLoop::draw() {
mbedalvaro 1:a4050fee11f7 319 // for the time being, there is no "opengl" like renderer, so we just copy into the lsdTrajectory:
mbedalvaro 1:a4050fee11f7 320 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 321 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 322 for (int i = 0; i < numPoints; i++) {
mbedalvaro 1:a4050fee11f7 323 // The shape is drawn by translating the scafold shape (centered on centerMass):
mbedalvaro 12:0de9cd2bced5 324 displaySensingBuffer.lsdTrajectory[i].x= (unsigned short)(bluePrint.scafold[i].x + cx ); // note: it should be an unsigned short!!
mbedalvaro 12:0de9cd2bced5 325 displaySensingBuffer.lsdTrajectory[i].y= (unsigned short)(bluePrint.scafold[i].y + cy );
mbedalvaro 12:0de9cd2bced5 326
mbedalvaro 12:0de9cd2bced5 327 // We can also do this, but ATTENTION: centerMass.pos is a vector2Df, and scafold[i] is a vector2Dd (typecasting?)
mbedalvaro 12:0de9cd2bced5 328 // displaySensingBuffer.lsdTrajectory[i]= bluePrint.scafold[i] + centerMass.pos;
mbedalvaro 12:0de9cd2bced5 329
mbedalvaro 17:356ca5690a59 330 displaySensingBuffer.displayColor=blobColor; // perhaps per point color is not a good idea for the time being...
mbedalvaro 1:a4050fee11f7 331 }
mbedalvaro 1:a4050fee11f7 332 // global color for the whole loop:
mbedalvaro 1:a4050fee11f7 333 displaySensingBuffer.displayColor=blobColor;
mbedalvaro 1:a4050fee11f7 334 }
mbedalvaro 1:a4050fee11f7 335
mbedalvaro 1:a4050fee11f7 336 void rigidLoop::computeBoundingBox() {
mbedalvaro 1:a4050fee11f7 337 }
mbedalvaro 1:a4050fee11f7 338
mbedalvaro 1:a4050fee11f7 339
mbedalvaro 1:a4050fee11f7 340
mbedalvaro 1:a4050fee11f7 341 void rigidLoop::sendDataSpecific() {
mbedalvaro 1:a4050fee11f7 342 char auxstring[10];
mbedalvaro 1:a4050fee11f7 343 myled2=1; // for tests...
mbedalvaro 1:a4050fee11f7 344
mbedalvaro 1:a4050fee11f7 345 // First, set the top address of the message to the ID of the blob (not the name):
mbedalvaro 18:d72935b13858 346 // sprintf(auxstring, "%d", identifier);
mbedalvaro 18:d72935b13858 347 // sendMes.setTopAddress("0");//auxstring);
mbedalvaro 1:a4050fee11f7 348
mbedalvaro 1:a4050fee11f7 349 // ===================== OSC ======================
mbedalvaro 1:a4050fee11f7 350 if (sendOSC) {
mbedalvaro 1:a4050fee11f7 351
mbedalvaro 1:a4050fee11f7 352 // (a) Anchor mass:
mbedalvaro 1:a4050fee11f7 353 if (sendingAnchorPosition) {
mbedalvaro 18:d72935b13858 354 sprintf(auxstring, "/p %d",identifier);
mbedalvaro 18:d72935b13858 355 sendMes.setSubAddress(auxstring);
mbedalvaro 1:a4050fee11f7 356 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 357 x=(long)(centerMass.pos.x);
mbedalvaro 1:a4050fee11f7 358 y=(long)(centerMass.pos.y);
mbedalvaro 1:a4050fee11f7 359 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 360 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 361 }
mbedalvaro 1:a4050fee11f7 362
mbedalvaro 1:a4050fee11f7 363 // (b) data from blob points (this is ONLY FOR TESTS, because the loop is rigid - sending the center is enough)
mbedalvaro 1:a4050fee11f7 364 if (sendingLoopPositions) {
mbedalvaro 1:a4050fee11f7 365 #ifdef SEND_AS_POINTS
mbedalvaro 1:a4050fee11f7 366 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 367 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 368 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 369 for (int i = 0; i < numPoints; i++) {
mbedalvaro 2:34157ebbf56b 370 sprintf(auxstring, "/p%d",identifier*10+ i);//20+ i+(identifier-1)*10); // auxstring read as "/p1", "/p2", ...
mbedalvaro 1:a4050fee11f7 371 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 372 x=(long)(bluePrint.scafold[i].x + cx);
mbedalvaro 1:a4050fee11f7 373 y=(long)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 374 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 375 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 376 }
mbedalvaro 1:a4050fee11f7 377
mbedalvaro 1:a4050fee11f7 378 #endif
mbedalvaro 1:a4050fee11f7 379 #ifdef SEND_AS_BLOB
mbedalvaro 1:a4050fee11f7 380 sendMes.clearArgs(); // no need, we won't use osc.sendOsc()...
mbedalvaro 1:a4050fee11f7 381 uint8_t blobdata[4*numPoints]; // 2 bytes per coordinate, and 2 coordinates
mbedalvaro 1:a4050fee11f7 382 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 383 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 384 for (int i = 0; i < numPoints; i++ ) {
mbedalvaro 1:a4050fee11f7 385 // note: massesLoop[i].pos.x is a "float"
mbedalvaro 1:a4050fee11f7 386 uint16_t x=(uint16_t)(bluePrint.scafold[i].x + cx);
mbedalvaro 1:a4050fee11f7 387 blobdata[4*i]=(uint8_t)x>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 388 blobdata[4*i+1]=(uint8_t)x;
mbedalvaro 1:a4050fee11f7 389
mbedalvaro 1:a4050fee11f7 390 uint16_t y=(uint16_t)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 391 blobdata[4*i+2]=(uint8_t)y>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 392 blobdata[4*i+3]=(uint8_t)y;
mbedalvaro 1:a4050fee11f7 393 }
mbedalvaro 1:a4050fee11f7 394 osc.sendOscBlob(&(blobdata[0]), 4*numPoints, &sendMes ); // second parameter is osc blob size in bytes
mbedalvaro 1:a4050fee11f7 395 #endif
mbedalvaro 1:a4050fee11f7 396 #ifdef SEND_AS_STRING
mbedalvaro 1:a4050fee11f7 397 sendMes.clearArgs(); // no need, we won't use osc.sendOsc()...
mbedalvaro 1:a4050fee11f7 398 uint8_t blobdata[4*numPoints]; // 2 bytes per coordinate, and 2 coordinates
mbedalvaro 1:a4050fee11f7 399 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 400 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 401 for (int i = 0; i < numPoints; i++ ) {
mbedalvaro 1:a4050fee11f7 402 // note: massesLoop[i].pos.x is a "float"
mbedalvaro 1:a4050fee11f7 403 uint16_t x=(uint16_t)(bluePrint.scafold[i].x + cx );
mbedalvaro 1:a4050fee11f7 404 blobdata[4*i]=(uint8_t)x>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 405 blobdata[4*i+1]=(uint8_t)x;
mbedalvaro 1:a4050fee11f7 406
mbedalvaro 1:a4050fee11f7 407 uint16_t y=(uint16_t)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 408 blobdata[4*i+2]=(uint8_t)y>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 409 blobdata[4*i+3]=(uint8_t)y;
mbedalvaro 1:a4050fee11f7 410 }
mbedalvaro 1:a4050fee11f7 411 osc.sendOscString(blobdata, 4*numPoints, &sendMes ); // second parameter is osc blob size in bytes
mbedalvaro 1:a4050fee11f7 412 #endif
mbedalvaro 1:a4050fee11f7 413 }
mbedalvaro 1:a4050fee11f7 414 if (sendingLoopRegions) {
mbedalvaro 1:a4050fee11f7 415 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 416 for (int i = 0; i < numPoints; i++) {
mbedalvaro 1:a4050fee11f7 417 sprintf(auxstring, "/r%d", i); // auxstring read as "/f1", "/f2", ...
mbedalvaro 1:a4050fee11f7 418 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 419 x=(long)(displaySensingBuffer.lsdTrajectory[i].lightZone>0? 1 : 0);
mbedalvaro 1:a4050fee11f7 420 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 421 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 422 }
mbedalvaro 1:a4050fee11f7 423 }
mbedalvaro 1:a4050fee11f7 424 if (sendingLoopTouchWall) { // global touch wall for the loop (not per point)
mbedalvaro 1:a4050fee11f7 425 long wall; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 426 sprintf(auxstring, "/bWall");
mbedalvaro 1:a4050fee11f7 427 sendMes.setSubAddress(auxstring);
mbedalvaro 1:a4050fee11f7 428 wall=(long)(blobWallCollision? 1 : 0);
mbedalvaro 1:a4050fee11f7 429 sendMes.setArgs( "i", &wall);
mbedalvaro 1:a4050fee11f7 430 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 431 }
mbedalvaro 1:a4050fee11f7 432
mbedalvaro 1:a4050fee11f7 433 // (d) Light sensing statistics:
mbedalvaro 1:a4050fee11f7 434 if (sendingBlobMaxMin) {
mbedalvaro 1:a4050fee11f7 435 sendMes.setSubAddress("/maxmin");
mbedalvaro 1:a4050fee11f7 436 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 437 x=(long)(displaySensingBuffer.maxI);
mbedalvaro 1:a4050fee11f7 438 y=(long)(displaySensingBuffer.minI);
mbedalvaro 1:a4050fee11f7 439 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 440 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 441 }
mbedalvaro 1:a4050fee11f7 442
mbedalvaro 1:a4050fee11f7 443 // (e) Recentering vector: (note: redundant with sendingLightForce, IF the correction angle is known).
mbedalvaro 1:a4050fee11f7 444 if (sendingRecenteringVector) {
mbedalvaro 1:a4050fee11f7 445 sendMes.setSubAddress("/rvector");
mbedalvaro 1:a4050fee11f7 446 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 447 x=(long)(recenteringVectorLoop.x);
mbedalvaro 1:a4050fee11f7 448 y=(long)(recenteringVectorLoop.y);
mbedalvaro 1:a4050fee11f7 449 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 450 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 451 }
mbedalvaro 1:a4050fee11f7 452 if (sendingRecenteringAngle) {
mbedalvaro 18:d72935b13858 453 sprintf(auxstring, "/v %d",identifier);
mbedalvaro 18:d72935b13858 454 sendMes.setSubAddress(auxstring);
mbedalvaro 1:a4050fee11f7 455 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 456 x=(long)(angleRecenteringVector);
mbedalvaro 1:a4050fee11f7 457 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 458 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 459 }
mbedalvaro 1:a4050fee11f7 460 if (sendingRecenteringNorm) {
mbedalvaro 1:a4050fee11f7 461 sendMes.setSubAddress("/rnorm");
mbedalvaro 1:a4050fee11f7 462 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 463 x=(long)(normRecenteringVector);
mbedalvaro 1:a4050fee11f7 464 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 465 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 466 }
mbedalvaro 1:a4050fee11f7 467
mbedalvaro 1:a4050fee11f7 468 if (sendingTouched) {
mbedalvaro 1:a4050fee11f7 469 if (displaySensingBuffer.lightTouched) {
mbedalvaro 1:a4050fee11f7 470 sendMes.clearArgs(); // there are no arguments to send
mbedalvaro 1:a4050fee11f7 471 sendMes.setSubAddress("/touched");
mbedalvaro 1:a4050fee11f7 472 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 473 }
mbedalvaro 1:a4050fee11f7 474 }
mbedalvaro 1:a4050fee11f7 475
mbedalvaro 1:a4050fee11f7 476 } // end of OSC sending per-spot
mbedalvaro 1:a4050fee11f7 477
mbedalvaro 1:a4050fee11f7 478 // ===================== SERIAL ======================
mbedalvaro 1:a4050fee11f7 479 if (sendSerial) {
mbedalvaro 1:a4050fee11f7 480 //.. to do
mbedalvaro 1:a4050fee11f7 481 }
mbedalvaro 1:a4050fee11f7 482
mbedalvaro 1:a4050fee11f7 483 myled2=0; // for tests...
mbedalvaro 1:a4050fee11f7 484 }