gabriel.lucas
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poppyMusician
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new function to change wait time between each note, and glissendo function, to do glissendos

This commit is contained in:
Gabri6 2024-03-20 19:21:13 +01:00
parent 29a1a1bdf1
commit 1d8a928df5
2 changed files with 116 additions and 6 deletions
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19
README.md
View File

@ -3,3 +3,22 @@
##requirements
need a "libraries" folder in the parent folder, in which is located the Dynamixel-sdk library for C++, with the folder toolkit-dynamixel
##usage
plug the poppy to the computer and power it
(compile the code if you need. You can use 'make' in Linux.)
After going to playing position, the poppy will disable its torque.
###First phase
You can then move it around and have it register 9 positions (from 0 to 8) by putting the id of the position and pressing enter.
it will then register its current position
when you are finished, enter 555 and press enter.
###Second phase

103
main.cpp
View File

@ -21,6 +21,7 @@ int _targetJointTorqueGripper = 1140;
float _proportionnalIncrement = 0.025f;
float _proportionnalIncrementAbove = 0.01f;
float _threshold= 1.9;
int waitTime = 0;
std::array<std::array<short unsigned int, 6>,9> notes_position = {{{511, 511, 511, 511, 511, 511}, {511, 511, 511, 511, 511, 511}, {511, 511, 511, 511, 511, 511}, {511, 511, 511, 511, 511, 511}, {511, 511, 511, 511, 511, 511}, {511, 511, 511, 511, 511, 511}, {511, 511, 511, 511, 511, 511}, {511, 511, 511, 511, 511, 511}, {511, 511, 511, 511, 511, 511}}};
//short unsigned int notes_position[54] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54};
std::array<short unsigned int, 6> playingPosition = {{511, 410, 515, 515, 685, 589}}; //511, 310, 485, 515, 665, 592
@ -202,6 +203,7 @@ int closeGripper()
void playNote(int myNote)
{
goToPlayingPosition();
std::this_thread::sleep_for(std::chrono::milliseconds(200));
std::vector<uint16_t> l_vTargetJointPosition;
switch(myNote){
@ -269,16 +271,16 @@ void playNote(int myNote)
l_vTargetJointPosition.push_back(notes_position[8][4]);
break;
default:
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
l_vTargetJointPosition.push_back(playingPosition[0]);
l_vTargetJointPosition.push_back(playingPosition[1]);
l_vTargetJointPosition.push_back(playingPosition[2]);
l_vTargetJointPosition.push_back(playingPosition[3]);
l_vTargetJointPosition.push_back(playingPosition[4]);
break;
}
l_vTargetJointPosition.push_back(playingPosition[5]); //mettre pince à convertAnglesToJointCmd(38.0f) (à revérifier si ça ne change pas avec un poppy différent)
_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
sleep(1); //time period in seconds
std::this_thread::sleep_for(std::chrono::milliseconds(waitTime)); //time period in milliseconds
}
void playMultipleNotes(std::string myMusic)
@ -288,6 +290,79 @@ void playMultipleNotes(std::string myMusic)
std::cout<<c<<std::endl;
playNote((c - '0')+1);
}
goToPlayingPosition();
}
void changeWaitTime()
{
int myTime = 0;
std::cout << std::endl;
std::cout << "write the wait Time between each note in milliseconds" << std::endl;
std::cin >> myTime;
waitTime = myTime;
}
void glissendo()
{
//good idea, but not working so much, might need to make a linear displacement instead of a joint one (but too much work for this project)
std::string upOrDown = "u";
std::cout << std::endl;
std::cout << "Do you want a glissendo upwards or downwards ? u/d" << std::endl;
std::cin >> upOrDown;
if (upOrDown == "u" || upOrDown == "U")
{
std::vector<uint16_t> Target1JointPosition;
Target1JointPosition.push_back(notes_position[0][0]);
Target1JointPosition.push_back(notes_position[0][1]);
Target1JointPosition.push_back(notes_position[0][2]);
Target1JointPosition.push_back(notes_position[0][3]);
Target1JointPosition.push_back(notes_position[0][4]);
Target1JointPosition.push_back(playingPosition[5]);
_oDxlHandler.sendTargetJointPosition(Target1JointPosition);
std::this_thread::sleep_for(std::chrono::milliseconds(150));
std::vector<uint16_t> Target2JointPosition;
Target2JointPosition.push_back(notes_position[5][0]);
Target2JointPosition.push_back(notes_position[5][1]);
Target2JointPosition.push_back(notes_position[5][2]);
Target2JointPosition.push_back(notes_position[5][3]);
Target2JointPosition.push_back(notes_position[5][4]);
Target2JointPosition.push_back(playingPosition[5]);
_oDxlHandler.sendTargetJointPosition(Target2JointPosition);
}
else if (upOrDown == "d" || upOrDown == "D")
{
std::vector<uint16_t> Target1JointPosition;
Target1JointPosition.push_back(notes_position[5][0]);
Target1JointPosition.push_back(notes_position[5][1]);
Target1JointPosition.push_back(notes_position[5][2]);
Target1JointPosition.push_back(notes_position[5][3]);
Target1JointPosition.push_back(notes_position[5][4]);
Target1JointPosition.push_back(playingPosition[5]);
_oDxlHandler.sendTargetJointPosition(Target1JointPosition);
std::this_thread::sleep_for(std::chrono::milliseconds(150));
std::vector<uint16_t> Target2JointPosition;
Target2JointPosition.push_back(notes_position[0][0]);
Target2JointPosition.push_back(notes_position[0][1]);
Target2JointPosition.push_back(notes_position[0][2]);
Target2JointPosition.push_back(notes_position[0][3]);
Target2JointPosition.push_back(notes_position[0][4]);
Target2JointPosition.push_back(playingPosition[5]);
_oDxlHandler.sendTargetJointPosition(Target2JointPosition);
}
else
{
std::cout << "write only u for upwards, or d for downards" << std::endl;
}
}
int main()
@ -346,6 +421,22 @@ int main()
std::cout<<"Write 'stop' to stop"<<std::endl;
std::cin >> myMusic;
}
else if (myMusic == "wait")
{
changeWaitTime();
std::cout << std::endl;
std::cout<<"Write the notes you want to play (from 0 to 8), without spaces between them"<<std::endl;
std::cout<<"Write 'stop' to stop"<<std::endl;
std::cin >> myMusic;
}
else if (myMusic == "glissendo")
{
glissendo();
std::cout << std::endl;
std::cout<<"Write the notes you want to play (from 0 to 8), without spaces between them"<<std::endl;
std::cout<<"Write 'stop' to stop"<<std::endl;
std::cin >> myMusic;
}
else
{
playMultipleNotes(myMusic);