From 1d8a928df52233e369c3f839c1138df29391d16a Mon Sep 17 00:00:00 2001 From: Gabri6 Date: Wed, 20 Mar 2024 19:21:13 +0100 Subject: [PATCH] new function to change wait time between each note, and glissendo function, to do glissendos --- README.md | 19 ++++++++++ main.cpp | 103 ++++++++++++++++++++++++++++++++++++++++++++++++++---- 2 files changed, 116 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 4d8205e..a0619c6 100644 --- a/README.md +++ b/README.md @@ -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 + diff --git a/main.cpp b/main.cpp index cc9852e..fcd27d3 100644 --- a/main.cpp +++ b/main.cpp @@ -21,6 +21,7 @@ int _targetJointTorqueGripper = 1140; float _proportionnalIncrement = 0.025f; float _proportionnalIncrementAbove = 0.01f; float _threshold= 1.9; +int waitTime = 0; std::array,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 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 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<> 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 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 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 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 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"<> 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"<> 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"<> myMusic; + } else { playMultipleNotes(myMusic);