new function to change wait time between each note, and glissendo function, to do glissendos

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
+

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<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(playingPosition[0]);
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
+			l_vTargetJointPosition.push_back(playingPosition[1]);
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
+			l_vTargetJointPosition.push_back(playingPosition[2]);
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
+			l_vTargetJointPosition.push_back(playingPosition[3]);
-			l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
+			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);