gabriel.lucas
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poppyMusician
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added examples of melodies, and modified the method of playing notes

This commit is contained in:
Gabri6 2024-04-04 14:02:01 +02:00
parent 1d8a928df5
commit c5dd676114
2 changed files with 134 additions and 28 deletions
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29
examples Normal file
View File

@ -0,0 +1,29 @@
top gun:
0a4a432321a1a012a123a202a1
interstellar:
04004014114124224234334304a04a14a14a24a24a34a34a
hedwige theme:
1aa32a1aaa5a4aaaaa2aaaaa1aa32a0aaa2a
frere jacques:
01200120234a234a45432a045432a0a010a010
exorcist:
0304023050a04503040230304023
star wars:
0a4a3215a4a3215a4a3231aaa0a4a3215a4a3215a4a3231
twinkle twinkle little star:
0044554a3322110a4433221a4433221a0044554a3322110a
au clair de la lune:
33345a4a35443aaa33345a4a45443aaa44441a1a43210aaa33345a4a35443aaa
jingle bells:
222a222a24012aaa3333322221121a4a222a222a24012aaa3333322244310aaa
my way:
05aaa50505aa50545a054433a205aaa50505aa50545a054433a

133
main.cpp
View File

@ -21,7 +21,7 @@ int _targetJointTorqueGripper = 1140;
float _proportionnalIncrement = 0.025f; float _proportionnalIncrement = 0.025f;
float _proportionnalIncrementAbove = 0.01f; float _proportionnalIncrementAbove = 0.01f;
float _threshold= 1.9; float _threshold= 1.9;
int waitTime = 0; int waitTime = 100;
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}}}; 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}; //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 std::array<short unsigned int, 6> playingPosition = {{511, 410, 515, 515, 685, 589}}; //511, 310, 485, 515, 665, 592
@ -128,6 +128,7 @@ void teachTarget()
_oDxlHandler.enableTorque(true); //gives Hardware error _oDxlHandler.enableTorque(true); //gives Hardware error
std::cout<<"===Enabling Torque==="<<std::endl; std::cout<<"===Enabling Torque==="<<std::endl;
goToPlayingPosition();
return ; return ;
} }
@ -202,74 +203,124 @@ int closeGripper()
void playNote(int myNote) void playNote(int myNote)
{ {
goToPlayingPosition(); //goToPlayingPosition();
std::this_thread::sleep_for(std::chrono::milliseconds(200));
std::vector<uint16_t> l_vTargetJointPosition; std::vector<uint16_t> l_vTargetJointPosition;
switch(myNote){
case 1: if (myNote >= 0 && myNote <= 9)
{
l_vTargetJointPosition.push_back(notes_position[myNote][0]);
l_vTargetJointPosition.push_back(notes_position[myNote][1]);
l_vTargetJointPosition.push_back(notes_position[myNote][2] + 200);
l_vTargetJointPosition.push_back(notes_position[myNote][3]);
l_vTargetJointPosition.push_back(notes_position[myNote][4]);
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);
std::this_thread::sleep_for(std::chrono::milliseconds(75));
std::vector<uint16_t> l_vTargetJoint1Position;
l_vTargetJoint1Position.push_back(notes_position[myNote][0]);
l_vTargetJoint1Position.push_back(notes_position[myNote][1]);
l_vTargetJoint1Position.push_back(notes_position[myNote][2]);
l_vTargetJoint1Position.push_back(notes_position[myNote][3]);
l_vTargetJoint1Position.push_back(notes_position[myNote][4]);
l_vTargetJoint1Position.push_back(playingPosition[5]); //mettre pince à convertAnglesToJointCmd(38.0f) (à revérifier si ça ne change pas avec un poppy différent)
_oDxlHandler.sendTargetJointPosition(l_vTargetJoint1Position);
std::this_thread::sleep_for(std::chrono::milliseconds(waitTime)); //time period in milliseconds
std::vector<uint16_t> l_vTargetJoint2Position;
l_vTargetJoint2Position.push_back(notes_position[myNote][0]);
l_vTargetJoint2Position.push_back(notes_position[myNote][1]);
l_vTargetJoint2Position.push_back(notes_position[myNote][2] + 200);
l_vTargetJoint2Position.push_back(notes_position[myNote][3]);
l_vTargetJoint2Position.push_back(notes_position[myNote][4]);
l_vTargetJoint2Position.push_back(playingPosition[5]); //mettre pince à convertAnglesToJointCmd(38.0f) (à revérifier si ça ne change pas avec un poppy différent)
_oDxlHandler.sendTargetJointPosition(l_vTargetJoint2Position);
}
else
{
goToPlayingPosition();
std::this_thread::sleep_for(std::chrono::milliseconds(waitTime * 2)); //time period in milliseconds
}
/*switch(myNote){
case 0:
l_vTargetJointPosition.push_back(notes_position[0][0]); l_vTargetJointPosition.push_back(notes_position[0][0]);
l_vTargetJointPosition.push_back(notes_position[0][1]); l_vTargetJointPosition.push_back(notes_position[0][1]);
l_vTargetJointPosition.push_back(notes_position[0][2]); l_vTargetJointPosition.push_back(notes_position[0][2]);
l_vTargetJointPosition.push_back(notes_position[0][3]); l_vTargetJointPosition.push_back(notes_position[0][3]);
l_vTargetJointPosition.push_back(notes_position[0][4]); l_vTargetJointPosition.push_back(notes_position[0][4]);
break; break;
case 2: case 1:
l_vTargetJointPosition.push_back(notes_position[1][0]); l_vTargetJointPosition.push_back(notes_position[1][0]);
l_vTargetJointPosition.push_back(notes_position[1][1]); l_vTargetJointPosition.push_back(notes_position[1][1]);
l_vTargetJointPosition.push_back(notes_position[1][2]); l_vTargetJointPosition.push_back(notes_position[1][2]);
l_vTargetJointPosition.push_back(notes_position[1][3]); l_vTargetJointPosition.push_back(notes_position[1][3]);
l_vTargetJointPosition.push_back(notes_position[1][4]); l_vTargetJointPosition.push_back(notes_position[1][4]);
break; break;
case 3: case 2:
l_vTargetJointPosition.push_back(notes_position[2][0]); l_vTargetJointPosition.push_back(notes_position[2][0]);
l_vTargetJointPosition.push_back(notes_position[2][1]); l_vTargetJointPosition.push_back(notes_position[2][1]);
l_vTargetJointPosition.push_back(notes_position[2][2]); l_vTargetJointPosition.push_back(notes_position[2][2]);
l_vTargetJointPosition.push_back(notes_position[2][3]); l_vTargetJointPosition.push_back(notes_position[2][3]);
l_vTargetJointPosition.push_back(notes_position[2][4]); l_vTargetJointPosition.push_back(notes_position[2][4]);
break; break;
case 4: case 3:
l_vTargetJointPosition.push_back(notes_position[3][0]); l_vTargetJointPosition.push_back(notes_position[3][0]);
l_vTargetJointPosition.push_back(notes_position[3][1]); l_vTargetJointPosition.push_back(notes_position[3][1]);
l_vTargetJointPosition.push_back(notes_position[3][2]); l_vTargetJointPosition.push_back(notes_position[3][2]);
l_vTargetJointPosition.push_back(notes_position[3][3]); l_vTargetJointPosition.push_back(notes_position[3][3]);
l_vTargetJointPosition.push_back(notes_position[3][4]); l_vTargetJointPosition.push_back(notes_position[3][4]);
break; break;
case 5: case 4:
l_vTargetJointPosition.push_back(notes_position[4][0]); l_vTargetJointPosition.push_back(notes_position[4][0]);
l_vTargetJointPosition.push_back(notes_position[4][1]); l_vTargetJointPosition.push_back(notes_position[4][1]);
l_vTargetJointPosition.push_back(notes_position[4][2]); l_vTargetJointPosition.push_back(notes_position[4][2]);
l_vTargetJointPosition.push_back(notes_position[4][3]); l_vTargetJointPosition.push_back(notes_position[4][3]);
l_vTargetJointPosition.push_back(notes_position[4][4]); l_vTargetJointPosition.push_back(notes_position[4][4]);
break; break;
case 6: case 5:
l_vTargetJointPosition.push_back(notes_position[5][0]); l_vTargetJointPosition.push_back(notes_position[5][0]);
l_vTargetJointPosition.push_back(notes_position[5][1]); l_vTargetJointPosition.push_back(notes_position[5][1]);
l_vTargetJointPosition.push_back(notes_position[5][2]); l_vTargetJointPosition.push_back(notes_position[5][2]);
l_vTargetJointPosition.push_back(notes_position[5][3]); l_vTargetJointPosition.push_back(notes_position[5][3]);
l_vTargetJointPosition.push_back(notes_position[5][4]); l_vTargetJointPosition.push_back(notes_position[5][4]);
break; break;
case 7: case 6:
l_vTargetJointPosition.push_back(notes_position[6][0]); l_vTargetJointPosition.push_back(notes_position[6][0]);
l_vTargetJointPosition.push_back(notes_position[6][1]); l_vTargetJointPosition.push_back(notes_position[6][1]);
l_vTargetJointPosition.push_back(notes_position[6][2]); l_vTargetJointPosition.push_back(notes_position[6][2]);
l_vTargetJointPosition.push_back(notes_position[6][3]); l_vTargetJointPosition.push_back(notes_position[6][3]);
l_vTargetJointPosition.push_back(notes_position[6][4]); l_vTargetJointPosition.push_back(notes_position[6][4]);
break; break;
case 8: case 7:
l_vTargetJointPosition.push_back(notes_position[7][0]); l_vTargetJointPosition.push_back(notes_position[7][0]);
l_vTargetJointPosition.push_back(notes_position[7][1]); l_vTargetJointPosition.push_back(notes_position[7][1]);
l_vTargetJointPosition.push_back(notes_position[7][2]); l_vTargetJointPosition.push_back(notes_position[7][2]);
l_vTargetJointPosition.push_back(notes_position[7][3]); l_vTargetJointPosition.push_back(notes_position[7][3]);
l_vTargetJointPosition.push_back(notes_position[7][4]); l_vTargetJointPosition.push_back(notes_position[7][4]);
break; break;
case 9: case 8:
l_vTargetJointPosition.push_back(notes_position[8][0]); l_vTargetJointPosition.push_back(notes_position[8][0]);
l_vTargetJointPosition.push_back(notes_position[8][1]); l_vTargetJointPosition.push_back(notes_position[8][1]);
l_vTargetJointPosition.push_back(notes_position[8][2]); l_vTargetJointPosition.push_back(notes_position[8][2]);
l_vTargetJointPosition.push_back(notes_position[8][3]); l_vTargetJointPosition.push_back(notes_position[8][3]);
l_vTargetJointPosition.push_back(notes_position[8][4]); l_vTargetJointPosition.push_back(notes_position[8][4]);
break; break;
case 9:
l_vTargetJointPosition.push_back(notes_position[9][0]);
l_vTargetJointPosition.push_back(notes_position[9][1]);
l_vTargetJointPosition.push_back(notes_position[9][2]);
l_vTargetJointPosition.push_back(notes_position[9][3]);
l_vTargetJointPosition.push_back(notes_position[9][4]);
break;
default: default:
l_vTargetJointPosition.push_back(playingPosition[0]); l_vTargetJointPosition.push_back(playingPosition[0]);
l_vTargetJointPosition.push_back(playingPosition[1]); l_vTargetJointPosition.push_back(playingPosition[1]);
@ -277,10 +328,7 @@ void playNote(int myNote)
l_vTargetJointPosition.push_back(playingPosition[3]); l_vTargetJointPosition.push_back(playingPosition[3]);
l_vTargetJointPosition.push_back(playingPosition[4]); l_vTargetJointPosition.push_back(playingPosition[4]);
break; 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);
std::this_thread::sleep_for(std::chrono::milliseconds(waitTime)); //time period in milliseconds
} }
void playMultipleNotes(std::string myMusic) void playMultipleNotes(std::string myMusic)
@ -288,7 +336,7 @@ void playMultipleNotes(std::string myMusic)
for (char& c : myMusic) for (char& c : myMusic)
{ {
std::cout<<c<<std::endl; std::cout<<c<<std::endl;
playNote((c - '0')+1); playNote((c - '0'));
} }
goToPlayingPosition(); goToPlayingPosition();
} }
@ -327,14 +375,24 @@ void glissendo()
std::this_thread::sleep_for(std::chrono::milliseconds(150)); std::this_thread::sleep_for(std::chrono::milliseconds(150));
std::vector<uint16_t> Target2JointPosition; std::vector<uint16_t> Target2JointPosition;
Target2JointPosition.push_back(notes_position[5][0]); Target2JointPosition.push_back(notes_position[2][0]);
Target2JointPosition.push_back(notes_position[5][1]); Target2JointPosition.push_back(notes_position[2][1]);
Target2JointPosition.push_back(notes_position[5][2]); Target2JointPosition.push_back(notes_position[2][2]);
Target2JointPosition.push_back(notes_position[5][3]); Target2JointPosition.push_back(notes_position[2][3]);
Target2JointPosition.push_back(notes_position[5][4]); Target2JointPosition.push_back(notes_position[2][4]);
Target2JointPosition.push_back(playingPosition[5]); Target2JointPosition.push_back(playingPosition[5]);
_oDxlHandler.sendTargetJointPosition(Target2JointPosition); _oDxlHandler.sendTargetJointPosition(Target2JointPosition);
std::vector<uint16_t> Target3JointPosition;
Target3JointPosition.push_back(notes_position[5][0]);
Target3JointPosition.push_back(notes_position[5][1]);
Target3JointPosition.push_back(notes_position[5][2]);
Target3JointPosition.push_back(notes_position[5][3]);
Target3JointPosition.push_back(notes_position[5][4]);
Target3JointPosition.push_back(playingPosition[5]);
_oDxlHandler.sendTargetJointPosition(Target3JointPosition);
} }
else if (upOrDown == "d" || upOrDown == "D") else if (upOrDown == "d" || upOrDown == "D")
{ {
@ -350,14 +408,24 @@ void glissendo()
std::this_thread::sleep_for(std::chrono::milliseconds(150)); std::this_thread::sleep_for(std::chrono::milliseconds(150));
std::vector<uint16_t> Target2JointPosition; std::vector<uint16_t> Target2JointPosition;
Target2JointPosition.push_back(notes_position[0][0]); Target2JointPosition.push_back(notes_position[2][0]);
Target2JointPosition.push_back(notes_position[0][1]); Target2JointPosition.push_back(notes_position[2][1]);
Target2JointPosition.push_back(notes_position[0][2]); Target2JointPosition.push_back(notes_position[2][2]);
Target2JointPosition.push_back(notes_position[0][3]); Target2JointPosition.push_back(notes_position[2][3]);
Target2JointPosition.push_back(notes_position[0][4]); Target2JointPosition.push_back(notes_position[2][4]);
Target2JointPosition.push_back(playingPosition[5]); Target2JointPosition.push_back(playingPosition[5]);
_oDxlHandler.sendTargetJointPosition(Target2JointPosition); _oDxlHandler.sendTargetJointPosition(Target2JointPosition);
std::vector<uint16_t> Target3JointPosition;
Target3JointPosition.push_back(notes_position[0][0]);
Target3JointPosition.push_back(notes_position[0][1]);
Target3JointPosition.push_back(notes_position[0][2]);
Target3JointPosition.push_back(notes_position[0][3]);
Target3JointPosition.push_back(notes_position[0][4]);
Target3JointPosition.push_back(playingPosition[5]);
_oDxlHandler.sendTargetJointPosition(Target3JointPosition);
} }
else else
{ {
@ -437,6 +505,15 @@ int main()
std::cout<<"Write 'stop' to stop"<<std::endl; std::cout<<"Write 'stop' to stop"<<std::endl;
std::cin >> myMusic; std::cin >> myMusic;
} }
else if (myMusic == "demo")
{
playMultipleNotes("0a4a4a32321a1a012a123a202a1");
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 else
{ {
playMultipleNotes(myMusic); playMultipleNotes(myMusic);