added examples of melodies, and modified the method of playing notes
This commit is contained in:
Gabri6
parent
1d8a928df5
commit
c5dd676114
|
|
@ -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
133
main.cpp
|
|
@ -21,7 +21,7 @@ int _targetJointTorqueGripper = 1140;
|
|||
float _proportionnalIncrement = 0.025f;
|
||||
float _proportionnalIncrementAbove = 0.01f;
|
||||
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}}};
|
||||
//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
|
||||
|
|
@ -128,6 +128,7 @@ void teachTarget()
|
|||
|
||||
_oDxlHandler.enableTorque(true); //gives Hardware error
|
||||
std::cout<<"===Enabling Torque==="<<std::endl;
|
||||
goToPlayingPosition();
|
||||
|
||||
return ;
|
||||
}
|
||||
|
|
@ -202,74 +203,124 @@ int closeGripper()
|
|||
|
||||
void playNote(int myNote)
|
||||
{
|
||||
goToPlayingPosition();
|
||||
//goToPlayingPosition();
|
||||
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(200));
|
||||
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][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[0][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[0][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[0][4]);
|
||||
break;
|
||||
case 2:
|
||||
case 1:
|
||||
l_vTargetJointPosition.push_back(notes_position[1][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[1][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[1][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[1][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[1][4]);
|
||||
break;
|
||||
case 3:
|
||||
case 2:
|
||||
l_vTargetJointPosition.push_back(notes_position[2][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[2][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[2][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[2][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[2][4]);
|
||||
break;
|
||||
case 4:
|
||||
case 3:
|
||||
l_vTargetJointPosition.push_back(notes_position[3][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[3][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[3][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[3][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[3][4]);
|
||||
break;
|
||||
case 5:
|
||||
case 4:
|
||||
l_vTargetJointPosition.push_back(notes_position[4][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[4][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[4][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[4][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[4][4]);
|
||||
break;
|
||||
case 6:
|
||||
case 5:
|
||||
l_vTargetJointPosition.push_back(notes_position[5][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[5][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[5][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[5][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[5][4]);
|
||||
break;
|
||||
case 7:
|
||||
case 6:
|
||||
l_vTargetJointPosition.push_back(notes_position[6][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[6][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[6][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[6][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[6][4]);
|
||||
break;
|
||||
case 8:
|
||||
case 7:
|
||||
l_vTargetJointPosition.push_back(notes_position[7][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[7][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[7][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[7][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[7][4]);
|
||||
break;
|
||||
case 9:
|
||||
case 8:
|
||||
l_vTargetJointPosition.push_back(notes_position[8][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[8][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[8][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[8][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[8][4]);
|
||||
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:
|
||||
l_vTargetJointPosition.push_back(playingPosition[0]);
|
||||
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[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);
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(waitTime)); //time period in milliseconds
|
||||
}*/
|
||||
}
|
||||
|
||||
void playMultipleNotes(std::string myMusic)
|
||||
|
|
@ -288,7 +336,7 @@ void playMultipleNotes(std::string myMusic)
|
|||
for (char& c : myMusic)
|
||||
{
|
||||
std::cout<<c<<std::endl;
|
||||
playNote((c - '0')+1);
|
||||
playNote((c - '0'));
|
||||
}
|
||||
goToPlayingPosition();
|
||||
}
|
||||
|
|
@ -327,14 +375,24 @@ void glissendo()
|
|||
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(notes_position[2][0]);
|
||||
Target2JointPosition.push_back(notes_position[2][1]);
|
||||
Target2JointPosition.push_back(notes_position[2][2]);
|
||||
Target2JointPosition.push_back(notes_position[2][3]);
|
||||
Target2JointPosition.push_back(notes_position[2][4]);
|
||||
Target2JointPosition.push_back(playingPosition[5]);
|
||||
|
||||
_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")
|
||||
{
|
||||
|
|
@ -350,14 +408,24 @@ void glissendo()
|
|||
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(notes_position[2][0]);
|
||||
Target2JointPosition.push_back(notes_position[2][1]);
|
||||
Target2JointPosition.push_back(notes_position[2][2]);
|
||||
Target2JointPosition.push_back(notes_position[2][3]);
|
||||
Target2JointPosition.push_back(notes_position[2][4]);
|
||||
Target2JointPosition.push_back(playingPosition[5]);
|
||||
|
||||
_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
|
||||
{
|
||||
|
|
@ -437,6 +505,15 @@ int main()
|
|||
std::cout<<"Write 'stop' to stop"<<std::endl;
|
||||
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
|
||||
{
|
||||
playMultipleNotes(myMusic);
|
||||
|
|
|
|||
Loading…
Reference in New Issue