new examples

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
+

examples

@@ -0,0 +1,37 @@
+top gun: [c4, d4, e4, f4, g4, a4]
+0a4a4a32321a1a012a123a202a1
+
+interstellar: [c4, d4, e4, f4, g4, a4]
+04004014114124224234334304a04a14a14a24a24a34a34a
+
+hedwige theme: [c4, d4, e4, f4, g4, a4]
+1aa32a1aaa5a4aaaaa2aaaaa1aa32a0aaa2a
+
+frere jacques: [c4, d4, e4, f4, g4, a4]
+01200120234a234a45432a045432a0a010a010
+
+exorcist: [e5, f5, g5, a5, b5, c6]
+0304023050a04503040230304023
+
+star wars: [c4, d4, e4, f4, g4, c5]
+0a4a3215a4a3215a4a3231aaa0a4a3215a4a3215a4a3231
+
+twinkle twinkle little star: [c4, d4, e4, f4, g4, a4]
+0044554a3322110a4433221a4433221a0044554a3322110a
+
+au clair de la lune: [c4, d4, e4, f4, g4, a4]
+33345a4a35443aaa33345a4a45443aaa44441a1a43210aaa33345a4a35443aaa
+
+jingle bells: [c4, d4, e4, f4, g4, a4]
+222a222a24012aaa3333322221121a4a222a222a24012aaa3333322244310aaa
+
+my way: [c4, d4, e4, f4, g4, a4]
+05aaa50505aa50545a054433a205aaa50505aa50545a054433a
+
+gravity falls: [c4, d4, e4, f4, g4, a4]
+0002210a3331a4a2a5a
+
+game of thrones:
+3a0a123a0a123a0a123a0a123a0a423a0a423a0a423a0a423a0a123a0a125a
+
+5553aa4442aa5553334442225553334442aa

main.cpp

@@ -1,7 +1,11 @@
 #include <iostream>
 #include <chrono>
 #include <thread>
+//#include<windows.h>//for windows
+#include<unistd.h>//for linux
 #include "DynamixelHandler.h"
+#include <array>
+
 
 // Global variables
 DynamixelHandler _oDxlHandler;
@@ -17,6 +21,11 @@ int _targetJointTorqueGripper = 1140;
 float _proportionnalIncrement = 0.025f;
 float _proportionnalIncrementAbove = 0.01f;
 float _threshold= 1.9;
+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
+
 
 int convertAnglesToJointCmd(float fJointAngle)
 { // y = ax + b
@@ -45,29 +54,86 @@ void goToHomePosition()
 void goToPlayingPosition()
 {
 	std::vector<uint16_t> l_vTargetJointPosition;
-	l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
+	for (int l_joint = 0; l_joint < _nbJoints; l_joint++)
-	l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
+		l_vTargetJointPosition.push_back(playingPosition[l_joint]);
-	l_vTargetJointPosition.push_back(convertAnglesToJointCmd(90.0f));
-	l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-	l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
-	l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
 	_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
+	/*std::vector<uint16_t> l_vTargetJointPosition;
+	l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
+	l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-45.0f));
+	l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
+	l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
+	l_vTargetJointPosition.push_back(convertAnglesToJointCmd(45.0f));
+	l_vTargetJointPosition.push_back(convertAnglesToJointCmd(35.0f)); //mettre pince à convertAnglesToJointCmd(38.0f) (à revérifier si ça ne change pas avec un poppy différent)
+	_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);*/
 }
 
-void currentPos()
+std::array<short unsigned int,6> currentPos()
 {
+	std::array<short unsigned int, 6> myPosition = {{0, 1, 2, 3, 4, 5}};
+	
 	// read current joint position
 	std::vector<uint16_t> l_vCurrentJointPosition;
 	_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
 	
+	//store current joint position to return it
+	for (int l_joint=0; l_joint < myPosition.size(); l_joint++)
+	{	
+		myPosition[l_joint] = l_vCurrentJointPosition[l_joint];
+	}
+	
 	// display current joint position
-	//std::cout << "vCurrentJointPosition= (";
+	std::cout << "vCurrentJointPosition= (";
-	//for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
+	for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
-	//	std::cout << l_vCurrentJointPosition[l_joint] << ", ";
+		std::cout << l_vCurrentJointPosition[l_joint] << ", ";
-	//std::cout << ")" << std::endl;
+	std::cout << ")" << std::endl;
+	
+	return myPosition;
 }
 
-int gripperControl()
+void teachTarget()
+{
+	_oDxlHandler.enableTorque(false);
+	std::cout<<"===Disabling Torque==="<<std::endl;
+	
+	int noteNumber = 333;
+	
+	std::cout << "enter 555 when all the notes have been taught\n";
+	std::cout << "enter note number (starting from 0):\n"; //allows to wait until user input, and specify which note is given
+	std::cin >> noteNumber;
+	
+	while(noteNumber != 555)
+	{
+		while (noteNumber < 0 or (noteNumber > 9 and noteNumber != 555)) // test if the input is good
+		{	
+			std::cout << "wrong number: enter note number (between 0 and 9), or exit with 555:\n";
+			std::cin >> noteNumber;
+		}
+		if (noteNumber != 555)
+		{
+		// read current joint position
+			std::vector<uint16_t> l_vCurrentJointPosition;
+			_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
+			for (int l_joint=0; l_joint < notes_position[noteNumber].size(); l_joint++)
+			{	
+				notes_position[noteNumber][l_joint] = l_vCurrentJointPosition[l_joint];
+				std::cout<<notes_position[noteNumber][l_joint]<<", ";
+				std::cout<<noteNumber << ", ";
+			}
+			currentPos(); //print position		
+		
+			std::cout << "enter note number (starting from 0):\n"; //allows to wait until user input, and specify which note is given
+			std::cin >> noteNumber;
+		}
+	}
+	
+	_oDxlHandler.enableTorque(true); //gives Hardware error
+	std::cout<<"===Enabling Torque==="<<std::endl;
+	goToPlayingPosition();
+	
+	return ;
+}
+
+int closeGripper()
 {
 	//read current joint 6 torque
 	std::vector<uint16_t> l_vCurrentJointTorque;
@@ -135,11 +201,240 @@ int gripperControl()
 	return (int)joint6Torque;
 }
 
-//mettre pince à convertAnglesToJointCmd(38.0f) (à revérifier si ça ne change pas avec un poppy différent)
+void playNote(int myNote)
+{
+	//goToPlayingPosition();
+	
+	std::vector<uint16_t> l_vTargetJointPosition;
+	
+	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 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 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 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 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 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 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 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 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]);
+			l_vTargetJointPosition.push_back(playingPosition[2]);
+			l_vTargetJointPosition.push_back(playingPosition[3]);
+			l_vTargetJointPosition.push_back(playingPosition[4]);
+			break;
+	}*/
+}
 
+void playMultipleNotes(std::string myMusic)
+{
+	for (char& c : myMusic)
+	{
+		std::cout<<c<<std::endl;
+		playNote((c - '0'));
+	}
+	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[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")
+	{
+		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[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
+	{
+		std::cout << "write only u for upwards, or d for downards" << std::endl;
+	}
+}
 
 int main()
-{ 
+{ 	
 	std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
 	_oDxlHandler.setDeviceName(_poppyDxlPortName);
 	_oDxlHandler.setProtocolVersion(_poppyDxlProtocol);
@@ -148,15 +443,87 @@ int main()
 	_oDxlHandler.enableTorque(true);
 	std::cout << std::endl;
 	
-	currentPos();
+	std::cout<<"===Initalization of the position==="<<std::endl; 
+	std::array<short unsigned int, 6> myPosition = currentPos(); //check position, to add a test later
 		
 	goToPlayingPosition();
 		
+	std::cout<<"===Going to playing position==="<<std::endl;
 	currentPos();
+	std::cout<<"===Position: OK==="<<std::endl;
 	
-	int gripperTorque = gripperControl();
+	//int gripperTorque = closeGripper();
 	
-	goToHomePosition();
+	goToPlayingPosition();
+	currentPos();
+	teachTarget();
+	
+	std::string myMusic = "";
+	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;
+	while (myMusic != "stop")
+	{
+			if (myMusic == "home")
+			{
+				goToHomePosition();
+				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 == "start")
+			{
+				goToPlayingPosition();
+				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 == "teach")
+			{
+				teachTarget();
+				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 == "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 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);
+				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;
+			}
+	}
+	goToPlayingPosition();
 	
 	// wait 1s
 	std::this_thread::sleep_for(std::chrono::milliseconds(1000));