electron-rare/OSC-to-I2C-PWM-Les-amis-nos-morts
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This commit is contained in:
Clément SAILLANT
2022-10-14 21:02:50 +02:00
parent ed33f1729d
commit 937ebc52d2
5 changed files with 236 additions and 219 deletions
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LCD_Servo_calibration/platformio.ini
+1 -3
View File
@@ -13,7 +13,5 @@ platform = atmelavr
board = uno
framework = arduino
lib_deps =
kelleyja/WEMOS Motor Shield@^1.0.0
uipethernet/UIPEthernet@^2.0.12
cnmat/OSC@0.0.0-alpha+sha.41b44981e3
adafruit/Adafruit PWM Servo Driver Library@^2.4.1
arduino-libraries/LiquidCrystal@^1.0.7
LCD_Servo_calibration/src/LCD_servo_calib.ino → LCD_Servo_calibration/src/LCD_servo_calib.cpp
+14 -13
View File
@@ -253,6 +253,19 @@ void setup()
lcd.print("INIT OK");
}
// Fonction de lecture des touches
int read_LCD_buttons()
{
adc_key_in = analogRead(0); // Lecture du port analogique
// Les valeurs qui suivent doivent être adaptées au shield
if (adc_key_in > 900) return btnNONE; // En principe 1023 quand aucune touche n'est pressée
if (adc_key_in < 50) return btnRIGHT; // 0
if (adc_key_in < 195) return btnUP; // 99
if (adc_key_in < 380) return btnDOWN; // 255
if (adc_key_in < 555) return btnLEFT; // 409
if (adc_key_in < 790) return btnSELECT; // 640
return btnNONE;
}
void loop()
{
@@ -393,16 +406,4 @@ void loop()
}
// Fonction de lecture des touches
int read_LCD_buttons()
{
adc_key_in = analogRead(0); // Lecture du port analogique
// Les valeurs qui suivent doivent être adaptées au shield
if (adc_key_in > 900) return btnNONE; // En principe 1023 quand aucune touche n'est pressée
if (adc_key_in < 50) return btnRIGHT; // 0
if (adc_key_in < 195) return btnUP; // 99
if (adc_key_in < 380) return btnDOWN; // 255
if (adc_key_in < 555) return btnLEFT; // 409
if (adc_key_in < 790) return btnSELECT; // 640
return btnNONE;
}
OSC_I2C_CORBACS/.vscode/settings.json
Vendored
+3
View File
@@ -0,0 +1,3 @@
{
"C_Cpp.dimInactiveRegions": false
}
OSC_I2C_CORBACS/src/OSCMessage.h
+146
View File
@@ -0,0 +1,146 @@
// Fonction server.addCallback("/corbac/gd1", &gd1);
// definir numero de servo osc_value[N° SERVO] pour get 1st argument(int32)
void gd1(OSCMessage &msg, int addrOffset)
{
servo_select = 0;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd2(OSCMessage &msg, int addrOffset)
{
servo_select = 1;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd3(OSCMessage &msg, int addrOffset)
{
servo_select = 10;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd4(OSCMessage &msg, int addrOffset)
{
servo_select = 11;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd5(OSCMessage &msg, int addrOffset)
{
servo_select = 16;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd6(OSCMessage &msg, int addrOffset)
{
servo_select = 17;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd7(OSCMessage &msg, int addrOffset)
{
servo_select = 26;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd8(OSCMessage &msg, int addrOffset)
{
servo_select = 27;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c1(OSCMessage &msg, int addrOffset)
{
servo_select = 4;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c2(OSCMessage &msg, int addrOffset)
{
servo_select = 5;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c3(OSCMessage &msg, int addrOffset)
{
servo_select = 6;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c4(OSCMessage &msg, int addrOffset)
{
servo_select = 7;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c5(OSCMessage &msg, int addrOffset)
{
servo_select = 12;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c6(OSCMessage &msg, int addrOffset)
{
servo_select = 13;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c7(OSCMessage &msg, int addrOffset)
{
servo_select = 14;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c8(OSCMessage &msg, int addrOffset)
{
servo_select = 15;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c9(OSCMessage &msg, int addrOffset)
{
servo_select = 20;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c10(OSCMessage &msg, int addrOffset)
{
servo_select = 21;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c11(OSCMessage &msg, int addrOffset)
{
servo_select = 22;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c12(OSCMessage &msg, int addrOffset)
{
servo_select = 23;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c13(OSCMessage &msg, int addrOffset)
{
servo_select = 28;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c14(OSCMessage &msg, int addrOffset)
{
servo_select = 29;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c15(OSCMessage &msg, int addrOffset)
{
servo_select = 30;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c16(OSCMessage &msg, int addrOffset)
{
servo_select = 31;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void sheep(OSCMessage &msg, int addrOffset)
{
servo_select = 32;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void badger(OSCMessage &msg, int addrOffset)
{
servo_select = 33;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void cow1(OSCMessage &msg, int addrOffset)
{
servo_select = 34;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void cow2(OSCMessage &msg, int addrOffset)
{
servo_select = 35;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
OSC_I2C_CORBACS/src/TEENSY_OSC_i2C_CORBACS.cpp
+72 -203
View File
@@ -11,8 +11,7 @@
c.saillant@gmail.com / +33625334420
---------------------------------------------------------------------------------------------------------------------------------------------*/
#include "config.h" // fichier de Définition des valeur de servo
#include "config.h" // fichier de Définition des valeur de servo
#define DEBUG 0 // 1 pour activer le debug serie
@@ -21,30 +20,24 @@
#include <NativeEthernet.h>
#include <NativeEthernetUdp.h>
//Use youre mac and ip here---------------------------
byte mac[] = { 0x90, 0xA2, 0xDA, 0x0E, 0x9B, 0x7F };
byte ip[] = { 192, 168, 2, 115 };
// Use youre mac and ip here---------------------------
byte mac[] = {0x90, 0xA2, 0xDA, 0x0E, 0x9B, 0x7F};
byte ip[] = {192, 168, 2, 115};
//----------------------------------------------------
EthernetUDP Udp;
// OSC--------------------------
//port numbers
const int osc_server_port = 10000;
// port numbers
const int osc_server_port = 10000;
#include <OSCBundle.h>
#include <OSCBoards.h>
//----------------------------------------------------
// valeur min et max OSC pour mappage des valeurs vers angle SERVO
#define min_value 0
#define max_value 1000
// I2C et carte PWM(servo)
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
@@ -53,50 +46,46 @@ const int osc_server_port = 10000;
// want these to be as small/large as possible without hitting the hard stop
// for max range. You'll have to tweak them as necessary to match the servos you
// have!
#define USMIN 600 // This is the rounded 'minimum' microsecond length based on the minimum pulse of 150
#define USMAX 2400 // This is the rounded 'maximum' microsecond length based on the maximum pulse of 600
#define USMIN 600 // This is the rounded 'minimum' microsecond length based on the minimum pulse of 150
#define USMAX 2400 // This is the rounded 'maximum' microsecond length based on the maximum pulse of 600
#define SERVO_FREQ 50 // Analog servos run at ~50 Hz updates
//Driver :
// Driver :
Adafruit_PWMServoDriver board1 = Adafruit_PWMServoDriver(0x40);
Adafruit_PWMServoDriver board2 = Adafruit_PWMServoDriver(0x41);
Adafruit_PWMServoDriver board3 = Adafruit_PWMServoDriver(0x42);
// Servos :
#define nb_servo 49 // Nombre de servo controlés
//Servos :
#define nb_servo 49 // Nombre de servo controlés
int servo_select = 0; // variable de selection servo
int osc_value[nb_servo]; // pour stockage valeur par servo
int servo_select = 0; // variable de selection servo
int osc_value[nb_servo]; // pour stockage valeur par servo
int osc_value_old[nb_servo]; // pour comparaison si changement de valeur
int pulse = 0;
uint8_t servomoteur[nb_servo] = {0, 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}; // défini sur quelle voie du driver sera branché chaque servomoteurs
//Liste des longueurs minimum d'impulsions pour - 90°
// Liste des longueurs minimum d'impulsions pour - 90°
uint16_t servomoins90[nb_servo] = {
MIN0 , MIN1 , MIN2 , MIN3 , MIN4 , MIN5 , MIN6 , MIN7 , MIN8 , MIN9 , MIN10 , MIN11 , MIN12 , MIN13 , MIN14 , MIN15 , MIN16 , MIN17 , MIN18 , MIN19 , MIN20 , MIN21 , MIN22 , MIN23 , MIN24 , MIN25 , MIN26 , MIN27 , MIN28 , MIN29 , MIN30 , MIN31 , MIN32 , MIN33 , MIN34 , MIN35 , MIN36 , MIN37 , MIN38 , MIN39 , MIN40 , MIN41 , MIN42 , MIN43 , MIN44 , MIN45 , MIN46 , MIN47 , MIN48
};
MIN0, MIN1, MIN2, MIN3, MIN4, MIN5, MIN6, MIN7, MIN8, MIN9, MIN10, MIN11, MIN12, MIN13, MIN14, MIN15, MIN16, MIN17, MIN18, MIN19, MIN20, MIN21, MIN22, MIN23, MIN24, MIN25, MIN26, MIN27, MIN28, MIN29, MIN30, MIN31, MIN32, MIN33, MIN34, MIN35, MIN36, MIN37, MIN38, MIN39, MIN40, MIN41, MIN42, MIN43, MIN44, MIN45, MIN46, MIN47, MIN48};
//Liste des longueurs minimum d'impulsions pour + 90°
// Liste des longueurs minimum d'impulsions pour + 90°
uint16_t servoplus90[nb_servo] = {
MAX0 , MAX1 , MAX2 , MAX3 , MAX4 , MAX5 , MAX6 , MAX7 , MAX8 , MAX9 , MAX10 , MAX11 , MAX12 , MAX13 , MAX14 , MAX15 , MAX16 , MAX17 , MAX18 , MAX19 , MAX20 , MAX21 , MAX22 , MAX23 , MAX24 , MAX25 , MAX26 , MAX27 , MAX28 , MAX29 , MAX30 , MAX31 , MAX32 , MAX33 , MAX34 , MAX35 , MAX36 , MAX37 , MAX38 , MAX39 , MAX40 , MAX41 , MAX42 , MAX43 , MAX44 , MAX45 , MAX46 , MAX47 , MAX48
};
MAX0, MAX1, MAX2, MAX3, MAX4, MAX5, MAX6, MAX7, MAX8, MAX9, MAX10, MAX11, MAX12, MAX13, MAX14, MAX15, MAX16, MAX17, MAX18, MAX19, MAX20, MAX21, MAX22, MAX23, MAX24, MAX25, MAX26, MAX27, MAX28, MAX29, MAX30, MAX31, MAX32, MAX33, MAX34, MAX35, MAX36, MAX37, MAX38, MAX39, MAX40, MAX41, MAX42, MAX43, MAX44, MAX45, MAX46, MAX47, MAX48};
//Liste des longueurs minimum d'impulsions pour + 90°
// Liste des longueurs minimum d'impulsions pour + 90°
int servo_boot[nb_servo] = {
BOOT0 , BOOT1 , BOOT2 , BOOT3 , BOOT4 , BOOT5 , BOOT6 , BOOT7 , BOOT8 , BOOT9 , BOOT10 , BOOT11 , BOOT12 , BOOT13 , BOOT14 , BOOT15 , BOOT16 , BOOT17 , BOOT18 , BOOT19 , BOOT20 , BOOT21 , BOOT22 , BOOT23 , BOOT24 , BOOT25 , BOOT26 , BOOT27 , BOOT28 , BOOT29 , BOOT30 , BOOT31 , BOOT32 , BOOT33 , BOOT34 , BOOT35 , BOOT36 , BOOT37 , BOOT38 , BOOT39 , BOOT40 , BOOT41 , BOOT42 , BOOT43 , BOOT44 , BOOT45 , BOOT46 , BOOT47 , BOOT48
};
BOOT0, BOOT1, BOOT2, BOOT3, BOOT4, BOOT5, BOOT6, BOOT7, BOOT8, BOOT9, BOOT10, BOOT11, BOOT12, BOOT13, BOOT14, BOOT15, BOOT16, BOOT17, BOOT18, BOOT19, BOOT20, BOOT21, BOOT22, BOOT23, BOOT24, BOOT25, BOOT26, BOOT27, BOOT28, BOOT29, BOOT30, BOOT31, BOOT32, BOOT33, BOOT34, BOOT35, BOOT36, BOOT37, BOOT38, BOOT39, BOOT40, BOOT41, BOOT42, BOOT43, BOOT44, BOOT45, BOOT46, BOOT47, BOOT48};
#include "OSCMessage.h" // fichier de Définition des message OSC
void setup()
{
void setup() {
#ifdef DEBUG
//Debug Mode enable in case DEBUG equal 1
//Serial.begin(115200);
//delay(5000);
//Serial.println("CORBAC I2C START");
#if DEBUG == 1
// Debug Mode enable in case DEBUG equal 1
Serial.begin(115200);
delay(5000);
Serial.println("CORBAC I2C START");
#endif
// start the Ethernet connection:
@@ -105,7 +94,7 @@ void setup() {
// Déifinition des cartes de I2C/PWM
board1.begin();
board1.setPWMFreq(SERVO_FREQ); // Analog servos run at ~60 Hz updates
board1.setPWMFreq(SERVO_FREQ); // Analog servos run at ~60 Hz updates
board2.begin();
board2.setPWMFreq(SERVO_FREQ);
@@ -114,44 +103,47 @@ void setup() {
board3.setPWMFreq(SERVO_FREQ);
// centrage des servo
for (int i = 0; i < nb_servo ; i++) {
for (int i = 0; i < nb_servo; i++)
{
pulse = map(servo_boot[i], -90, 90, servomoins90[i], servoplus90[i]);
// selection de la carte de sortie
if (i <= 15) {
if (i <= 15)
{
board1.setPWM(servomoteur[i], 0, pulse);
}
if (i >= 16 && i < 32) {
if (i >= 16 && i < 32)
{
board2.setPWM(servomoteur[i - 16], 0, pulse);
}
if (i >= 32 && i < 48) {
if (i >= 32 && i < 48)
{
board3.setPWM(servomoteur[i - 32], 0, pulse);
}
}
#if DEBUG == 1
// print your local IP address:
//Serial.print("Arduino IP address: ");
//Serial.println(Ethernet.localIP());
//Serial.print("OSC Port ");
//Serial.println(osc_server_port);
//Serial.println("Setup done.");
Serial.print("Arduino IP address: ");
Serial.println(Ethernet.localIP());
Serial.print("OSC Port ");
Serial.println(osc_server_port);
Serial.println("Setup done.");
#endif
}
void loop() { // Main loop
void loop()
{ // Main loop
OSCMessage msgIN;
int size;
if ( (size = Udp.parsePacket()) > 0)
if ((size = Udp.parsePacket()) > 0)
{
while (size--)
msgIN.fill(Udp.read());
if (!msgIN.hasError()) {
if (!msgIN.hasError())
{
msgIN.route("/gd1", gd1);
msgIN.route("/gd2", gd2);
@@ -184,175 +176,52 @@ void loop() { // Main loop
msgIN.route("/cow1", cow1);
msgIN.route("/cow2", cow2);
//Serial.println("OSC alive! ");
// Serial.println("OSC alive! ");
}
}
// mise à jour des valeur de servo
for (int servo_select = 0; servo_select < nb_servo ; servo_select++) {
for (int servo_select = 0; servo_select < nb_servo; servo_select++)
{
if (osc_value_old[servo_select] != osc_value[servo_select])
{
#ifdef DEBUG
//Serial.println("mise à jour position moteur");
#if DEBUG == 1
Serial.println("mise à jour position moteur");
#endif
osc_value_old[servo_select] = osc_value[servo_select];
int servo_value = map(osc_value[servo_select], min_value, max_value, -90, 90);
pulse = map(servo_value, -90, 90, servomoins90[servo_select], servoplus90[servo_select]);
// selection de la carte de sortie
if (servo_select <= 15) {
if (servo_select <= 15)
{
board1.setPWM(servomoteur[servo_select], 0, pulse);
#ifdef DEBUG
//Serial.println("sur carte 1");
#if DEBUG == 1
Serial.println("sur carte 1");
#endif
}
if (servo_select >= 16 && servo_select < 32) {
if (servo_select >= 16 && servo_select < 32)
{
board2.setPWM(servomoteur[servo_select - 16], 0, pulse);
#ifdef DEBUG
//Serial.println("sur carte 2");
#if DEBUG == 1
Serial.println("sur carte 2");
#endif
}
if (servo_select >= 32 && servo_select < 48) {
if (servo_select >= 32 && servo_select < 48)
{
board3.setPWM(servomoteur[servo_select - 32], 0, pulse);
#ifdef DEBUG
//Serial.println("sur carte 3");
#if DEBUG == 1
Serial.println("sur carte 3");
#endif
}
#ifdef DEBUG
//Serial.print("moteur : ");
//Serial.println(servo_select);
//Serial.print("valeur osc : ");
//Serial.println(osc_value[servo_select]);
//Serial.print("valeur pulse : ");
//Serial.println(pulse);
#if DEBUG == 1
Serial.print("moteur : ");
Serial.println(servo_select);
Serial.print("valeur osc : ");
Serial.println(osc_value[servo_select]);
Serial.print("valeur pulse : ");
Serial.println(pulse);
#endif
}
}
}
// Fonction server.addCallback("/corbac/gd1", &gd1);
//definir numero de servo osc_value[N° SERVO] pour get 1st argument(int32)
void gd1(OSCMessage &msg, int addrOffset ) {
servo_select = 0;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd2(OSCMessage &msg, int addrOffset ) {
servo_select = 1;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd3(OSCMessage &msg, int addrOffset ) {
servo_select = 10;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd4(OSCMessage &msg, int addrOffset ) {
servo_select = 11;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd5(OSCMessage &msg, int addrOffset ) {
servo_select = 16;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd6(OSCMessage &msg, int addrOffset ) {
servo_select = 17;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd7(OSCMessage &msg, int addrOffset ) {
servo_select = 26;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void gd8(OSCMessage &msg, int addrOffset ) {
servo_select = 27;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c1(OSCMessage &msg, int addrOffset ) {
servo_select = 4;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c2(OSCMessage &msg, int addrOffset ) {
servo_select = 5;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c3(OSCMessage &msg, int addrOffset ) {
servo_select = 6;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c4(OSCMessage &msg, int addrOffset ) {
servo_select = 7;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c5(OSCMessage &msg, int addrOffset ) {
servo_select = 12;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c6(OSCMessage &msg, int addrOffset ) {
servo_select = 13;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c7(OSCMessage &msg, int addrOffset ) {
servo_select = 14;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c8(OSCMessage &msg, int addrOffset ) {
servo_select = 15;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c9(OSCMessage &msg, int addrOffset ) {
servo_select = 20;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c10(OSCMessage &msg, int addrOffset ) {
servo_select = 21;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c11(OSCMessage &msg, int addrOffset ) {
servo_select = 22;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c12(OSCMessage &msg, int addrOffset ) {
servo_select = 23;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c13(OSCMessage &msg, int addrOffset ) {
servo_select = 28;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c14(OSCMessage &msg, int addrOffset ) {
servo_select = 29;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c15(OSCMessage &msg, int addrOffset ) {
servo_select = 30;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void c16(OSCMessage &msg, int addrOffset ) {
servo_select = 31;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void sheep(OSCMessage &msg, int addrOffset ) {
servo_select = 32;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void badger(OSCMessage &msg, int addrOffset ) {
servo_select = 33;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void cow1(OSCMessage &msg, int addrOffset ) {
servo_select = 34;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}
void cow2(OSCMessage &msg, int addrOffset ) {
servo_select = 35;
osc_value[servo_select] = int(msg.getFloat(0) * 1000);
}