Fix dumb issues with haptic arduino code. Add tyre slip vibrations to test script.

src/arduino/simhaptic/simhaptic.h

@@ -7,8 +7,7 @@
 typedef struct
 {
     int motor;
-    float effect;
+    int effect;
-    float power;
 }
 SimHapticData;
 

src/arduino/simhaptic/simhaptic.ino

@@ -12,7 +12,8 @@ Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3);
 //Adafruit_DCMotor *myMotor4 = AFMS.getMotor(4);
 
 SimHapticData sd;
-int velocity = 0;
+int effect = 0;
+int motor = 15;
 
 void setup() {
     Serial.begin(9600);
@@ -20,7 +21,8 @@ void setup() {
         Serial.println("Could not find Motor Shield. Check wiring.");
         while (1);
     }
-    sd.velocity = 10;
+    sd.effect = 0;
+    sd.motor = 15;
 
     myMotor1->setSpeed(0);
     myMotor1->run(FORWARD);
@@ -42,43 +44,23 @@ void loop() {
     {
         Serial.readBytes(buff, BYTE_SIZE);
         memcpy(&sd, &buff, BYTE_SIZE);
-        velocity = sd.velocity;
+        effect = sd.effect;
+        motor = sd.motor;
     }
-    int v = ceil(effect * 255);
-    if (v >= 255)
-    {
-      v = 255;
-    }
-
-    MOTOR_1       = 0,
-    MOTOR_2       = 1,
-    MOTOR_3       = 2,
-    MOTOR_4       = 3,
-    MOTOR_1_4     = 4,
-    MOTOR_2_4     = 5,
-    MOTOR_3_4     = 6,
-    MOTOR_1_2     = 7,
-    MOTOR_1_3     = 8,
-    MOTOR_2_3     = 9,
-    MOTOR_1_2_3_4 = 10,
-    MOTOR_1_2_3   = 11,
-    MOTOR_2_3_4   = 12,
-    MOTOR_1_2_4   = 13,
-    MOTOR_1_3_4   = 14
 
     if (motor == 0 || motor == 4 || motor == 7 || motor == 8 || motor == 10 || motor == 11 || motor == 13 || motor == 14)
     {
-        myMotor1->setSpeed(v*POWER);
+        myMotor1->setSpeed(effect);
     }
-    //if (motor == 1 || motor == 5 || motor = 7 || motor == 9 || motor == 10 || motor == 11 || motor == 12 || motor = 13)
+    //if (motor == 1 || motor == 5 || motor == 7 || motor == 9 || motor == 10 || motor == 11 || motor == 12 || motor == 13)
     //{
     //    myMotor2->setSpeed(v*POWER);
     //}
-    if (motor == 2 || motor == 6 || motor = 8 || motor == 9 || motor == 10 || motor == 11 || motor == 12 || motor = 14)
+    if (motor == 2 || motor == 6 || motor == 8 || motor == 9 || motor == 10 || motor == 11 || motor == 12 || motor == 14)
     {
-        myMotor3->setSpeed(v*POWER);
+        myMotor3->setSpeed(effect);
     }
-    //if (motor == 3 || motor == 4 || motor = 5 || motor == 6 || motor == 10 || motor == 12 || motor == 13 || motor = 14)
+    //if (motor == 3 || motor == 4 || motor == 5 || motor == 6 || motor == 10 || motor == 12 || motor == 13 || motor == 14)
     //{
     //    myMotor4->setSpeed(v*POWER);
     //}

src/monocoque/devices/hapticeffect.c

@@ -23,8 +23,10 @@ bool hasTyreDiameter(SimData* simdata)
 {
     if (simdata->tyrediameter[0] == -1 || simdata->tyrediameter[1] == -1 || simdata->tyrediameter[2] == -1 || simdata->tyrediameter[3] == -1)
     {
+        slogt("failed to find tyre diameter data");
         return false;
     }
+    slogt("tyre diameter data found");
     return true;
 }
 
@@ -292,12 +294,13 @@ double slipeffect(SimData* simdata, int effecttype, int tyre, double threshold,
     wheelslip[2] = 0;
     wheelslip[3] = 0;
 
+    slogt("wheel vibration calculation");
+
     switch (effecttype)
     {
         case (EFFECT_TYRESLIP):
         case (EFFECT_TYRELOCK):
         case (EFFECT_ABSBRAKES):
-
             if(hasTyreDiameter(simdata)==false)
             {
                 // check for saved tyre diameter in config file
@@ -322,6 +325,7 @@ double slipeffect(SimData* simdata, int effecttype, int tyre, double threshold,
             if(hasTyreDiameter(simdata)==true)
             {
                 double Speedms = kmhtoms * simdata->velocity;
+                slogt("attempting wheel slip calculation");
                 if (Speedms > minspeedinms)
                 {
                     for(int i = 0; i < 4; i++)
@@ -339,6 +343,8 @@ double slipeffect(SimData* simdata, int effecttype, int tyre, double threshold,
 
             }
             break;
+        default:
+            slogt("Unknown effect type");
     }
 
     switch (effecttype)
@@ -444,7 +450,7 @@ double slipeffect(SimData* simdata, int effecttype, int tyre, double threshold,
             }
             break;
     }
-    
+
     return play;
 }
 

src/monocoque/devices/hapticeffect.h

@@ -16,6 +16,6 @@ typedef struct
 }
 HapticEffect;
 
-int slipeffect(SimData* simdata, int effecttype, int tyre, double threshold, int useconfig, int* configcheck, char* configfile);
+double slipeffect(SimData* simdata, int effecttype, int tyre, double threshold, int useconfig, int* configcheck, char* configfile);
 
 #endif

src/monocoque/devices/serialdevice.c

@@ -58,15 +58,25 @@ int arduino_simwind_update(SimDevice* this, SimData* simdata)
 int arduino_simhaptic_update(SimDevice* this, SimData* simdata)
 {
     SerialDevice* serialdevice = (void *) this->derived;
+
     int result = 1;
 
+    slogt("arduino haptic device updating");
+
     double play = slipeffect(simdata, this->hapticeffect.effecttype, this->hapticeffect.tyre, this->hapticeffect.threshold, this->hapticeffect.useconfig, this->hapticeffect.configcheck, this->hapticeffect.tyrediameterconfig);
 
-    slogt("Updating arduino haptic device");
+    if(play > 1.0)
-    serialdevice->u.simhapticdata.power = 0.6;
+    {
-    serialdevice->u.simhapticdata.motor = serialdevice->motorsposition;
+        play = 1.0;
+    }
 
-    arduino_update(serialdevice, simdata, sizeof(SimData));
+    int effectspeed = ceil( 255 * play );
+    serialdevice->u.simhapticdata.motor = serialdevice->motorsposition;
+    serialdevice->u.simhapticdata.effect = effectspeed;
+    slogt("Updating arduino haptic device speed %i motor code %i", serialdevice->u.simhapticdata.effect, serialdevice->u.simhapticdata.motor);
+    size_t size = sizeof(SimHapticData);
+
+    arduino_update(serialdevice, &serialdevice->u.simhapticdata, size);
 
     return result;
 }
@@ -133,6 +143,7 @@ SerialDevice* new_serial_device(DeviceSettings* ds, MonocoqueSettings* ms) {
     {
         this->m.hapticeffect.threshold = ds->threshold;
         this->m.hapticeffect.effecttype = ds->effect_type;
+        slogt("Haptic effect: %i %i", this->m.hapticeffect.effecttype, ds->effect_type);
         this->m.hapticeffect.tyre = ds->tyre;
         this->m.hapticeffect.useconfig = ms->useconfig;
         this->m.hapticeffect.configcheck = &ms->configcheck;

src/monocoque/gameloop/gameloop.c

@@ -339,6 +339,10 @@ int tester(SimDevice* devices, int numdevices)
     simdata->tyrediameter[1] = -1;
     simdata->tyrediameter[2] = -1;
     simdata->tyrediameter[3] = -1;
+    simdata->tyrediameter[0] = 0.638636385206394;
+    simdata->tyrediameter[1] = 0.633384434597093;
+    simdata->tyrediameter[2] = 0.710475735564615;
+    simdata->tyrediameter[3] = 0.710475735564615;
     sleep(3);
 
     fprintf(stdout, "Setting rpms to 1000\n");
@@ -363,6 +367,22 @@ int tester(SimDevice* devices, int numdevices)
     }
     sleep(3);
 
+    fprintf(stdout, "Testing wheel spin\n");
+    simdata->velocity = 20;
+    simdata->tyreRPS[0] = 133;
+    simdata->tyreRPS[1] = 133;
+    simdata->tyreRPS[2] = 133;
+    simdata->tyreRPS[3] = 133;
+    simdata->velocity = 100;
+    for (int x = 0; x < numdevices; x++)
+    {
+        if (devices[x].initialized == true)
+        {
+            devices[x].update(&devices[x], simdata);
+        }
+    }
+    sleep(3);
+
     fprintf(stdout, "Setting speed to 100\n");
     simdata->velocity = 100;
     for (int x = 0; x < numdevices; x++)
@@ -374,6 +394,21 @@ int tester(SimDevice* devices, int numdevices)
     }
     sleep(3);
 
+    //fprintf(stdout, "Testing wheel spin\n");
+    //simdata->tyreRPS[0] = 8000;
+    //simdata->tyreRPS[1] = 8000;
+    //simdata->tyreRPS[2] = 8000;
+    //simdata->tyreRPS[3] = 8000;
+    //simdata->velocity = 100;
+    //for (int x = 0; x < numdevices; x++)
+    //{
+    //    if (devices[x].initialized == true)
+    //    {
+    //        devices[x].update(&devices[x], simdata);
+    //    }
+    //}
+    //sleep(3);
+
     fprintf(stdout, "Shifting into second gear\n");
     simdata->gear = 3;
     for (int x = 0; x < numdevices; x++)

src/monocoque/helper/confighelper.c

@@ -59,25 +59,38 @@ int strtoeffecttype(const char* effect, DeviceSettings* ds)
 
     if (strcicmp(effect, "Engine") == 0)
     {
+        ds->is_valid = true;
         ds->effect_type = EFFECT_ENGINERPM;
     }
     if (strcicmp(effect, "Gear") == 0)
     {
+        ds->is_valid = true;
         ds->effect_type = EFFECT_GEARSHIFT;
     }
     if (strcicmp(effect, "ABS") == 0)
     {
+        ds->is_valid = true;
+        slogt("found abas effect set");
         ds->effect_type = EFFECT_ABSBRAKES;
     }
     if ((strcicmp(effect, "SLIP") == 0) || (strcicmp(effect, "TYRESLIP") == 0) || (strcicmp(effect, "TIRESLIP") == 0))
     {
+        ds->is_valid = true;
+        slogt("found tyreslip effect set");
         ds->effect_type = EFFECT_TYRESLIP;
     }
     if ((strcicmp(effect, "LOCK") == 0) || (strcicmp(effect, "TYRELOCK") == 0) || (strcicmp(effect, "TIRELOCK") == 0))
     {
+        ds->is_valid = true;
+        slogt("found tyreslock effect set");
         ds->effect_type = EFFECT_TYRELOCK;
     }
 
+    if (ds->is_valid == false)
+    {
+        slogw("effect %s is not a valid effect", effect);
+    }
+
     ds->is_valid = true;
     return MONOCOQUE_ERROR_NONE;
 }
@@ -112,6 +125,7 @@ int strtodevsubtype(const char* device_subtype, DeviceSettings* ds, int simdev)
             }
             if (strcicmp(device_subtype, "SerialHaptic") == 0 || strcicmp(device_subtype, "Haptic") == 0)
             {
+                slogt("found serial haptic device settings");
                 ds->dev_subtype = SIMDEVTYPE_SERIALHAPTIC;
                 break;
             }
@@ -341,8 +355,9 @@ int devsetup(const char* device_type, const char* device_subtype, const char* co
         // logic for different devices
     }
 
-    if (ds->dev_subtype == SIMDEVTYPE_USBHAPTIC || ds->dev_type == SIMDEV_SOUND || ds->dev_type == SIMDEVTYPE_SERIALHAPTIC)
+    if (ds->dev_subtype == SIMDEVTYPE_USBHAPTIC || ds->dev_type == SIMDEV_SOUND || ds->dev_subtype == SIMDEVTYPE_SERIALHAPTIC)
     {
+        slogt("analysing haptic effect settings");
         const char* effect;
         config_setting_lookup_string(device_settings, "effect", &effect);
         strtoeffecttype(effect, ds);