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Fix issues with data not being correctly sent to motors for sim haptic.

This commit is contained in:
Paul Dino Jones 2024-07-12 20:42:55 -04:00
parent 03b96e84b0
commit 42d63ffe89
4 changed files with 106 additions and 52 deletions
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10
src/arduino/simhaptic/simhaptic.h
View File

@ -6,8 +6,14 @@
typedef struct typedef struct
{ {
int motor; uint32_t motor1;
int effect; uint32_t effect1;
uint32_t motor2;
uint32_t effect2;
uint32_t motor3;
uint32_t effect3;
uint32_t motor4;
uint32_t effect4;
} }
SimHapticData; SimHapticData;

44
src/arduino/simhaptic/simhaptic.ino
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@ -12,8 +12,14 @@ Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3);
//Adafruit_DCMotor *myMotor4 = AFMS.getMotor(4); //Adafruit_DCMotor *myMotor4 = AFMS.getMotor(4);
SimHapticData sd; SimHapticData sd;
int effect = 0; int motor1 = 0;
int motor = 15; int motor2 = 0;
int motor3 = 0;
int motor4 = 0;
int effect1 = 0;
int effect2 = 0;
int effect3 = 0;
int effect4 = 0;
void setup() { void setup() {
Serial.begin(9600); Serial.begin(9600);
@ -21,8 +27,10 @@ void setup() {
Serial.println("Could not find Motor Shield. Check wiring."); Serial.println("Could not find Motor Shield. Check wiring.");
while (1); while (1);
} }
sd.effect = 0; sd.motor1 = 0;
sd.motor = 15; sd.motor2 = 0;
sd.motor3 = 0;
sd.motor4 = 0;
myMotor1->setSpeed(0); myMotor1->setSpeed(0);
myMotor1->run(FORWARD); myMotor1->run(FORWARD);
@ -44,24 +52,36 @@ void loop() {
{ {
Serial.readBytes(buff, BYTE_SIZE); Serial.readBytes(buff, BYTE_SIZE);
memcpy(&sd, &buff, BYTE_SIZE); memcpy(&sd, &buff, BYTE_SIZE);
effect = sd.effect; motor1 = sd.motor1;
motor = sd.motor; motor2 = sd.motor2;
motor3 = sd.motor3;
motor4 = sd.motor4;
effect1 = sd.effect1;
effect2 = sd.effect2;
effect3 = sd.effect3;
effect4 = sd.effect4;
} }
if (motor == 0 || motor == 4 || motor == 7 || motor == 8 || motor == 10 || motor == 11 || motor == 13 || motor == 14) //if (motor == 0 || motor == 4 || motor == 7 || motor == 8 || motor == 10 || motor == 11 || motor == 13 || motor == 14)
//{
if (motor1 >= 1)
{ {
myMotor1->setSpeed(effect); myMotor1->setSpeed(effect1);
} }
//}
//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); // myMotor2->setSpeed(motor2);
//} //}
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)
//{
if (motor3 >= 1)
{ {
myMotor3->setSpeed(effect); myMotor3->setSpeed(effect3);
} }
//}
//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); // myMotor4->setSpeed(motor4);
//} //}
} }

29
src/monocoque/devices/serialdevice.c
View File

@ -65,15 +65,28 @@ int arduino_simhaptic_update(SimDevice* this, SimData* simdata)
double play = slipeffect(simdata, this->hapticeffect.effecttype, this->hapticeffect.tyre, this->hapticeffect.threshold, this->hapticeffect.useconfig, this->hapticeffect.configcheck, this->hapticeffect.tyrediameterconfig); double play = slipeffect(simdata, this->hapticeffect.effecttype, this->hapticeffect.tyre, this->hapticeffect.threshold, this->hapticeffect.useconfig, this->hapticeffect.configcheck, this->hapticeffect.tyrediameterconfig);
double rplay = play;
if(play > 1.0) if(play > 1.0)
{ {
play = 1.0; play = 1.0;
} }
int effectspeed = ceil( 255 * play ); int effectspeed = ceil( 255 * play );
serialdevice->u.simhapticdata.motor = serialdevice->motorsposition;
serialdevice->u.simhapticdata.effect = effectspeed; int motor = serialdevice->motorsposition;
slogt("Updating arduino haptic device speed %i motor code %i", serialdevice->u.simhapticdata.effect, serialdevice->u.simhapticdata.motor);
if (motor == 0 || motor == 4 || motor == 7 || motor == 8 || motor == 10 || motor == 11 || motor == 13 || motor == 14)
{
serialdevice->u.simhapticdata.effect1 = effectspeed;
serialdevice->u.simhapticdata.motor1 = 1;
slogt("Updating arduino haptic device speed motor speed %i on motor %i from original effect %f", serialdevice->u.simhapticdata.effect1, serialdevice->motorsposition, rplay);
}
if (motor == 2 || motor == 6 || motor == 8 || motor == 9 || motor == 10 || motor == 11 || motor == 12 || motor == 14)
{
serialdevice->u.simhapticdata.effect3 = effectspeed;
serialdevice->u.simhapticdata.motor3 = 1;
slogt("Updating arduino haptic device speed motor speed %i on motor %i from original effect %f", serialdevice->u.simhapticdata.effect3, serialdevice->motorsposition, rplay);
}
size_t size = sizeof(SimHapticData); size_t size = sizeof(SimHapticData);
arduino_update(serialdevice, &serialdevice->u.simhapticdata, size); arduino_update(serialdevice, &serialdevice->u.simhapticdata, size);
@ -135,6 +148,14 @@ SerialDevice* new_serial_device(DeviceSettings* ds, MonocoqueSettings* ms) {
case (SIMDEVTYPE_SERIALHAPTIC): case (SIMDEVTYPE_SERIALHAPTIC):
this->devicetype = ARDUINODEV__HAPTIC; this->devicetype = ARDUINODEV__HAPTIC;
this->m.vtable = &arduino_simhaptic_vtable; this->m.vtable = &arduino_simhaptic_vtable;
this->u.simhapticdata.motor1 = 0;
this->u.simhapticdata.motor2 = 0;
this->u.simhapticdata.motor3 = 0;
this->u.simhapticdata.motor4 = 0;
this->u.simhapticdata.effect1 = 0;
this->u.simhapticdata.effect2 = 0;
this->u.simhapticdata.effect3 = 0;
this->u.simhapticdata.effect4 = 0;
slogi("Initializing arduino device for haptic effects."); slogi("Initializing arduino device for haptic effects.");
break; break;
} }

75
src/monocoque/gameloop/gameloop.c
View File

@ -339,10 +339,7 @@ int tester(SimDevice* devices, int numdevices)
simdata->tyrediameter[1] = -1; simdata->tyrediameter[1] = -1;
simdata->tyrediameter[2] = -1; simdata->tyrediameter[2] = -1;
simdata->tyrediameter[3] = -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); sleep(3);
fprintf(stdout, "Setting rpms to 1000\n"); fprintf(stdout, "Setting rpms to 1000\n");
@ -367,22 +364,6 @@ int tester(SimDevice* devices, int numdevices)
} }
sleep(3); 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"); fprintf(stdout, "Setting speed to 100\n");
simdata->velocity = 100; simdata->velocity = 100;
for (int x = 0; x < numdevices; x++) for (int x = 0; x < numdevices; x++)
@ -394,22 +375,48 @@ int tester(SimDevice* devices, int numdevices)
} }
sleep(3); sleep(3);
//fprintf(stdout, "Testing wheel spin\n"); fprintf(stdout, "testing wheel spin\n");
//simdata->tyreRPS[0] = 8000; simdata->tyrediameter[0] = 0.638636385206394;
//simdata->tyreRPS[1] = 8000; simdata->tyrediameter[1] = 0.633384434597093;
//simdata->tyreRPS[2] = 8000; simdata->tyrediameter[2] = 0.710475735564615;
//simdata->tyreRPS[3] = 8000; simdata->tyrediameter[3] = 0.710475735564615;
//simdata->velocity = 100; simdata->tyreRPS[0] = 103;
//for (int x = 0; x < numdevices; x++) simdata->tyreRPS[1] = 103;
//{ simdata->tyreRPS[2] = 103;
// if (devices[x].initialized == true) simdata->tyreRPS[3] = 103;
// { for (int x = 0; x < numdevices; x++)
// devices[x].update(&devices[x], simdata); {
// } if (devices[x].initialized == true)
//} {
//sleep(3); devices[x].update(&devices[x], simdata);
}
}
sleep(3);
fprintf(stdout, "Testing wheel Lock\n");
simdata->tyreRPS[0] = 50;
simdata->tyreRPS[1] = 50;
simdata->tyreRPS[2] = 50;
simdata->tyreRPS[3] = 50;
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"); fprintf(stdout, "Shifting into second gear\n");
simdata->tyreRPS[0] = 0;
simdata->tyreRPS[1] = 0;
simdata->tyreRPS[2] = 0;
simdata->tyreRPS[3] = 0;
simdata->tyrediameter[0] = -1;
simdata->tyrediameter[1] = -1;
simdata->tyrediameter[2] = -1;
simdata->tyrediameter[3] = -1;
simdata->gear = 3; simdata->gear = 3;
for (int x = 0; x < numdevices; x++) for (int x = 0; x < numdevices; x++)
{ {