brix5 / firmware / demo / QuadDRV-CompassBelt / QuadDRV-CompassBelt.ino @ a2a2cf8b
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/* |
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* Compass belt control code. Reads angle from magnetometer and activates |
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* the two nearest LRAs for a short duration with an intensity |
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* anti-proportional to the angle distance. |
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* |
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* Operation Overview: |
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* - Compute angle between current orientation and north |
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* - operate closest pair of LRAs for 300 ms, intensity depends |
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* on angular distance to north |
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* |
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* Operation Instructions: |
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* - BRIX/ Magnetometer in front |
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* - LRAs diagonally at 45, 135, 225, 315 degrees |
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* - Turn on Brix |
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* - Calibrate magnetometer by moving around |
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* - Put on belt, should be worn firmly on body for good coupling |
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*/ |
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|
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#include <Wire.h> |
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#include "Adafruit_DRV2605.h" |
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#include <Adafruit_Sensor.h> |
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#include <Adafruit_BNO055.h> |
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#include <utility/imumaths.h> |
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#include <math.h> |
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|
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bool debug = true; |
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|
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/* ========== MAGNETOMETER ========== */ |
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|
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/* |
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* Check I2C device address and correct line below. |
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* By default address is 0x29 or 0x28. |
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*/ |
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Adafruit_BNO055 bno = Adafruit_BNO055(-1, 0x28); |
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|
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/* ============= LRAs =============== */ |
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|
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const uint8_t channelCount = 4; // belt has 3 channels |
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Adafruit_DRV2605 drvs[channelCount] = { |
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Adafruit_DRV2605(0), |
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Adafruit_DRV2605(1), |
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Adafruit_DRV2605(2), |
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Adafruit_DRV2605(3) |
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}; |
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|
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const int thresholds[channelCount] = {45, 135, 225, 315}; |
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const int MAX_INTENSITY = 127; |
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const int DURATION = 300; |
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|
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/* ================================== */ |
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|
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void setup() { |
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Serial.begin(9600); |
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delay(500); |
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|
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Serial.println("Booting"); |
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/* |
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* Sensor setup. |
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*/ |
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if(!bno.begin()) { |
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/* There was a problem detecting the BNO055 ... check your connections */ |
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Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!"); |
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while(1); |
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} |
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bno.setExtCrystalUse(true); |
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|
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/* |
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* LRA setup. |
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*/ |
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Wire.begin(); |
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|
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for (uint8_t i = 0; i < channelCount; i++) { |
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drvs[i].begin(); |
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drvs[i].selectLibrary(6); // LRA |
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drvs[i].useLRA(); |
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drvs[i].setMode(DRV2605_MODE_REALTIME); |
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} |
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|
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/* |
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* Sensor calibration. |
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*/ |
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Serial.println("Calibration status values: 0=uncalibrated, 3=fully calibrated"); |
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uint8_t system, gyro, accel, mag = 0; |
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while(mag != 3) { |
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bno.getCalibration(&system, &gyro, &accel, &mag); |
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Serial.print("CALIBRATION: Mag="); |
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Serial.println(mag, DEC); |
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} |
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} |
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|
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void loop() { |
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|
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/* |
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* Measure the relative sensor orientation. |
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*/ |
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imu::Vector<3> m = bno.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER); |
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int angle = (int((atan2(m.z(), m.x())*180)/PI + 450)) % 360; |
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if(debug) { |
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Serial.print("Angle: "); |
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Serial.println(angle); |
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} |
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|
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/* |
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* Find the two nearest channels. |
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*/ |
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int first_channel = 0; |
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int second_channel = 3; |
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for(int i = 0; i < channelCount; i++) { |
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if(angle < thresholds[i]) { |
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first_channel = (i-1) % 4; |
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second_channel = i; |
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break; |
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} |
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} |
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|
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/* |
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* Adjust channel intensity according to angle distance. |
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*/ |
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int first_intensity = adjust_intensity(first_channel, angle); |
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int second_intensity = adjust_intensity(second_channel, angle); |
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|
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if(debug) { |
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Serial.print("Playing intensity "); |
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Serial.print(first_intensity); |
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Serial.print(" on channel "); |
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Serial.print(first_channel); |
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Serial.print(" and intensity "); |
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Serial.print(second_intensity); |
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Serial.print(" on channel "); |
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Serial.print(second_channel); |
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Serial.print(" for "); |
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Serial.print(DURATION); |
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Serial.println(" ms"); |
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} |
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|
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/* |
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* Start vibration on the two nearest channels with the adjusted |
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* intensity. |
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*/ |
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drvs[first_channel].setRealtimeValue(first_intensity); |
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drvs[second_channel].setRealtimeValue(second_intensity); |
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delay(DURATION); |
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drvs[first_channel].setRealtimeValue(0x00); |
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drvs[second_channel].setRealtimeValue(0x00); |
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|
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delay(500); |
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} |
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|
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int adjust_intensity(int channel, int angle) { |
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return (1 - abs((thresholds[channel] - angle) / 90.0)) * MAX_INTENSITY; |
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} |