Merge branch 'feature/fine_tuning' into develop

arduino/arduino.ino

@@ -3,13 +3,19 @@
 
 Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
 
-#define SERVOMIN  150 // this is the 'minimum' pulse length count (out of 4096)
-#define SERVOMAX  600 // this is the 'maximum' pulse length count (out of 4096)
+#define SERVOMIN  330 // this is the 'minimum' pulse length count (out of 4096) - increasing SERVOMIN decrease speed
+#define SERVOMAX  390 // this is the 'maximum' pulse length count (out of 4096)
+#define TIMER 200
+#define SERVODIVIDER 5
 
+const char HEADER       = 'H';
+const char A_TAG    = 'M';
+const char B_TAG    = 'X';
+const int  TOTAL_BYTES  = 10  ; // the total bytes in a message
 
 int atomPins[] = {2,3,4,5,6,7,8,9};
 int currentValue = 0;
-int values[] = {0,0,0,0,0,0,0,0,0};
+int values[] = {0,0,0,0,0,0,0,0};
 int cycle = 0;
 
 void setup() {
@@ -17,43 +23,75 @@ void setup() {
   
   for(int i=0; i<8; i++) {
     pinMode(atomPins[i], OUTPUT);
+    pwm.setPWM(i, 0, ((SERVOMAX-SERVOMIN)/2)+SERVOMIN);
   }
 
+  pinMode(13, OUTPUT);
+  digitalWrite(13, HIGH);
   pwm.begin();
   pwm.setPWMFreq(60);  // Analog servos run at ~60 Hz updates
 
   delay(10);
 }
  
+void setServoPulse(uint8_t n, double pulse) {
+  double pulselength;
+  
+  pulselength = 1000000;   // 1,000,000 us per second
+  pulselength /= 60;   // 60 Hz
+  Serial.print(pulselength); Serial.println(" us per period"); 
+  pulselength /= 4096;  // 12 bits of resolution
+  Serial.print(pulselength); Serial.println(" us per bit"); 
+  pulse *= 1000000;  // convert to us
+  pulse /= pulselength;
+  Serial.println(pulse);
+  pwm.setPWM(n, 0, pulse);
+}
 
 void loop() {   
-  if(Serial.available()){
-    int incomingValue = Serial.read();
 
-    values[currentValue] = incomingValue;
+  cycle = 0;
   
-    currentValue++;
-    if(currentValue > 8){
-      currentValue = 0;
+  for(int i=0; i<8; i++) {
+    values[i] = 0;
+  }
+
+
+  if(Serial.available() >= TOTAL_BYTES) {
+     if( Serial.read() == HEADER) {
+      char tag = Serial.read();
+      if(tag == A_TAG) {
+        for(int i=0; i<8; i++) {
+          values[i] = Serial.read();
         }
-    cycle = 0;
       } 
     
-  while(cycle != 8) {
       for(int i=0; i<8; i++) {
+        pwm.setPWM(i, 0, SERVOMIN);
+        delay(values[i]*SERVODIVIDER);
+        pwm.setPWM(i, 0, ((SERVOMAX-SERVOMIN)/2)+SERVOMIN);
+      }
+      
+      while(cycle < 8) {
+        for(int i=0; i<8; i++) {
+          Serial.print(values[i]);
+          Serial.print(" ");
           if(values[i]>0) {
             values[i]--;
             digitalWrite(atomPins[i], HIGH);
-        pwm.setPWM(i, 0, 400); 
             if(values[i]==0) {
-          digitalWrite(atomPins[i], LOW);
-          pwm.setPWM(i, 0, 100); 
               cycle++;
+              digitalWrite(atomPins[i], LOW);
             }
           } 
         }
-    delay(100);
-  }
         
+        Serial.println("");
+        delay(TIMER);
+        
+        //digitalWrite(13, LOW);
+      }
+    }
+  }
 
 } 

ephimera/ephimera.pde

@@ -9,10 +9,11 @@ PImage img;
 
 int videoWidth = 640;
 int videoHeight = 480;
+int sending = 0;
 
 void setup() {
   size(640, 480, P2D);
-  frameRate(10);
+  frameRate(2);
   colorMode(HSB, 100, 100, 100);
 
   String portName = Serial.list()[0];
@@ -31,7 +32,6 @@ void draw() {
 void keyPressed() {
   if (key == 'S' || key == 's') {
     video.stop();
-    printArray(colorValues);
     makePicture();
   }
   if (key == 'B' || key == 'b') {

ephimera/frames.pde

@@ -1,7 +1,9 @@
 void makePicture() {
   saveFrame("data/shot.gif");
   img = loadImage("shot.gif");
+  //ephPercentage();
   ephSerial();
+  video.start();
 }
 
 void backupFrame() {

ephimera/serial.pde

@@ -1,3 +1,6 @@
+public static final char HEADER    = 'H';
+public static final char A_TAG = 'M';
+public static final char B_TAG = 'X';
 
 void ephSerial() {
   
@@ -6,6 +9,26 @@ void ephSerial() {
     print(colorByteValues[i] + "\t");
   }
   println("");
-  port.write(colorByteValues);
-  printArray(colorByteValues);
+  sendMessage(A_TAG, colorByteValues);
+}
+
+
+void sendMessage(char tag, byte[] cbv){
+  // send the given index and value to the serial port
+  port.write(HEADER);
+  port.write(tag);
+  
+  for(int i=0; i<cbv.length; i++) {
+    port.write(cbv[i]);
+  }
+  port.clear();
+}
+
+
+void serialEvent(Serial p) {
+  // handle incoming serial data
+  String inString = port.readStringUntil('\n');
+  if(inString != null) {     
+    print( inString );   // echo text string from Arduino
+  }
 }

percentage/percentage.pde

@@ -1,85 +0,0 @@
-import processing.serial.*;
-import processing.video.*;
-
-int cellSize = 20;
-int cols, rows, cellN;
-int[] colorValues = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-
-Capture video;
-
-void setup() {
-  size(640, 480);
-  frameRate(10);
-  colorMode(HSB, 100, 100, 100);
-  cols = width / cellSize;
-  rows = height / cellSize;
-  cellN = (cols)*(rows);
-  //colorMode(RGB, 255, 255, 255, 100);
-  
-  video = new Capture(this, width, height);
-  video.start();  
-  
-  background(0);
-}
-
-void draw() { 
-  if (video.available()) {
-    video.read();
-    video.loadPixels();
-    
-    for(int i = 0; i<colorValues.length; i++) {
-      colorValues[i] = 0;
-    }
-    
-    for (int i = 0; i < cols; i++) {
-      for (int j = 0; j < rows; j++) {
-
-        int x = i*cellSize;
-        int y = j*cellSize;
-        int loc = (video.width - x - 1) + y*video.width; // Reversing x to mirror the image
-        
-        // Get hue and brightness values
-        float hueVal = hue(video.pixels[loc]);
-        float briVal = brightness(video.pixels[loc]);
-        float satVal = saturation(video.pixels[loc]);
-        
-        // Set pixel color
-        color c = color(hueVal, satVal, briVal);
-        
-        // Check brightness values,
-        // if greater then 80% increace white counter,
-        // if lower then 20% increace black counter,
-        // otherwise increase color counters
-        if(briVal > 20 && briVal < 80) {
-          colorValues[int(hueVal/8.3)]++;
-        } else if(briVal <= 20) {
-          colorValues[12]++;
-        } else if(briVal >= 20) {
-          colorValues[13]++;
-        }
-
-        pushMatrix();
-        translate(x+cellSize/2, y+cellSize/2);
-        rectMode(CENTER);
-        fill(c);
-        noStroke();
-        rect(0, 0, cellSize+6, cellSize+6);
-        popMatrix();
-      }
-    }
-    
-    // Print colors percentage values
-    for(int i = 0; i<colorValues.length-2; i++) {
-      //print(colorValues[i]/(float(cellN)/100) + "\t");
-
-      fill(color((i*8.3)+5, 100, 100));
-      rect(0, (i*5)+5, colorValues[i], 5);
-    }
-    
-    fill(0);
-    rect(0, 60, colorValues[12], 5);
-    fill(100);
-    rect(0, 65, colorValues[13], 5);
-    println("");
-  }
-}

servoSetup/servoSetup.ino

@@ -0,0 +1,84 @@
+/*************************************************** 
+  This is an example for our Adafruit 16-channel PWM & Servo driver
+  Servo test - this will drive 8 servos, one after the other on the
+  first 8 pins of the PCA9685
+
+  Pick one up today in the adafruit shop!
+  ------> http://www.adafruit.com/products/815
+  
+  These drivers use I2C to communicate, 2 pins are required to  
+  interface.
+
+  Adafruit invests time and resources providing this open source code, 
+  please support Adafruit and open-source hardware by purchasing 
+  products from Adafruit!
+
+  Written by Limor Fried/Ladyada for Adafruit Industries.  
+  BSD license, all text above must be included in any redistribution
+ ****************************************************/
+
+#include <Wire.h>
+#include <Adafruit_PWMServoDriver.h>
+
+// called this way, it uses the default address 0x40
+Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
+// you can also call it with a different address you want
+//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);
+// you can also call it with a different address and I2C interface
+//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40, &Wire);
+
+// Depending on your servo make, the pulse width min and max may vary, you 
+// 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 SERVOMIN  330 // this is the 'minimum' pulse length count (out of 4096) - increasing SERVOMIN decrease speed
+#define SERVOMAX  390 // this is the 'maximum' pulse length count (out of 4096)
+
+// our servo # counter
+uint8_t servonum = 0;
+
+void setup() {
+  Serial.begin(9600);
+  Serial.println("8 channel Servo test!");
+
+  pwm.begin();
+  
+  pwm.setPWMFreq(60);  // Analog servos run at ~60 Hz updates
+
+pinMode(8, OUTPUT);
+  delay(10);
+}
+
+// you can use this function if you'd like to set the pulse length in seconds
+// e.g. setServoPulse(0, 0.001) is a ~1 millisecond pulse width. its not precise!
+void setServoPulse(uint8_t n, double pulse) {
+  double pulselength;
+  
+  pulselength = 1000000;   // 1,000,000 us per second
+  pulselength /= 60;   // 60 Hz
+  Serial.print(pulselength); Serial.println(" us per period"); 
+  pulselength /= 4096;  // 12 bits of resolution
+  Serial.print(pulselength); Serial.println(" us per bit"); 
+  pulse *= 1000000;  // convert to us
+  pulse /= pulselength;
+  Serial.println(pulse);
+  pwm.setPWM(n, 0, pulse);
+}
+
+void loop() {
+  // Drive each servo one at a time
+  Serial.println(servonum);
+
+
+  for(int x=0; x<8; x++) {
+
+    pwm.setPWM(x, 0, SERVOMIN);
+    delay(1000);
+    pwm.setPWM(x, 0, ((SERVOMAX-SERVOMIN)/2)+SERVOMIN);
+  
+    delay(1000);
+  }
+
+
+}