Difference between revisions of "Msc1G2:Student4"
From ex25
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<iframe width="850" height="450" src="http://raumgewand.de/Hyperbody/Swarmscape.html" frameBorder="0" seamless="seamless" scrolling="no" allowfullscreen></iframe> | <iframe width="850" height="450" src="http://raumgewand.de/Hyperbody/Swarmscape.html" frameBorder="0" seamless="seamless" scrolling="no" allowfullscreen></iframe> | ||
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+ | == '''Prototype''' == | ||
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Revision as of 16:48, 26 January 2016
Prototype
1st silicone prototype for pneumatic actuators
2nd silicone prototype for pneumatic actuators
pneumatic idea
arduino + electromagnetic valves + airpumps
Simulation
Shape
Structure
Possible modul arrangement on curve created by the system
First attempt to calculate the folding of the arms (iterartion with a feedback loop)
Dynamic reaction to random attractor points (kangaroo physics)
Modul arrangement + attractor points
First approach to geometry
Arduino code
//sensor.h defenition (used instead of void) struct Sensor; Sensor nextState(Sensor);
// Arduino code for Swarmscape prototype 2015-01-26 // Setup: FSR pressure sensors + array outputs linked to electronic valves #include "sensor.h" #include <TimerOne.h> // Setting constants int ledPin = 13; int SENSOR_THRESHOLD = 40; int SENSOR_TIMEOUT = 50; int DEFLATE_TIMEOUT = 70; int PRESSUREMAP_LOW = 0; int PRESSUREMAP_HIGH = 750; int MEASURE_TRESHOLD = 7; // Building the structure enum sensorState { set1, set2, idle, activated, measure, released, timed_out, deflate }; struct Sensor { sensorState state; int pin; int time; int pressure; int out_pin; int defl_pin1; int defl_pin2; }; Sensor sensor1 = {set1, A0, 0, 80, 12, 11, 14}; Sensor sensor2 = {set1, A1, 0, 80, 9, 7, 18}; Sensor sensor3 = {set1, A2, 0, 80, 5, 3, 22}; void setup() { Serial.begin(9600); pinMode(sensor1.pin, INPUT); pinMode(sensor2.pin, INPUT); pinMode(sensor3.pin, INPUT); pinMode(sensor1.out_pin, OUTPUT); pinMode(sensor2.out_pin, OUTPUT); pinMode(sensor3.out_pin, OUTPUT); pinMode(ledPin, OUTPUT); pinMode(sensor1.defl_pin1, OUTPUT); pinMode(sensor1.defl_pin2, OUTPUT); pinMode(sensor2.defl_pin1, OUTPUT); pinMode(sensor2.defl_pin2, OUTPUT); pinMode(sensor3.defl_pin1, OUTPUT); pinMode(sensor3.defl_pin2, OUTPUT); Timer1.initialize(50000); // initialize timer1, and set a 1/2 second period Timer1.attachInterrupt(callback); // attaches callback() as a timer overflow interrupt Serial.println("Start: "); Serial.print("sensor1: "); Serial.print(sensor1.state); Serial.print(' '); Serial.print(sensor1.pin); Serial.print(' '); Serial.print(sensor1.time); Serial.print(' '); Serial.println(sensor1.out_pin); Serial.print("sensor2: "); Serial.print(sensor2.state); Serial.print(' '); Serial.print(sensor2.pin); Serial.print(' '); Serial.print(sensor2.time); Serial.print(' '); Serial.println(sensor2.out_pin); Serial.print("sensor3: "); Serial.print(sensor3.state); Serial.print(' '); Serial.print(sensor3.pin); } void callback() { sensor1 = nextState(sensor1); sensor2 = nextState(sensor2); sensor3 = nextState(sensor3); Serial.print("State 1: "); Serial.print(sensor1.state);Serial.print(";"); Serial.print(sensor1.time); Serial.print("State 2: "); Serial.print(sensor2.state);Serial.print(";"); Serial.print(sensor2.time); Serial.print("State 3: "); Serial.print(sensor3.state);Serial.print(";"); Serial.print(sensor3.time); Serial.print("\n"); } void loop() { // your program here... } Sensor nextState(Sensor sensor) { Sensor nextState = {sensor.state, sensor.pin, sensor.time, sensor.pressure, sensor.out_pin, sensor.defl_pin1, sensor.defl_pin2}; boolean pressed = analogRead(sensor.pin) > SENSOR_THRESHOLD; switch (sensor.state) { // Setup state case set1: digitalWrite(sensor.out_pin, 1); nextState.state = set2; nextState.state = idle; break; case set2: nextState.time ++; if (sensor.time > 50) { digitalWrite(sensor.defl_pin1, 0); digitalWrite(sensor.defl_pin2, 0); nextState.time = 0; nextState.state = idle; } else { nextState.state = set2; } break; // Idle state case idle: nextState.time = 0; if (pressed) { nextState.state = measure; } else { nextState.state = idle; } break; // Measurementstate case measure: nextState.time++; if(sensor.time > MEASURE_TRESHOLD); digitalWrite(sensor.out_pin, 0); sensor.pressure = analogRead(sensor.pin); nextState.time = 0; nextState.state = activated; } else { nextState.state = measure; } break; // Activated state case activated: if (pressed) { nextState.time ++; } else { nextState.state = timed_out; } if (sensor.time > SENSOR_TIMEOUT) { nextState.state = timed_out; } break; // Released state (stays up) case released: digitalWrite(sensor.out_pin, 1); nextState.time++; if(sensor.time > map(sensor.pressure, 0, 1024, PRESSUREMAP_LOW, PRESSUREMAP_HIGH)) { digitalWrite(ledPin, 0); nextState.time = 0; nextState.state = deflate; } else { digitalWrite(ledPin, 1); nextState.state = released; } break; // Time-out state case timed_out: digitalWrite(sensor.out_pin, 1); if (pressed) { nextState.state = timed_out; } else { nextState.state = released; } break; // Deflate state case deflate: nextState.time++; digitalWrite(sensor.defl_pin1, 0); digitalWrite(sensor.defl_pin2, 0); if (sensor.time > DEFLATE_TIMEOUT) { digitalWrite(sensor.defl_pin1, 1); digitalWrite(sensor.defl_pin2, 1); nextState.state = idle; } else { nextState.state = deflate; } break; default: break; } return nextState; }