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VibratorController.cpp
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VibratorController.cpp
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/*******************************************************************************
* Copyright (c) 2020, 2022 Carnegie Mellon University
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*******************************************************************************/
#include "VibratorController.h"
// keep the instance as static for callback
VibratorController * instance;
VibratorController::VibratorController(
cabot::Handle & ch, int vib1_pin,
int vib2_pin, int vib3_pin, int vib4_pin)
: SensorReader(ch)
{
instance = this;
vib_pin[0] = vib1_pin;
vib_pin[1] = vib2_pin;
vib_pin[2] = vib3_pin;
vib_pin[3] = vib4_pin;
ch.subscribe(0x20, [](const uint8_t msg) {instance->vibrations[0] = msg + 1;});
ch.subscribe(0x21, [](const uint8_t msg) {instance->vibrations[1] = msg + 1;});
ch.subscribe(0x22, [](const uint8_t msg) {instance->vibrations[2] = msg + 1;});
ch.subscribe(0x23, [](const uint8_t msg) {instance->vibrations[3] = msg + 1;});
}
void VibratorController::init()
{
for (int i = 0; i < 4; i++) {
pinMode(vib_pin[i], OUTPUT);
analogWrite(vib_pin[i], 0);
}
}
void VibratorController::update()
{
for (int i = 0; i < 4; i++) {
if (vibrations[i] > 0) {
if (vibrations[i] == 1) {
analogWrite(vib_pin[i], 0);
vibrations[i] = 0;
} else {
analogWrite(vib_pin[i], 255);
vibrations[i]--;
}
}
}
}