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brix5 / firmware / demo / QuadDRV-HwTest / QuadDRV-HwTest.ino @ 00e852cf

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1 9e4d9eb1 Jan
// Demo Sketch for 4x TI DRV2605 and I2C MUX
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//
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// Usage:
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// Serial Connect w/ 9600 baud
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// 0-3 send a buzz on channel 0-3 respectively
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#include "Adafruit_DRV2605.h"
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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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uint8_t library = 6; // LRA
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char motor = '!'; // '!' = disabled
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bool debug = true;
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void setup() {
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  Wire.begin();
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  // wait for serial port to connect
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//  while (!Serial); 
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  Serial.begin(9600);
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  delay(250);
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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(library);
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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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void loop() {
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//  Serial.println("Test loop");
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  if (Serial.available()) {
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    char cmd = Serial.read();
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    if (debug) {
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      Serial.print("Received: ");
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      Serial.println(cmd);
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    }
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    uint8_t intensity = 0;
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    int duration = 0;
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    switch (cmd) {
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      if (debug) {
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          Serial.print("playing on channel ");
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          Serial.println(cmd);
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      }
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      case ('0'):
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      case ('1'):
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      case ('2'):
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      case ('3'): 
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        motor = cmd;
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        intensity = 127;
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        duration = 500;
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    }
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    if (intensity > 0) {
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      // single channel
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      // convert ASCII channel string to int
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      uint8_t channel = ((uint8_t)motor) - 48;
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      if ((motor != '!') && (channel < channelCount)) {
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        playRTP(channel, intensity, duration);
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        motor = '!'; // reset to normal mode
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      } else {
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        playRTP(intensity, duration);
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      }
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      intensity = 0;
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      duration = 0;
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    }
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    if (debug) {
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      Serial.println();
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    }
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  }
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}
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// all channels
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void playRTP(uint8_t intensity, uint16_t duration) {
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  if (debug) {
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    Serial.print("Playing intensity ");
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    Serial.print(intensity);
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    Serial.print(" for ");
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    Serial.print(duration);
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    Serial.println("ms on all channels");
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  }
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  for (uint8_t channel; channel < channelCount; channel++) {
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    drvs[channel].setRealtimeValue(intensity);
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  }
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  delay(duration);
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  for (uint8_t channel; channel < channelCount; channel++) {
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    drvs[channel].setRealtimeValue(0x00);
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  }
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}
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// single channel
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void playRTP(uint8_t channel, uint8_t intensity, uint16_t duration) {
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  if (debug) {
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    Serial.print("Playing intensity ");
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    Serial.print(intensity);
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    Serial.print(" for ");
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    Serial.print(duration);
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    Serial.print("ms on channel ");
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    Serial.println(channel);
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  }
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  drvs[channel].setRealtimeValue(intensity);
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  delay(duration);
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  drvs[channel].setRealtimeValue(0x00);
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}