BRIX5

// Demo Sketch for 4x TI DRV2605 and I2C MUX

//

// Usage:

// Serial Connect w/ 9600 baud

// 0-3 send a buzz on channel 0-3 respectively

#include "Adafruit_DRV2605.h"

const uint8_t channelCount = 4; // belt has 3 channels

Adafruit_DRV2605 drvs[channelCount] = {

  Adafruit_DRV2605(0),  

  Adafruit_DRV2605(1),

  Adafruit_DRV2605(2),

  Adafruit_DRV2605(3)

};

uint8_t library = 6; // LRA

char motor = '!'; // '!' = disabled

bool debug = false;

void setup() {

  Wire.begin();

  // wait for serial port to connect

  while (!Serial); 

  Serial.begin(9600);

  delay(250);

  for (uint8_t i = 0; i < channelCount; i++) {

    drvs[i].begin();

    drvs[i].selectLibrary(library);

    drvs[i].useLRA();

    drvs[i].setMode(DRV2605_MODE_REALTIME);

  }

}

void loop() {

  if (Serial.available()) {

    char cmd = Serial.read();

    if (debug) {

      Serial.print("Received: ");

      Serial.println(cmd);

    }

    uint8_t intensity = 0;

    int duration = 0;

    switch (cmd) {

      if (debug) {

          Serial.print("playing on channel ");

          Serial.println(cmd);

      }

      case ('0'):

      // single motor: play 'rare' case

      case ('0'):

      case ('1'):

      case ('2'):

      case ('3'): // disabled for 3 motors

        motor = cmd;

        intensity = 255;

        duration = 200;

    }

    if (intensity > 0) {

      // single channel

      // convert ASCII channel string to int

      uint8_t channel = ((uint8_t)motor) - 48;

      if ((motor != '!') && (channel < channelCount)) {

        playRTP(channel, intensity, duration);

        motor = '!'; // reset to normal mode

      } else {

        playRTP(intensity, duration);

      }

      intensity = 0;

      duration = 0;

    }

    if (debug) {

      Serial.println();

    }

  }

}

// all channels

void playRTP(uint8_t intensity, uint16_t duration) {

  if (debug) {

    Serial.print("Playing intensity ");

    Serial.print(intensity);

    Serial.print(" for ");

    Serial.print(duration);

    Serial.println("ms on all channels");

  }

  for (uint8_t channel; channel < channelCount; channel++) {

    drvs[channel].setRealtimeValue(intensity);

  }

  delay(duration);

  for (uint8_t channel; channel < channelCount; channel++) {

    drvs[channel].setRealtimeValue(0x00);

  }

}

// single channel

void playRTP(uint8_t channel, uint8_t intensity, uint16_t duration) {

  if (debug) {

    Serial.print("Playing intensity ");

    Serial.print(intensity);

    Serial.print(" for ");

    Serial.print(duration);

    Serial.print("ms on channel ");

    Serial.println(channel);

  }

  drvs[channel].setRealtimeValue(intensity);

  delay(duration);

  drvs[channel].setRealtimeValue(0x00);

}