Add function to allow for haptic vibration parameters #3
Conversation
src/haptics.cpp
Outdated
| } | ||
| } | ||
|
|
||
| void actuate_motor(int motor_pin, int duration, int frequency, double percent_motor) { |
There was a problem hiding this comment.
duration: notice that that the loop on line 19 runs each duration for 2*frequency milliseconds. Maybe have duration be specified in milliseconds (instead of motor vibration cycles) and have a line of math to calculate how many times the loop should run.
There was a problem hiding this comment.
Motor frequency is also unchanging for this particular motor we are using (it only resonates at one frequency: 170Hz), so can be a constant in the function that doesn't have to be passed in (like how the 85% maximum drive is also a motor-specific constant).
There was a problem hiding this comment.
Ok, so would the frequency constant be 170?
There was a problem hiding this comment.
It stays at 3, since that's the amount of time in milliseconds for half of a cycle. 1/(.006s) = 166.66Hz, which is close enough to 170Hz. Here's a illustration of what we're doing with the analogWrites to simulate a sinusoid at 167Hz. (In our case, unlike in the illustration, the duty cycle doesn't change during those 3ms half-cycles.)
There was a problem hiding this comment.
But you could say that you want to specify the constant as 170Hz, then have some math to turn that into the half-period time: 1/(170Hz) / 2 = 0.00294s. You could get closer to this value than before by multiplying by 10^6 to get the number of microseconds to delay, and use delayMicroseconds instead of delay. Imo 3ms is good enough tho
There was a problem hiding this comment.
Also sorry about how not obvious all of this is. I'll admit this PWM scheme to simulate the sinusoid is a bit funny. The motor parameters come from the datasheet which can be found here.
There was a problem hiding this comment.
No worries, that makes sense. Thanks!
No description provided.