Firmware V1.0

VRC-Haptics-Firmware-ESP/platformio.ini

@@ -29,7 +29,12 @@ lib_deps =
 platform = espressif8266
 board = d1_mini
 framework = arduino
+monitor_filters =
+	esp8266_exception_decoder
+monitor_speed = 115200
 build_flags = 
 	-I include
 lib_deps = 
 	${env.lib_deps}
+
+upload_speed = 921600  ; Increase upload speed

VRC-Haptics-Firmware-ESP/lib/wifi/OSC/callbacks.cpp → VRC-Haptics-Firmware-ESP/src/OSC/callbacks.cpp

@@ -1,14 +1,12 @@
 #include <ArduinoOSCWiFi.h>
 
 #include "config.h"
-#include "variables.h"
+#include "globals.h"
+
 #include "osc.h"
 
-void motorMessage_callback(const OscMessage&);
-void serverPing_callback(const OscMessage&);
-void printMessage(const OscMessage& message);
 
-void MotorMessage_Callback(const OscMessage& message){
+void motorMessage_callback(const OscMessage& message){
 
     // create char array
     String msg_str = message.arg<String>(0);

VRC-Haptics-Firmware-ESP/src/OSC/callbacks.h

@@ -0,0 +1,5 @@
+#include <ArduinoOSCWiFi.h>
+
+void motorMessage_callback(const OscMessage&);
+void serverPing_callback(const OscMessage&);
+void printMessage(const OscMessage& message);

VRC-Haptics-Firmware-ESP/lib/wifi/OSC/osc.cpp → VRC-Haptics-Firmware-ESP/src/OSC/osc.cpp

@@ -1,8 +1,9 @@
 #include <ArduinoOSCWiFi.h>
 
 #include "config.h"
+#include "globals.h"
 
-#include "callbacks.cpp"
+#include "OSC/callbacks.h"
 
 const IPAddress ip(OSC_LOCAL_IP);
 const IPAddress gateway(OSC_GATEWAY_IP);
@@ -15,14 +16,17 @@ void startOSCWifi() {
     Serial.println("WIFI: Connecting");
 
     // Wait for connection
-    while (WiFi.status() != WL_CONNECTED) {}
+    while (WiFi.status() != WL_CONNECTED) {
+        //Serial.println("");
+        delay(1);
+    }
 
     // Print the IP address
     Serial.print("WIFI: IP: ");
     Serial.println(WiFi.localIP());
 
     // Setup OSC
-    OscWiFi.subscribe(OSC_IN_PORT, OSC_MOTOR_ADDRESS, MotorMessage_Callback);
+    OscWiFi.subscribe(OSC_IN_PORT, OSC_MOTOR_ADDRESS, motorMessage_callback);
     OscWiFi.subscribe(OSC_IN_PORT, "/ping/", serverPing_callback);
 
 

VRC-Haptics-Firmware-ESP/lib/wifi/OSC/osc.h → VRC-Haptics-Firmware-ESP/src/OSC/osc.h

@@ -10,3 +10,4 @@ void sendOSC(const String& oscAddress, const int16_t& value);
 void sendOSC(const String& oscAddress, const int8_t& value);
 void sendOSC(const String& oscAddress, const float_t& value);
 void sendOSC(const String& oscAddress, char *value, uint16_t size);
+

VRC-Haptics-Firmware-ESP/lib/PWM/PCA/pca.cpp → VRC-Haptics-Firmware-ESP/src/PWM/PCA/pca.cpp

@@ -1,20 +1,17 @@
 #include <Arduino.h>
 
 #include "config.h"
-#include "variables.h"
+#include "globals.h"
 
-#include "pwmConfig.h"
+#include "PWM/pwmConfig.h"
 #include "pca.h"
 
 #include "Adafruit_PWMServoDriver.h"
+#include "Wire.h"
 
-#ifdef PCA_1
-Adafruit_PWMServoDriver pcaModule1 = Adafruit_PWMServoDriver(PCA_1);
-#endif
+Adafruit_PWMServoDriver pcaModule1 = Adafruit_PWMServoDriver(PCA_1, Wire);
+Adafruit_PWMServoDriver pcaModule2 = Adafruit_PWMServoDriver(PCA_2, Wire);
 
-#ifdef PCA_2
-Adafruit_PWMServoDriver pcaModule2 = Adafruit_PWMServoDriver(PCA_2);
-#endif
 
 uint8_t motorMap[32] = {MOTOR_MAP};
 
@@ -27,13 +24,36 @@ void startPCA() {
     //set frequencies
     pcaModule1.setPWMFreq(PCA_FREQUENCY);
     pcaModule2.setPWMFreq(PCA_FREQUENCY);
+
+    pcaModule1.begin();
+    pcaModule1.setOscillatorFrequency(27000000);
+    pcaModule1.setPWMFreq(1600);  // This is the maximum PWM frequency
+
+    pcaModule2.begin();
+    pcaModule2.setOscillatorFrequency(27000000);
+    pcaModule2.setPWMFreq(1600);  // This is the maximum PWM frequency
+
+    Wire.setClock(400000);
+
+    Serial.println(pcaModule1.getOscillatorFrequency());
+    Serial.println(pcaModule2.getOscillatorFrequency());
+    //chime
+    setToDuty(4095);
+    delay(100);
+    setToDuty(0);
 }
 
 /// @brief Sets all motors to the specified duty cycle, mapped to the MOTOR_MAP defined in config.h
 /// @param dutyCycle The list of each motors duty cycle
 void setAllDuty() {
+    for(uint8_t i = 0; i < 16; i++) {
+        pcaModule1.setPin(motorMap[i], motorDuty[i]);
+        pcaModule2.setPin(motorMap[i+16]-16, motorDuty[i+16]);// 3 HOURS JUST TO FIND THE -16..... I WANT TO DIE
+    }
+}
+void setToDuty(uint16_t duty) {
     for(uint8_t i = 0; i < 32; i++) {
-        setMotorDuty(motorMap[i], motorDuty[i]);
+        setMotorDuty(motorMap[i], duty);
     }
 }
 

VRC-Haptics-Firmware-ESP/lib/PWM/PCA/pca.h → VRC-Haptics-Firmware-ESP/src/PWM/PCA/pca.h

@@ -2,6 +2,7 @@ void startPCA();
 
 void setMotorDuty(uint8_t motorIndex, uint16_t dutyCycle);
 void setAllDuty();
+void setToDuty(uint16_t duty);
 
 
 #define PCA_FREQUENCY 1600

VRC-Haptics-Firmware-ESP/src/globals.h

@@ -0,0 +1,11 @@
+// globals.h
+#ifndef GLOBALS_H
+#define GLOBALS_H
+#include "Arduino.h"
+
+
+//be sure to init in main.cpp
+
+extern uint16_t motorDuty[32];
+
+#endif // GLOBALS_H

VRC-Haptics-Firmware-ESP/src/main.cpp

@@ -1,17 +1,20 @@
 #include <Arduino.h>
 
 //main config files
-#include "variables.h"
+#include "globals.h"
 #include "config.h"
 #include "main.h"
 
 //import modules
 #include "OSC/osc.h"
-#include "PCA/pca.h"
+#include "PWM/PCA/pca.h"
 
 //setup scheduler
 #include <TaskScheduler.h>
 
+//init globals here
+uint16_t motorDuty[32] = {0};
+
 Scheduler TaskScheduler;
 
 //Task task1(INTERVAL_OSC_TICK, TASK_FOREVER, &oscTick, &TaskScheduler, true);
@@ -62,6 +65,7 @@ void loop() {
   if (millis()-start >= 1000) {
     Serial.print("LoopRate: ");
     Serial.println(ticks);
+    printMotorDuty();
 
     start = millis();
     ticks = 0;