Import Effects

Download the 'lite' version of the library to work with effects imported from Feelix
Initialize an exported effect
The code generated during export can be pasted in the FeelixEffect library ('lite' version).
Additionally, the motor has to be initialized as shown here.
#include "Feelix.h"
​
EffectConfig_s bump_config { 
    .data_size = 26,
    .angle = 120,
    .quality = 10,
    .effect_type = Effect_type::DEPENDENT,
    .control_type = Control_type::POSITION
 };
​
float data_bump[] = {-0.362436362, 0.0, -0.408459434, 0.098711278, -0.404538423, 0.291391915, -0.365721557, 0.507018542, -0.286210671, 0.673098857, -0.162736664, 0.769335491, 0.0, 0.799975852, 0.153987833, 0.774500160, 0.287550988, 0.684574980, 0.368372644, 0.524378006, 0.399189361, 0.309056731, 0.398715347, 0.111885261, 0.358331666, 0.002202121};
FeelixEffect bump = FeelixEffect(bump_config, data_bump);
​
Play an exported haptic effect
void setup() {
​
  feelix.init();
}
​
void loop() {
  
  /* these functions need to update at a high frequency */
  
  /* read angle, velocity, direction and time */
   feelix.run();
   
  /* get the values based on current angle */
  /* void playHapticEffectAtAngle(FeelixEffect, float angle (in degrees))
   feelix.playHapticEffectAtAngle(bump, 180);
   
  /* write value to motors */
   feelix.move_feelix();
}
Play an exported velocity effect
void setup() {
​
  feelix.init();
  
  delay(1000);
  
  velocity_effect.start(); // start the effect
}
​
void loop() {
  /* these functions need to update at a high frequency */
  
  /* read angle, velocity, direction and time */
   feelix.run();
​
  /* get the values based on current time*/
   feelix.playVelocityEffect(velocity_effect);
​
  /* write value to motors */
   feelix.move_feelix();
}
Access variables motor
The feelix.run() updates the following variables that can be accessed in the code:
The current angle of the motor in radians (float)
feelix.angle 
The velocity of the motor in rad/s (float)
feelix.velocity
The time since the program started is saved in (long) current_time, the time can be reset when the (long) start_time variable is set to millis()
feelix.current_time
feelix.start_time = millis();
Get the direction in which the motor is rotating, clockwise (1) and counterclockwise (-1).
feelix.rotation_dir
Change sensor direction opposed to motor direction
feelix.sensor_dir = Direction::CCW  /* default: Direction::CW */
Change effect settings
Enable effect (effects are enabled by default)
effect.enable();
Disable effect
effect.disable();
Check if an effect is enabled
/* variable will be true when enabled, false when disabled */
effect.enabled 
Start velocity effect
effect.start();
Stop velocity effect
effect.stop();
Change scale
scale.x changes the angle (position/torque effects) or the duration (velocity), and scale.y changes the intensity (voltage %), velocity (velocity %), or degrees. Depending on the type of effect (torque, position, velocity over time, or angle over time)
effect.scale.x = 1.5; /* default is 1.0 */
effect.scale.y = 0.5; /* default is 1.0 */
Loop velocity effect
effect.infinite = true; /* default is false */
Repeat a haptic effect every rotation
feelix.range = 360 /* repeat effect every 360 degrees (default) */
effect.infinite = true; /* default is false */
Disable effect in clockwise direction or counterclockwise direction (haptic only)
effect.direction.cw = false; /* default is true */
effect.direction.ccw = false; /* default is true */
​

Motor control

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Initialize an exported effect

Play an exported haptic effect

Play an exported velocity effect

Access variables motor

Change effect settings