Functions and Parameters

This code works with the Feelix Effect Arduino Library

General

/* initialize Feelix 
 * default communication state: no I2C communication
 * default I2C address: 0x71
 */
void Feelix::init(State _state = State::NO_COMMUNICATION, uint8_t I2C_ADDRESS = 0x71);

/* Function that needs to be called every loop to update variables */
void Feelix::run();

/* write target values to the motor to control torque/velocity/angle */
void Feelix::move_feelix();

/* Move to specific angle (specified in deg)
 * at certain speed in percentages of maxVelocity (0.0 - 1.0)
 * stop moving when angle is reached with given precision
 */
void Feelix::move_to(float _angleDeg, float speed = 1.0, float precision = 0.2);

/* set voltage (call in setup)
 * default: 12.0 
 * updates both power supply voltage and voltage limit
 */
void Feelix::setVoltage(float voltage);

/* get angle and velocity variables */
float angle //angle in radians
float angleDeg //angle in degrees
float velocity // velocity in radians/sec
float direction // direction of motor CW (1)/CCW (-1) 

/* read temperature sensor 
 * when calling this function a temperature above 65 degrees will stop the motor.
 */
void Feelix::readTemperature();

/* temperature is stored in:
 */
float temperature

/* set range and start position 
 * rangeMin and rangeMax in degrees
 * update start position set to true
 * when updated the startPosition will be aligned with rangeMin 
 * and the updated range will become equal to 0 - (rangeMax - rangeMin)
 */
void Feelix::setRange(float rangeMin, float rangeMax, bool updateStartPos = true);

/* boolean (default false) to constrain motor to set range 
 * outside of this range no power will be supplied to the motor
 */
bool constrain_range 

/* transmission factor (default 1.0) 
 * this variable can be used when using gears or other types of power transmission
 * simply divide teeth driven gear / teeth driving gear in case of gears.
 */
float transmissionFactor 

/* play a haptic effect angle (in deg) call every loop to update variables */
void Feelix::playHapticEffectAtAngle(FeelixEffect effect, float _angleDeg);

/* play a velocity effect with optional callback call every loop to update variables */
void Feelix::playVelocityEffect(FeelixEffect effect, void (*callback)() = NULL);

/* stop the motor */
void Feelix::stop();

Effects Functions

/* velocity effect only */
void FeelixEffect::play(bool play, long time = millis());

/* start effect */
effect_name.play(true, feelix.current_time);

/* stop effect */
effect_name.play(false);

/* boolean effect (true when playing) */
effect_name.PLAYING

void FeelixEffect::enable()
void FeelixEffect::disable()

/* enable effect */
effect_name.enable();
effect_name.disable();

/* check if effect is enabled */
bool enabled;

/* mirror effect data */
void FeelixEffect::mirrorVertical(float data_input[], int size);
void FeelixEffect::mirrorHorizontal(float data_input[], int size);

Effect Parameters

/* variable to store number of data points */
int data_size

/* Haptic Effect
 * true: repeat every rotation
 * false: repeat once
 */
 
/* Velocity Effect
 * true: loop effect
 * false: play effect once
 */
 
 bool infinite

/* scale effect in x and y: value between 0.0 and 1.0 */
effect.scale.x = 0.8;
effect.scale.y = 0.5;

/* update effect position on y-axis: value between -1.0 and 1.0 */
effect.position.y = -0.5

/* Effect config settings */
struct EffectConfig_s {
    int data_size; // size of data array
    float angle; // width (deg) or duration (ms) of effect
    float quality; // resolution of effect lower value means longer data array
    Effect_type effect_type; // type of effect
    Control_type control_type; // control type
};

/* control type (torque, position, or velocity) */
Control_type::POSITION   
Control_type::TORQUE          
Control_type::VELOCITY     
Control_type::VELOCITY_ANGLE  
Control_type::MOVE_TO        
Control_type::UNDEFINED    

/* effect type only relevant for haptic effects */
Effect_type::INDEPENDENT 
Effect_type::DEPENDENT
Effect_type::NOTSET   

/* direction in which the effect is played (default true) */
bool direction.cw; 
bool direction.ccw; 

/* boolean is true when velocity effect is playing */
bool PLAYING;

/* boolean is true when effect is enabled, set to false to disable effect */
bool enabled;