337 lines
11 KiB
C++
337 lines
11 KiB
C++
#include "Arduino.h"
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#include "behaviour.h"
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SimplexNoise sn;
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Mood mood;
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float map_mode_rollpitch=0;
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float map_mode_walking=0;
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float map_mode_sleeping=0;
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float map_mode_noise=0;
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float matrix_weights_main[SERVO_COUNT_MAIN][WEIGHT_COUNT]; //mapping outputs, sensors/moods
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float matrix_weights_peripheralL[SERVO_COUNT_PERIPHERAL][WEIGHT_COUNT];
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float matrix_weights_peripheralR[SERVO_COUNT_PERIPHERAL][WEIGHT_COUNT];
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void initBehaviour() {
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mood.arousal=0;
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mood.valence=0;
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}
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void updateMood(unsigned long millis,float gyroX,float gyroY,float gyroZ,float maxAccX,float maxAccY,float maxAccZ,bool bellyup, bool body_present, bool contact_main, bool contact_peripheralL, bool contact_peripheralR,float height,float temp_ambient,float temp_object,float pumpspeed, float servoerror) {
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static unsigned long last_mood_update=0;
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if (millis-last_mood_update>MOOD_UPDATE_INTERVAL) {
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last_mood_update=millis;
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float step=MOOD_UPDATE_INTERVAL/1000.0;
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if (body_present && pumpspeed<0.8) { //body present and vacuum present (pump below speed 1.0)
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if (mood.valence<0.0) { //when attached, and valence low
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mood.valence=0.2; //jump valence up quickly
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}
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if (mood.valence<0.5) { //increase valence up to a certain point
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mood.valence+=step*0.05;
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}
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}
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if (!body_present) {
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if (mood.valence>-0.5) { //decrease valence down to a certain point
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mood.valence-=step*0.01;
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}
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}
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static unsigned long last_contact_time=0;
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static bool last_contact_main=false;
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static bool last_contact_peripheralR=false;
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static bool last_contact_peripheralL=false;
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if (contact_main || contact_peripheralL || contact_peripheralR) {
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if ((contact_main && !last_contact_main) || (contact_peripheralL && !last_contact_peripheralL) || (contact_peripheralR && !last_contact_peripheralR)) { //on first contact
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long _contacttime_min=1000;
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long _contacttime_max=20000;
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float _contact_increase_arousal=0.7;
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float _contact_increase_valence=0.1;
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if (mood.valence<-0.2) {
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long _contacttime_min=500;
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long _contacttime_max=2000;
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float _contact_increase_arousal=0.7;
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float _contact_increase_valence=-0.2;
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}
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float olda=mood.arousal;
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float oldv=mood.valence;
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mood.arousal+=constrain(mapfloat(millis-last_contact_time,_contacttime_min,_contacttime_max,0,_contact_increase_arousal),0,_contact_increase_arousal);
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mood.valence+=constrain(mapfloat(millis-last_contact_time,_contacttime_min,_contacttime_max,0,_contact_increase_valence),0,_contact_increase_valence);
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Serial.print("Contact. increase arousal:"); Serial.print(mood.arousal-olda); Serial.print(" valence:"); Serial.print(mood.valence-oldv); Serial.println();
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}
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last_contact_time=millis;
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}
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last_contact_main=contact_main;
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last_contact_peripheralR=contact_peripheralR;
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last_contact_peripheralL=contact_peripheralL;
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static float last_height=0;
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static float heightdiffsmooth=0; //goes up to 0.2 when lifted or lowered quickly 1m and slowly deacreases to 0
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heightdiffsmooth+=height-last_height;
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if (heightdiffsmooth>0) {
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heightdiffsmooth-=behaviour_confortable_lift*step;
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}else if (heightdiffsmooth<0) {
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heightdiffsmooth+=behaviour_confortable_lift*step; //0.1*step means 0.1m of heightchange per second does not affect heightdiffsmooth
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}
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//Serial.print("heightdiffsmooth:"); Serial.println(heightdiffsmooth,3);
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float maxAcc=sqrt(pow(maxAccX,2)+pow(maxAccY,2)+pow(maxAccZ,2));
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float preferredMaxAcc=0.5;
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if (constrain(mapfloat(abs(preferredMaxAcc-maxAcc),0.0,0.3,1.0,0.0),0.0,1.0)>0.0) {
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digitalWrite(PIN_LED,LOW); //On
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}else{
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digitalWrite(PIN_LED,HIGH); //Off
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}
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if (mood.arousal<-0.5) {
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mood.arousal+=constrain(mapfloat(abs(preferredMaxAcc-maxAcc),0.0,0.3,1.0,0.0),0.0,1.0)*step*0.2;
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}else{
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mood.valence+=constrain(mapfloat(abs(preferredMaxAcc-maxAcc),0.0,0.3,1.0,0.0),0.0,1.0)*step*0.2;
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if (mood.arousal>0.7) {
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mood.arousal-=step*0.04;
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}else if(mood.arousal<0.3) {
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mood.arousal+=step*0.03;
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}
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}
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if (abs(heightdiffsmooth)>0.05) {
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mood.valence-=abs(heightdiffsmooth)*step*1.0;
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if (mood.arousal<0.9){
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mood.arousal+=abs(heightdiffsmooth)*step*3.0;
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}
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}
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last_height=height;
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mood.arousal-=step*0.02; //slowly deacrease arousal
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if (mood.valence<0) {
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mood.valence+=step*0.03;
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}else if (mood.valence>0) {
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mood.valence-=step*0.01;
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}
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mood.arousal=constrain(mood.arousal,-1.0,1.0);
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mood.valence=constrain(mood.valence,-1.0,1.0);
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}
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}
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void updateMatrixWeights(unsigned long millis,bool bellyup, bool body_present, bool contact_main, bool contact_peripheralL, bool contact_peripheralR, float pitch, float roll){
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static unsigned long last_weights_update=0;
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if (millis-last_weights_update>WEIGHT_UPDATE_INTERVAL) {
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last_weights_update=millis;
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//### Update Mode ###
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float aim_map_mode_rollpitch=0;
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float aim_map_mode_walking=0;
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float aim_map_mode_sleeping=0;
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float aim_map_mode_noise=0;
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if (body_present) { //attached
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aim_map_mode_rollpitch=constrain(mapfloat(mood.valence,-0.3,0.3,0,1.0),0,1.0);
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aim_map_mode_noise=constrain(mapfloat(mood.valence,-0.2,-1.0,0,1.0),0,1.0);
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}else{ //detached
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if (bellyup) { //belly up
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aim_map_mode_walking=1.0;
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}else{ //sitting on a level survace
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aim_map_mode_noise=constrain(mapfloat(mood.arousal,-0.5,0.5, 0.0,1.0),0,1.0);
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map_mode_sleeping=constrain(mapfloat(mood.arousal,-1.0,-0.6, 1.0,0.0),0,1.0);
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}
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}
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map_mode_rollpitch=interpolateTo(map_mode_rollpitch,aim_map_mode_rollpitch,WEIGHT_UPDATE_INTERVAL/1000.0,0.3);
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map_mode_walking=interpolateTo(map_mode_walking,aim_map_mode_walking,WEIGHT_UPDATE_INTERVAL/1000.0,0.3);
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map_mode_sleeping=interpolateTo(map_mode_sleeping,aim_map_mode_sleeping,WEIGHT_UPDATE_INTERVAL/1000.0,0.3);
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map_mode_noise=interpolateTo(map_mode_noise,aim_map_mode_noise,WEIGHT_UPDATE_INTERVAL/1000.0,0.3);
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float map_sum=map_mode_walking+map_mode_rollpitch+map_mode_sleeping+map_mode_noise;
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map_mode_walking/=map_sum;
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map_mode_rollpitch/=map_sum;
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map_mode_sleeping/=map_sum;
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map_mode_noise/=map_sum; //divide mapping so the sum will be 1.0
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analogWrite(PIN_VIBRATION,contact_main?64:0);
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//reset all weights
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for (uint8_t i=0;i<SERVO_COUNT_MAIN;i++) {
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for (uint8_t w=0;w<WEIGHT_COUNT;w++) {
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matrix_weights_main[i][w]=0;
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}
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}
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for (uint8_t i=0;i<SERVO_COUNT_PERIPHERAL;i++) {
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for (uint8_t w=0;w<WEIGHT_COUNT;w++) {
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matrix_weights_peripheralL[i][w]=0;
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matrix_weights_peripheralR[i][w]=0;
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}
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}
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//Mode Noise
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matrix_weights_main[0][W_NOISE]+=30.0 *map_mode_noise;
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matrix_weights_main[0][W_NOISESLOW]+=0.0 *map_mode_noise;
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matrix_weights_main[1][W_NOISE]+=30.0 *map_mode_noise;
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matrix_weights_main[1][W_NOISESLOW]+=20.0 *map_mode_noise;
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matrix_weights_main[2][W_NOISE]+=20.0 *map_mode_noise;
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matrix_weights_main[2][W_NOISESLOW]+=30.0 *map_mode_noise;
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//Mode Roll Pitch
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matrix_weights_main[0][W_PITCH]+=1.0* map_mode_rollpitch;
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matrix_weights_main[1][W_ROLL]+=1.0* map_mode_rollpitch;
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matrix_weights_main[2][W_PITCH]+=1.0* map_mode_rollpitch;
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//Mode Walking
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matrix_weights_main[0][W_NOISESLOW]+=5 *map_mode_walking;
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matrix_weights_main[0][W_SIN]+=10 *map_mode_walking;
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matrix_weights_main[0][W_OFFSET]+=-60 *map_mode_walking;
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matrix_weights_main[1][W_NOISESLOW]+=30 *map_mode_walking;
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matrix_weights_main[2][W_COS]+=-20 *map_mode_walking;
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matrix_weights_main[2][W_OFFSET]+=70 *map_mode_walking;
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//Mode Sleeping
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matrix_weights_main[0][W_NOISESLOW]+=20 *map_mode_sleeping;
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matrix_weights_main[1][W_NOISESLOW]+=20 *map_mode_sleeping;
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matrix_weights_main[2][W_NOISESLOW]+=30 *map_mode_sleeping;
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}
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}
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void printModes() {
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Serial.print("Walking: \t"); Serial.println(map_mode_walking);
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Serial.print("RollPitch: \t"); Serial.println(map_mode_rollpitch);
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Serial.print("Sleeping: \t"); Serial.println(map_mode_sleeping);
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Serial.print("Noise: \t"); Serial.println(map_mode_noise);
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Serial.println();
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}
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void updateServosByWeights(unsigned long millis,float pitch,float roll){
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static unsigned long last_servoweights_update=0;
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if (millis-last_servoweights_update>SERVOWEIGHT_UPDATE_INTERVAL)
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{
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last_servoweights_update=millis;
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static unsigned long millis_add;
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#define MILLISADD_MIN SERVOWEIGHT_UPDATE_INTERVAL*0.5
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#define MILLISADD_MAX SERVOWEIGHT_UPDATE_INTERVAL*2
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millis_add+=constrain(mapfloat(mood.arousal, -0.5,0.5 ,MILLISADD_MIN,MILLISADD_MAX),MILLISADD_MIN,MILLISADD_MAX);
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float vsin=sin((millis_add)/1000.0);
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float vcos=cos((millis_add)/1000.0);
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for (uint8_t i=0;i<SERVO_COUNT;i++) {
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uint8_t servoPosInMatrix=0;
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float pnoise=sn.noise((millis()+millis_add)/5000.0,i*10); //simplexnoise -1 to 1
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float pnoiseslow=sn.noise((millis()+millis_add)/50000.0,i*10); //simplexnoise -1 to 1
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pitch=constrain(pitch,-80,80);
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roll=constrain(roll,-80,80);
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float angle=0;
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float lookdirection=(servos[i].angle>=0)?1:-1; //if angle positive, 1, else 0
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if (i<SERVO_COUNT_MAIN) { //Main
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/*if (i==0){
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Serial.print("servoangle:");Serial.println(servos[i].angle);
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Serial.print("lookdirection:");Serial.println(lookdirection);
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Serial.print("weight:");Serial.println(matrix_weights_main[i][W_LOOKDIRECTION]);
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}*/
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servoPosInMatrix=i;
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angle=
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pitch*matrix_weights_main[servoPosInMatrix][W_PITCH]
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+roll*matrix_weights_main[servoPosInMatrix][W_ROLL]
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+pnoise*matrix_weights_main[servoPosInMatrix][W_NOISE]
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+pnoiseslow*matrix_weights_main[servoPosInMatrix][W_NOISESLOW]
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+vsin*matrix_weights_main[servoPosInMatrix][W_SIN]
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+vcos*matrix_weights_main[servoPosInMatrix][W_COS]
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+lookdirection*matrix_weights_main[servoPosInMatrix][W_LOOKDIRECTION]
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+1.0*matrix_weights_main[servoPosInMatrix][W_OFFSET];
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}else if(i<SERVO_COUNT_MAIN+SERVO_COUNT_PERIPHERAL) { //Peripheral Left
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servoPosInMatrix=i-3;
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}else if(i<SERVO_COUNT_MAIN+2*SERVO_COUNT_PERIPHERAL) { //Peripheral Right
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servoPosInMatrix=i-2*3;
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}
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servos[i].angle=angle;
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}
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}
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}
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float interpolateTo(float value,float aimvalue,float timestep,float speed)
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{
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float result=value;
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if (result<aimvalue){
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result=result+timestep*speed;
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if (result>aimvalue) {
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result=aimvalue;
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}
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}else if (result>aimvalue){
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result=result-timestep*speed;
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if (result<aimvalue) {
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result=aimvalue;
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}
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}
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return result;
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}
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float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
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{
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return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
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}
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void printMood(){
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Serial.print("A:"); Serial.print(mood.arousal); Serial.print(" V:"); Serial.print(mood.valence);
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Serial.println();
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}
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