dofdev/braille_xr
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servo specific spin chirality

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This commit is contained in:
ethan merchant 2024-04-30 17:16:23 -04:00
parent 8624a0d139
commit fa5243aa08
1 changed files with 6 additions and 5 deletions
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11
firmware/braille_xr/braille_xr.ino
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@ -12,12 +12,13 @@ char in_char = ' ';
struct ServoPin {
Servo servo;
int pin;
int spin; // -1 left, +1 right
};
ServoPin servos[6] = {
{Servo(), 14}, {Servo(), 5},
{Servo(), 12}, {Servo(), 4},
{Servo(), 13}, {Servo(), 2} // 19 and 21 are untested
{Servo(), 14, +1}, {Servo(), 5, -1},
{Servo(), 12, -1}, {Servo(), 4, +1},
{Servo(), 13, +1}, {Servo(), 2, -1} // 19 and 21 are untested
};
// braille alphabet
@ -248,8 +249,8 @@ void loop() {
BrailleChar bc = braille_map[in_char];
for (int i = 0; i < 6; i++) {
int state = bc.servo_states[i];
int s = i % 2 == 0 ? state : (1 - state);
servos[i].servo.write(s * 180);
int spin = servos[i].spin < 0 ? (1 - state) : state;
servos[i].servo.write(spin * 90);
}
old_char = in_char;