animation files now made up of curves
parent
22cdb34063
commit
06883652d0
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@ -91,6 +91,22 @@ void setup() {
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Serial.println("FFat mount failed");
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return;
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}
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// anim.saveToFile("/scurve.anim");
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// Serial.println("SAVED");
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//anim.loadFromFile("/scurve.anim");
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//anim.createBasicSCurve();
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// Serial.println("loading");
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//anim.saveToFile("/pointcurve.anim");
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//playAnimation(anim);
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// Serial.println("DONE");
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// anim.createEaseOutCurve();
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// playAnimation(anim);
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//anim.printCurves();
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// PrintFileList();
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// anim.loadFromFile("/bob.anim");
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// anim.printKeyframes();
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// playAnimation(anim);
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@ -889,7 +905,46 @@ void deleteFile(fs::FS& fs, const char* path) {
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}
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}
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void playAnimation(Animation& anim) {
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void playAnimation(Animation& animation) {
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uint16_t durationCS = animation.getFrameCount();
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const uint8_t fps = 48;
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const uint32_t frameIntervalMS = 1000 / fps; // ~20.83 ms
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const uint32_t totalDurationMS = durationCS * 10;
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uint32_t startTime = millis();
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uint32_t nextFrameTime = startTime;
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while (millis() - startTime < totalDurationMS) {
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uint32_t currentTime = millis();
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if (currentTime >= nextFrameTime) {
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uint16_t timeCS = (currentTime - startTime) / 10;
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//for (uint8_t motorID = 0; motorID < NUM_CHANNELS; motorID++) {
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uint16_t pos = animation.getMotorPosition(0, timeCS);
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pos = pos / 4;
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servos[0]->sendWritePos(10, pos);
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Serial.println(pos);
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//}
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nextFrameTime += frameIntervalMS;
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}
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// Optional: yield or small delay to avoid busy loop
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delay(1);
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}
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// Optional: reset motors to center
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// for (uint8_t motorID = 0; motorID < NUM_CHANNELS; motorID++) {
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// servos[0]->sendWritePos(motorID, 2048);
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// }
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}
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void playAnimationOLD(Animation& anim) {
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// uint16_t positions[NUM_CHANNELS];
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// const uint16_t frameCount = 400; //anim.getFrameCount();
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// const uint32_t frameDelay = 1000 / FRAMES_PER_SECOND;
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230
animation.cpp
230
animation.cpp
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@ -32,41 +32,69 @@ uint16_t Animation::getMotorPosition(uint8_t motorID, uint16_t timeCS) {
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for (const auto& seg : curves[motorID]) {
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if (timeCS >= seg.startTime && timeCS <= seg.endTime) {
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float t = float(timeCS - seg.startTime) / (seg.endTime - seg.startTime);
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// Convert uint16_t to float in range -1 to 1
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auto toFloat = [](uint16_t v) {
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return (float(v) / 65535.0f) * 2.0f - 1.0f;
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};
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float p0 = toFloat(seg.startPoint);
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float p1 = toFloat(seg.startHandle);
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float p2 = toFloat(seg.endHandle);
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float p3 = toFloat(seg.endPoint);
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// Define control points
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float x0 = seg.startTime;
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float x1 = seg.startHandleX;
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float x2 = seg.endHandleX;
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float x3 = seg.endTime;
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float y0 = toFloat(seg.startPointY);
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float y1 = toFloat(seg.startHandleY);
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float y2 = toFloat(seg.endHandleY);
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float y3 = toFloat(seg.endPointY);
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// Solve for t such that Bézier x(t) ≈ timeCS
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auto bezierX = [&](float t) {
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float u = 1.0f - t;
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float value = u*u*u*p0 + 3*u*u*t*p1 + 3*u*t*t*p2 + t*t*t*p3;
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return u * u * u * x0 + 3 * u * u * t * x1 + 3 * u * t * t * x2 + t * t * t * x3;
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};
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// Remap back to 0–4095 for PWM
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float t = 0.5f;
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float lower = 0.0f;
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float upper = 1.0f;
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for (int i = 0; i < 20; ++i) {
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float x = bezierX(t);
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if (fabs(x - timeCS) < 0.5f) break;
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if (x < timeCS) lower = t;
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else upper = t;
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t = (lower + upper) * 0.5f;
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}
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// Evaluate Bézier y(t)
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float u = 1.0f - t;
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float value = u * u * u * y0 + 3 * u * u * t * y1 + 3 * u * t * t * y2 + t * t * t * y3;
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// Remap to PWM range
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return constrain((value + 1.0f) * 2047.5f, 0, 4095);
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}
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}
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return 2048; // Default center if no segment matches
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return 2048; // Default center
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}
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void Animation::clear() {
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memset(data, 0, sizeof(data));
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//memset(data, 0, sizeof(data));
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}
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uint16_t* Animation::getRawData() {
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return &data[0][0];
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}
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// uint16_t* Animation::getRawData() {
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// return &data[0][0];
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// }
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size_t Animation::getSize() const {
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return sizeof(data);
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// size_t Animation::getSize() const {
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// return sizeof(data);
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// }
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void Animation::setFrameCount(uint16_t count) {
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header.frameCount = count;
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}
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uint16_t Animation::getFrameCount() const {
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@ -76,22 +104,22 @@ uint16_t Animation::getFrameCount() const {
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bool Animation::saveToFile(const char* filename) {
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// Auto-detect actual frame count
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uint16_t lastFrame = 0;
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for (uint16_t frame = 0; frame < MAX_FRAMES; frame++) {
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for (uint8_t ch = 0; ch < NUM_CHANNELS; ch++) {
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if (data[frame][ch] != 0) {
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lastFrame = frame;
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break;
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}
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}
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}
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header.frameCount = lastFrame + 1;
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// for (uint16_t frame = 0; frame < MAX_FRAMES; frame++) {
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// for (uint8_t ch = 0; ch < NUM_CHANNELS; ch++) {
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// if (data[frame][ch] != 0) {
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// lastFrame = frame;
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// break;
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// }
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// }
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// }
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//header.frameCount = lastFrame + 1;
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File file = FFat.open(filename, FILE_WRITE);
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if (!file) return false;
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// Write header and motion data
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file.write((uint8_t*)&header, sizeof(header));
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file.write((uint8_t*)data, sizeof(data));
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//file.write((uint8_t*)data, sizeof(data));
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// Count total curve segments
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uint16_t curveCount = 0;
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@ -113,6 +141,7 @@ bool Animation::saveToFile(const char* filename) {
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return true;
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}
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bool Animation::loadFromFile(const char* filename) {
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File file = FFat.open(filename, FILE_READ);
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if (!file) return false;
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@ -132,11 +161,11 @@ bool Animation::loadFromFile(const char* filename) {
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header = tempHeader;
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// Read motion data
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size_t expectedSize = sizeof(data);
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if (file.read((uint8_t*)data, expectedSize) != expectedSize) {
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file.close();
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return false;
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}
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// size_t expectedSize = sizeof(data);
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// if (file.read((uint8_t*)data, expectedSize) != expectedSize) {
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// file.close();
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// return false;
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// }
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// Read curve count
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uint16_t curveCount;
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@ -165,3 +194,144 @@ bool Animation::loadFromFile(const char* filename) {
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return true;
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}
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void Animation::printCurves() {
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Serial.println("=== Curve Segments ===");
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auto toFloat = [](uint16_t v) -> float {
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return (float(v) / 65535.0f) * 2.0f - 1.0f;
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};
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for (uint8_t motorID = 0; motorID < NUM_CHANNELS; motorID++) {
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if (curves[motorID].empty()) continue;
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Serial.print("Motor ");
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Serial.print(motorID);
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Serial.println(":");
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for (size_t i = 0; i < curves[motorID].size(); ++i) {
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const CurveSegment& seg = curves[motorID][i];
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Serial.print(" Segment ");
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Serial.print(i);
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Serial.print(" | Time: ");
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Serial.print(seg.startTime * 0.01f, 2);
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Serial.print("s → ");
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Serial.print(seg.endTime * 0.01f, 2);
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Serial.println("s");
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Serial.print(" Start Point Y: ");
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Serial.println(toFloat(seg.startPointY), 3);
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Serial.print(" Start Handle: (");
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Serial.print(seg.startHandleX * 0.01f, 2);
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Serial.print("s, ");
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Serial.print(toFloat(seg.startHandleY), 3);
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Serial.println(")");
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Serial.print(" End Handle: (");
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Serial.print(seg.endHandleX * 0.01f, 2);
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Serial.print("s, ");
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Serial.print(toFloat(seg.endHandleY), 3);
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Serial.println(")");
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Serial.print(" End Point Y: ");
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Serial.println(toFloat(seg.endPointY), 3);
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}
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}
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Serial.println("======================");
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}
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void Animation::createBasicSCurve() {
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clearAllCurves();
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// Helper to convert float [-1, 1] to uint16_t [0, 65535]
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auto toUint16 = [](float v) -> uint16_t {
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return constrain((v + 1.0f) * 32767.5f, 0, 65535);
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};
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setFrameCount(800); // 8.00 seconds
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// First segment: -1 at 0s → +1 at 0.40s
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CurveSegment seg1;
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seg1.motorID = 0;
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seg1.startTime = 0; // 0.00s
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seg1.endTime = 40; // 0.40s = 40 centiseconds
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seg1.startPointY = toUint16(-1.0f); // P0.y
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seg1.startHandleX = 10; // P1.x (early pull)
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seg1.startHandleY = toUint16(-1.0f);
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seg1.endHandleX = 30; // P2.x (late pull)
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seg1.endHandleY = toUint16(+1.0f);
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seg1.endPointY = toUint16(+1.0f); // P3.y
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addCurveSegment(seg1);
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// Second segment: +1 at 0.40s → -1 at 8.00s
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CurveSegment seg2;
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seg2.motorID = 0;
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seg2.startTime = 40; // 0.40s
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seg2.endTime = 800; // 8.00s
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seg2.startPointY = toUint16(+1.0f); // P0.y
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seg2.startHandleX = 200; // P1.x (early pull)
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seg2.startHandleY = toUint16(+1.0f);
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seg2.endHandleX = 600; // P2.x (late pull)
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seg2.endHandleY = toUint16(-1.0f);
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seg2.endPointY = toUint16(-1.0f); // P3.y
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addCurveSegment(seg2);
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}
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void Animation::createEaseOutCurve() {
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clearAllCurves();
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// Helper to convert float [-1, 1] to uint16_t [0, 65535]
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auto toUint16 = [](float v) -> uint16_t {
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return constrain((v + 1.0f) * 32767.5f, 0, 65535);
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};
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setFrameCount(400); // 8.00 seconds total
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// Segment 1: Ease out from -1 to +1 over 4 seconds
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CurveSegment seg;
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seg.motorID = 0;
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seg.startTime = 0; // 0.00s
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seg.endTime = 200; // 4.00s
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seg.startPointY = toUint16(-1.0f); // P0.y
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seg.startHandleX = 50; // P1.x (early pull → slow start)
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seg.startHandleY = toUint16(-1.0f);
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seg.endHandleX = 180; // P2.x (late pull → fast finish)
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seg.endHandleY = toUint16(+0.5f);
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seg.endPointY = toUint16(+1.0f); // P3.y
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addCurveSegment(seg);
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// Segment 2: Ease out from +1 to -1 over 4 seconds
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CurveSegment returnSeg;
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returnSeg.motorID = 0;
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returnSeg.startTime = 200; // 4.00s
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returnSeg.endTime = 400; // 8.00s
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returnSeg.startPointY = toUint16(+1.0f); // P0.y
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returnSeg.startHandleX = 250; // P1.x (early pull → slow start)
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returnSeg.startHandleY = toUint16(+1.0f);
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returnSeg.endHandleX = 380; // P2.x (late pull → fast finish)
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returnSeg.endHandleY = toUint16(-0.5f);
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returnSeg.endPointY = toUint16(-1.0f); // P3.y
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addCurveSegment(returnSeg);
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}
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26
animation.h
26
animation.h
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@ -22,13 +22,15 @@ struct AnimationHeader {
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struct __attribute__((packed)) CurveSegment {
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uint8_t motorID;
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uint16_t startTime; // centiseconds (0.01s) MAX 655.35 seconds
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uint16_t endTime;
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uint16_t startTime;// centiseconds (0.01s) MAX 655.35 seconds
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uint16_t endTime;// centiseconds (0.01s) MAX 655.35 seconds
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// remapped from -1 to 1 → 0–65535
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uint16_t startPoint; // start value
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uint16_t startHandle; // start handle
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uint16_t endPoint; // end value
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uint16_t endHandle; // end handle
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uint16_t startPointY;
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uint16_t startHandleX;
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uint16_t startHandleY;
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uint16_t endHandleX;
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uint16_t endHandleY;
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uint16_t endPointY;
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};
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@ -45,20 +47,22 @@ public:
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void addCurveSegment(const CurveSegment& segment);
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void clearCurves(uint8_t motorID);
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void clearAllCurves();
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void printCurves();
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uint16_t getMotorPosition(uint8_t motorID, uint16_t timeCS);
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void clear();
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uint16_t* getRawData(); // Optional: for bulk access
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size_t getSize() const;
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//uint16_t* getRawData(); // Optional: for bulk access
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//size_t getSize() const;
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bool saveToFile(const char* filename);
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bool loadFromFile(const char* filename);
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uint16_t getFrameCount() const;
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void createSampleSweep(uint8_t seconds);
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void createStaggeredSweep(uint8_t seconds);
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void setFrameCount(uint16_t count);
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void createBasicSCurve();
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void createEaseOutCurve();
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AnimationHeader header;
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private:
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uint16_t data[MAX_FRAMES][NUM_CHANNELS];
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//uint16_t data[MAX_FRAMES][NUM_CHANNELS];
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std::vector<CurveSegment> curves[NUM_CHANNELS]; // One list per motor channel
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};
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Reference in New Issue