Differences

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--- project_lyta_control_logic_notes [2007-06-18 12:45] – external edit 127.0.0.1
+++ project_lyta_control_logic_notes [2017-01-28 05:33] (current) – [run loop] 193.180.119.2
@@ Line 1: / Line 1: @@
@@ Line 4: / Line 5: @@
 ==== assumptions ====
-   treat muscles pairwise.
+treat muscles pairwise.
 ==== comments ====
+  * General notes: See http://www.zero-th.org/lyta/communication/FunctionalOverview/
+  * There is a max patch from prototype 1 that implemented a simple muscle pair as described below. See http://www.zero-th.org/lyta/MaxMSPLytaProto.zip
+  * One issue that was encountered with this scheme is that a light contact over time creates a depression.
-	¥	General notes: See http://www.zero-th.org/lyta/communication/FunctionalOverview/
+  * A solution is to include a term which relates the applied force to the displacement (see general notes above)
-	¥	There is a max patch from prototype 1 that implemented a simple muscle pair as described below. See http://www.zero-th.org/lyta/MaxMSPLytaProto.zip
-	¥	One issue that was encountered with this scheme is that a light contact over time creates a depression.
-	¥	A solution is to include a term which relates the applied force to the displacement (see general notes above)
 ==== run loop ====
@@ Line 26: / Line 25: @@
-for each pair read FSR value if value is higher than threshold, wake up //otherwise, set muscle output to 0 (if it isn't already).
+for each pair read FSR value if value is higher than threshold, wake up / otherwise, set muscle output to 0 (if it isn't already).
 ==== calculating delta: ====
@@ Line 37: / Line 36: @@
-Mx==0 is maximum extension
+Mx''==''0 is maximum extension
-Mx==1 is maximum retraction
+Mx''==''1 is maximum retraction
-Fx==0 is no force
+Fx''==''0 is no force
-Fx==1 is maxumum force
+Fx''==''1 is maxumum force
@@ Line 57: / Line 56: @@
-d1 = (F1-F2)
+d1 = (F1-F2) // increase M1 (back off) proportionally if F1 is greater than F2 //
-// increase M1 (back off) proportionally if F1 is greater than F2
-d2 = (0.5-M1)
+d2 = (0.5-M1) // increase M1 proportionally if M1 is less than 0.5 //
-// increase M1 proportionally if M1 is less than 0.5
-d3 = ((1-M2)-M1)
+d3 = ((1-M2)-M1) // increase M1 proportionally if M1 is less than 1-M2 //
-// increase M1 proportionally if M1 is less than 1-M2
-the three delta components are multipled by three coefficients and applied to M1 and M2:
+the three delta components are multiplied by three coefficients and applied to M1 and M2:
   * M1 = M1 + (d1*c1 + d2*c2 + d3*c3)