Mobile Speaker: Vehicle Controller

An OSC based proxy controller for Linux-based hosts (RPi 4) for a vehicle driven by Trinamic PD60-3-1160 stepper motors, plus servo controls through PWM.

Part of the ICST research project Sound Moving Sources that entails motorized, mobile loudspeakers.

Building

Dependencies et al

Requires cmake >= 3.19

macOS

brew install libserialport

Linux

sudo apt install libserialport0 libserialport-dev

Compiling

cd ~/Desktop
git clone --recursive https://github.com/tschiemer/vehicle-controller

Change oscpacks CMakeLists.txt as follows (as of May 4th 2021):

@@ -23,7 +23,7 @@ ELSE()
        cmake_minimum_required(VERSION 2.6)
        PROJECT(TestOscpack)

-       INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR})
+       INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})

        # separate versions of NetworkingUtils.cpp and UdpSocket.cpp are provided for Win32 and POSIX
        # the IpSystemTypePath selects the correct ones based on the current platform
@@ -63,6 +63,7 @@ ELSE()
        osc/OscOutboundPacketStream.cpp

        )
+       target_include_directories(oscpack PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})


        ADD_EXECUTABLE(OscUnitTests tests/OscUnitTests.cpp)

Setup

These steps are additional to compiling on the target system.

Raspberry Pi

The subfolders of folder setup contain the necessary files from the file root as need to be added; each subfolder contains the files for a particular mobile speaker configuration, ie:

• Rotary model (2 steppers for movement, 1 stepper for rotation)
• Aggregat model (4 steppers for movement, 2 servos for rotation/direction)

Please be aware of the "hidden" (dot-notation) folders typically not visible on macOS/linux (ex /home/pi/.config).

In the following some general notes that should already be included in the files as mentioned above.

To generate USB port specific serial port links add file /etc/udev/rules.d/99-trinamic-motor.rules

KERNEL=="ttyACM[0-9]*", SUBSYSTEM=="tty", ATTRS{devpath}=="1.1", ATTRS{idVendor}=="2a3c", ATTRS{idProduct}=="0100", SYMLINK="ttyMotor1"
KERNEL=="ttyACM[0-9]*", SUBSYSTEM=="tty", ATTRS{devpath}=="1.2", ATTRS{idVendor}=="2a3c", ATTRS{idProduct}=="0100", SYMLINK="ttyMotor2"
KERNEL=="ttyACM[0-9]*", SUBSYSTEM=="tty", ATTRS{devpath}=="1.3", ATTRS{idVendor}=="2a3c", ATTRS{idProduct}=="0100", SYMLINK="ttyMotor3"
KERNEL=="ttyACM[0-9]*", SUBSYSTEM=="tty", ATTRS{devpath}=="1.4", ATTRS{idVendor}=="2a3c", ATTRS{idProduct}=="0100", SYMLINK="ttyMotor4"

and reboot (or run sudo udevadm control --reload-rules && sudo udevadm trigger).

To automatically start basic script as follows:

Add starter script /home/pi/Desktop/Starte-Motoren.sh:

#!/bin/bash

vehicle-controller/cmake-build/mobspkr-vehicle-ctrl -d0:l -d1:r /dev/ttyMotor1 /dev/ttyMotor2
#vehicle-controller/cmake-build/mobspkr-vehicle-ctrl -d0:l -d1:r /dev/ttyACM0 /dev/ttyACM1


echo ">>> Application terminate <<<"
echo "> Hit enter to close window (please make a photo first and send to philip) <"

read

Create autostart file /home/pi/.config/autostart/motor.desktop:

[Desktop Entry]
Type=Application
Name=Motor Starter
Exec=lxterminal --command="/bin/bash -c 'cd /home/pi/Desktop; ./Starte-Motoren.sh; /bin/bash'"

Control Patches (Max/MSP)

Also see folder control-patches:

• Motor Control.maxpat provides the control for the Trinamic stepper motors
• AGGREGAT Control.maxpat provides the control for the AGGREGAT servo motors*

*Note that the AGGERGAT patch (at this time) comes with two externals that will be blocked for security reasons by macOS. To unblock follow these instructions by cycling74.

Important note the combination of macOS/MaxMSP may use different indices for the Joystick HID controls, so possibly the respective route blocks have to be adjusted.

License

MIT License

Copyright 2021 ICST / ZHdK