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| Thank you to our Kickstarter Supporters who made this possible! Specifically we would like to thank the following backers | ||
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| * Rod and Janet Hank<br/> | ||
| * Michael Noll-Hussong, MD<br/> | ||
| * Funkatronics (Marco Martinez)<br/> | ||
| * Robert & Darlene Moritz<br/> |
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examples/Leonardo_tactile_cursor/Leonardo_tactile_cursor.ino
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| #include <Cthulhu.h> | ||
| #include "Mouse.h" | ||
| /* | ||
| Cthulhu Leonardo cursor control example - Example for activating certain electrodes and sensing whether the tongue is in contact with | ||
| each electrode, and using this to control a computor cursor cia arduino leonardo. | ||
| Created by Joel Moritz Jr May 2019 | ||
| Released into the public domain. | ||
| */ | ||
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| /* | ||
| This example shows how to use the Cthulhu Shield and tri-state function of the the arduino analog pins (A0-A5) to create | ||
| a (somewhat intense) stimulus waveform on the tongue at 4 'button' locations, and to sense whether the tongue is in | ||
| contact with each button. If the LED is active, the LED's representing an electrode should noticiably brighten when | ||
| the tongue is in contact with the electrode. More comfortable stimulating pulses can be used. The long pulses | ||
| used here were selected to maximize the change in brightness of the LED's during tongue contact. | ||
| The example will output an analog reading for each of the six buttons to the serial terminal. | ||
| */ | ||
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| //array to hold which electrodes should be on or off. In this example, one electrode is turned on. | ||
| int trodes[] = {1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1}; | ||
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| //pulse period for each electrode, in microseconds. Can be manipulated with Pp and IN to change the intensity of the sensation. | ||
| int PP[] = {20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20}; | ||
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| //length of positive pulse for each electrode, in microseconds. Can be manipulated with PP and IN to change the intensity of the sensation. | ||
| int Pp[] = {19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19}; | ||
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| //inner burst number (how many pulses in each inner burst). Can be manipulated with PP and Pp to change the intensity of the sensation. | ||
| int IN[] = {5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5}; | ||
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| //inner burst period. In microseconds. Can change quality, or 'feel' of sensation. | ||
| int IP[] = {150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150,150}; | ||
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| //Outer burst number. Can change quality, or 'feel' of sensation. | ||
| int ON[] = {5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5}; | ||
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| //Requirements: | ||
| //Pp must be less than PP. CheckWaveform Error 1. | ||
| //(PP*IN) must be less than IP. CheckWaveform Error 2. | ||
| //IP*IN must be less than 2000 microseconds. CheckWaveform Error 3. | ||
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| #define HighPeriod 1 | ||
| #define LowPeriod 16000 //note,. this has greatest effect on percieved intensity | ||
| #define IntensityDelay 100 //adjust this to adjust intensity of tactile buttons. | ||
| #define InnerBurstPeriodDelay 1000 | ||
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| #define RightThresh 150 | ||
| #define LeftThresh 150 | ||
| #define TipThresh 310 | ||
| #define BackThresh 215 | ||
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| uint8_t buf[8] = { | ||
| 0 }; /* Keyboard report buffer */ | ||
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| Cthulhu mycthulhu; //creating and instance of | ||
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| int tip; | ||
| int back; | ||
| int left; | ||
| int right; | ||
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| int range = 1; // output range of X or Y movement; affects movement speed | ||
| int responseDelay = 1; // response delay of the mouse, in ms | ||
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| int upState; | ||
| int downState; | ||
| int rightState; | ||
| int leftState; | ||
| int leftclickState; | ||
| int rightclickState; | ||
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| int acceleration = 1; | ||
| int maxspeed = 10; | ||
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| int count = 0; | ||
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| void setup() { | ||
| mycthulhu.Begin(); | ||
| //Serial.begin(9600); | ||
| Mouse.begin(); | ||
| } | ||
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| void loop() { | ||
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| // | ||
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| for(int i = 0; i<3;i++) | ||
| { | ||
| digitalWrite(A0, HIGH); | ||
| digitalWrite(A1, HIGH); | ||
| digitalWrite(A2, HIGH); | ||
| digitalWrite(A3, HIGH); | ||
| digitalWrite(A4, HIGH); | ||
| digitalWrite(A5, HIGH); | ||
| //write pin 3-12 pulses | ||
| delayMicroseconds(HighPeriod); // postive pulse | ||
| pinMode(A0, INPUT); | ||
| pinMode(A1, INPUT); | ||
| pinMode(A2, INPUT); | ||
| pinMode(A3, INPUT); | ||
| pinMode(A4, INPUT); | ||
| pinMode(A5, INPUT); | ||
| tip = (analogRead(A1) + analogRead(A2))/2; | ||
| back = (analogRead(A0) + analogRead(A3))/2; | ||
| right = analogRead(A4); | ||
| left = analogRead(A5); | ||
| delayMicroseconds(IntensityDelay); | ||
| pinMode(A0,OUTPUT); | ||
| pinMode(A1,OUTPUT); | ||
| pinMode(A2,OUTPUT); | ||
| pinMode(A3,OUTPUT); | ||
| pinMode(A4,OUTPUT); | ||
| pinMode(A5,OUTPUT); | ||
| digitalWrite(A0, LOW); | ||
| digitalWrite(A1, LOW); | ||
| digitalWrite(A2, LOW); | ||
| digitalWrite(A3, LOW); | ||
| digitalWrite(A4, LOW); | ||
| digitalWrite(A5, LOW); | ||
| delayMicroseconds(LowPeriod); // negative pulse | ||
| } | ||
| delayMicroseconds(InnerBurstPeriodDelay); | ||
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| if (tip > TipThresh && back > BackThresh && left > LeftThresh && right > RightThresh) | ||
| { | ||
| count = count + 1; | ||
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| if(count >= 25) | ||
| { | ||
| rightclickState = 1; | ||
| count = 0; | ||
| } | ||
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| else | ||
| { | ||
| leftclickState = 1; | ||
| mycthulhu.UpdateStimuli(trodes, PP, Pp, IN, IP, ON); //update waveform parameters | ||
| mycthulhu.Stimulate(); //create the stimulation pulsetrain on the electrodes | ||
| } | ||
| } | ||
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| else | ||
| { | ||
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| if (tip > TipThresh) | ||
| { | ||
| if(upState!=0) | ||
| { | ||
| upState = upState + acceleration; | ||
| if(upState >= maxspeed) | ||
| { | ||
| upState = maxspeed; | ||
| } | ||
| } | ||
| else { | ||
| upState = 1; | ||
| } | ||
| } | ||
| else | ||
| { | ||
| upState = 0; | ||
| } | ||
| if (back > BackThresh) | ||
| { | ||
| if(downState!=0) | ||
| { | ||
| downState = downState + acceleration; | ||
| if(downState >= maxspeed) | ||
| { | ||
| downState = maxspeed; | ||
| } | ||
| } | ||
| else { | ||
| downState = 1; | ||
| } | ||
| } | ||
| else | ||
| { | ||
| downState = 0; | ||
| } | ||
| if (left > LeftThresh) | ||
| { | ||
| if(leftState!=0) | ||
| { | ||
| leftState = leftState + acceleration; | ||
| if(leftState >= maxspeed) | ||
| { | ||
| leftState = maxspeed; | ||
| } | ||
| } | ||
| else { | ||
| leftState = 1; | ||
| } | ||
| } | ||
| else | ||
| { | ||
| leftState = 0; | ||
| } | ||
| if (right > RightThresh) | ||
| { | ||
| if(rightState!=0) | ||
| { | ||
| rightState = rightState + acceleration; | ||
| if(rightState >= maxspeed) | ||
| { | ||
| rightState = maxspeed; | ||
| } | ||
| } | ||
| else { | ||
| rightState = 1; | ||
| } | ||
| } | ||
| else | ||
| { | ||
| rightState = 0; | ||
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| } | ||
| } | ||
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| if (tip <= TipThresh && back <= BackThresh && left <= LeftThresh && right <= RightThresh) | ||
| { | ||
| leftclickState = 0; | ||
| rightclickState = 0; | ||
| } | ||
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| int xDistance = (leftState - rightState) * range; | ||
| int yDistance = (upState - downState) * range; | ||
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| // if X or Y is non-zero, move: | ||
| if ((xDistance != 0) || (yDistance != 0)) { | ||
| Mouse.move(xDistance, yDistance, 0); | ||
| } | ||
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| // if the mouse button is pressed: | ||
| if (leftclickState == HIGH) { | ||
| // if the mouse is not pressed, press it: | ||
| if (!Mouse.isPressed(MOUSE_LEFT)) { | ||
| Mouse.press(MOUSE_LEFT); | ||
| } | ||
| } | ||
| // else the mouse button is not pressed: | ||
| else { | ||
| // if the mouse is pressed, release it: | ||
| if (Mouse.isPressed(MOUSE_LEFT)) { | ||
| Mouse.release(MOUSE_LEFT); | ||
| } | ||
| } | ||
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| // if the mouse button is pressed: | ||
| if (rightclickState == HIGH) { | ||
| // if the mouse is not pressed, press it: | ||
| if (!Mouse.isPressed(MOUSE_RIGHT)) { | ||
| Mouse.press(MOUSE_RIGHT); | ||
| } | ||
| } | ||
| // else the mouse button is not pressed: | ||
| else { | ||
| // if the mouse is pressed, release it: | ||
| if (Mouse.isPressed(MOUSE_RIGHT)) { | ||
| Mouse.release(MOUSE_RIGHT); | ||
| } | ||
| } | ||
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| // a delay so the mouse doesn't move too fast: | ||
| delay(responseDelay); | ||
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| } | ||
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