The problem is, when I launch the circuit, I can only output to one channel (only one of the motors vibrates).
I have tested each of the motor driver+haptic motor separately to make sure they work. I have also tried running one motor from different SCL and SDL outputs and that works as well. The problem either seems to be in the code, or possibly in power draw. All four motors and the multiplexer are connected through a breadboard to the Arduino's 3v pin.
I am attaching my code. I would really appreciate any insight. Thank you.
Code: Select all
#define TCAADDR 0x70
#include <Arduino.h>
#include <SPI.h>
#include "Adafruit_BLE.h"
#include "Adafruit_BluefruitLE_SPI.h"
#include "Adafruit_BluefruitLE_UART.h"
#include "BluefruitConfig.h"
#include "Adafruit_DRV2605.h"
#if SOFTWARE_SERIAL_AVAILABLE
#include <SoftwareSerial.h>
#endif
/*=========================================================================
APPLICATION SETTINGS
FACTORYRESET_ENABLE Perform a factory reset when running this sketch
Enabling this will put your Bluefruit LE module
in a 'known good' state and clear any config
data set in previous sketches or projects, so
running this at least once is a good idea.
When deploying your project, however, you will
want to disable factory reset by setting this
value to 0. If you are making changes to your
Bluefruit LE device via AT commands, and those
changes aren't persisting across resets, this
is the reason why. Factory reset will erase
the non-volatile memory where config data is
stored, setting it back to factory default
values.
Some sketches that require you to bond to a
central device (HID mouse, keyboard, etc.)
won't work at all with this feature enabled
since the factory reset will clear all of the
bonding data stored on the chip, meaning the
central device won't be able to reconnect.
MINIMUM_FIRMWARE_VERSION Minimum firmware version to have some new features
MODE_LED_BEHAVIOUR LED activity, valid options are
"DISABLE" or "MODE" or "BLEUART" or
"HWUART" or "SPI" or "MANUAL"
-----------------------------------------------------------------------*/
#define FACTORYRESET_ENABLE 1
#define MINIMUM_FIRMWARE_VERSION "0.6.6"
#define MODE_LED_BEHAVIOUR "MODE"
/*=========================================================================*/
/* ...hardware SPI, using SCK/MOSI/MISO hardware SPI pins and then user selected CS/IRQ/RST */
Adafruit_BluefruitLE_SPI ble(BLUEFRUIT_SPI_CS, BLUEFRUIT_SPI_IRQ, BLUEFRUIT_SPI_RST);
// A small helper
void error(const __FlashStringHelper*err) {
Serial.println(err);
while (1);
}
Adafruit_DRV2605 drv;
void setup() {
while (!Serial); // required for Flora & Micro
delay(500);
Serial.begin(115200);
Serial.println(F("Adafruit Bluefruit Command Mode Example"));
Serial.println(F("---------------------------------------"));
/* Initialise the module */
Serial.print(F("Initialising the Bluefruit LE module: "));
if ( !ble.begin(VERBOSE_MODE) )
{
error(F("Couldn't find Bluefruit, make sure it's in CoMmanD mode & check wiring?"));
}
Serial.println( F("OK!") );
if ( FACTORYRESET_ENABLE )
{
/* Perform a factory reset to make sure everything is in a known state */
Serial.println(F("Performing a factory reset: "));
if ( ! ble.factoryReset() ){
error(F("Couldn't factory reset"));
}
}
/* Disable command echo from Bluefruit */
ble.echo(false);
Serial.println("Requesting Bluefruit info:");
/* Print Bluefruit information */
ble.info();
Serial.println(F("Please use Adafruit Bluefruit LE app to connect in UART mode"));
Serial.println(F("Then Enter characters to send to Bluefruit"));
Serial.println();
ble.verbose(false); // debug info is a little annoying after this point!
/* Wait for connection */
while (! ble.isConnected()) {
delay(500);
}
// LED Activity command is only supported from 0.6.6
if ( ble.isVersionAtLeast(MINIMUM_FIRMWARE_VERSION) )
{
// Change Mode LED Activity
Serial.println(F("******************************"));
Serial.println(F("Change LED activity to " MODE_LED_BEHAVIOUR));
ble.sendCommandCheckOK("AT+HWModeLED=" MODE_LED_BEHAVIOUR);
Serial.println(F("******************************"));
}
drv.begin();
// I2C trigger by sending 'go' command
drv.useLRA();
drv.setMode(DRV2605_MODE_INTTRIG); // default, internal trigger when sending GO command
drv.selectLibrary(6);
drv.setWaveform(0, 52); // ramp up medium 1, see datasheet part 11.2
drv.setWaveform(1, 52); // strong click 100%, see datasheet part 11.2
drv.setWaveform(2, 52); // strong click 100%, see datasheet part 11.2
drv.setWaveform(3, 52); // strong click 100%, see datasheet part 11.2
drv.setWaveform(4, 52); // strong click 100%, see datasheet part 11.2
drv.setWaveform(5, 0); // end of waveforms
}
void tcaselect(uint8_t i) {
if (i > 7) return;
Wire.beginTransmission(TCAADDR);
Wire.write(1 << i);
Wire.endTransmission();
}
void loop() {
// Check for user input
char inputs[BUFSIZE+1];
if ( getUserInput(inputs, BUFSIZE) )
{
// Send characters to Bluefruit
Serial.print("[Send] ");
Serial.println(inputs);
ble.print("AT+BLEUARTTX=");
ble.println(inputs);
// check response stastus
if (! ble.waitForOK() ) {
Serial.println(F("Failed to send?"));
}
}
// Check for incoming characters from Bluefruit
ble.println("AT+BLEUARTRX");
ble.readline();
if (strcmp(ble.buffer, "OK") == 0) {
// no data
return;
}
// Some data was found, its in the buffer
char *ptr = strtok(ble.buffer, "^");
Serial.print(F("[Recv] ")); Serial.println(ptr);
ble.waitForOK();
tcaselect(2);
drv.go();
delay(3000);
tcaselect(3);
drv.go();
delay(3000);
tcaselect(4);
drv.go();
delay(3000);
tcaselect(5);
drv.go();
delay(3000);
}
/**************************************************************************/
/*!
@brief Checks for user input (via the Serial Monitor)
*/
/**************************************************************************/
bool getUserInput(char buffer[], uint8_t maxSize)
{
// timeout in 100 milliseconds
TimeoutTimer timeout(100);
memset(buffer, 0, maxSize);
while( (!Serial.available()) && !timeout.expired() ) { delay(1); }
if ( timeout.expired() ) return false;
delay(2);
uint8_t count=0;
do
{
count += Serial.readBytes(buffer+count, maxSize);
delay(2);
} while( (count < maxSize) && (Serial.available()) );
return true;
}