I am builfing a spacemouse for CAD modelling with these instructions: Printables
Everything exept the software is done and this is my first time working with an arduino. Every upload I try it gives me other errors. The code can be found on the internet site. I am really struggeling with this software thing. Its a arduino micro, I downloaded the newest IDE and tried to upload the code...
Error message:
`Connecting to programmer: .
Found programmer: Id = "CATERIN"; type = S
Software Version = 1.0; No Hardware Version given.
Programmer supports auto addr increment.
Programmer supports buffered memory access with buffersize=128 bytes.
Programmer supports the following devices:
Device code: 0x44`
Full Code:
// This code is the combination of multiple works by others:
// 1. Original code for the Space Mushroom by Shiura on Thingiverse: https://www.thingiverse.com/thing:5739462
// The next two from the comments on the instructables page: https://www.instructables.com/Space-Mushroom-Full-6-DOFs-Controller-for-CAD-Appl/
// and the comments of Thingiverse: https://www.thingiverse.com/thing:5739462/comments
// 2. Code to emulate a 3DConnexion Space Mouse by jfedor: https://pastebin.com/gQxUrScV
// 3. This code was then remixed by BennyBWalker to include the above two sketches: https://pastebin.com/erhTgRBH
// 4. Four joystick remix code by fdmakara: https://www.thingiverse.com/thing:5817728
// My work invloves mixing all of these. The basis is fdmakara's four joystick movement logic, with jfedor/BennyBWalker's HID SpaceMouse emulation.
// The four joystick logic sketch was setup for the joystick library instead of HID, so elements of this were omitted where not needed.
// The outputs were jumbled no matter how I plugged them in, so I spent a lot of time adding debugging code to track exactly what was happening.
// On top of this, I have added more control of speed/direction and comments/links to informative resources to try and explain what is happening in each phase.
// Spacemouse emulation
// I followed the instructions here from nebhead: https://gist.github.com/nebhead/c92da8f1a8b476f7c36c032a0ac2592a
// with two key differences:
// 1. I changed the word 'DaemonBite' to 'Spacemouse' in all references.
// 2. I changed the VID and PID values as per jfedor's instructions: vid=0x256f, pid=0xc631 (SpaceMouse Pro Wireless (cabled))
// When compiling and uploading, I select Arduino AVR boards (in Sketchbook) > Spacemouse and then the serial port.
// You will also need to download and install the 3DConnexion software: https://3dconnexion.com/us/drivers-application/3dxware-10/
// If all goes well, the 3DConnexion software will show a SpaceMouse Pro wireless when the Arduino is connected.
// Include inbuilt Arduino HID library by NicoHood: https://github.com/NicoHood/HID
#include "HID.h"
// Debugging
// 0: Debugging off. Set to this once everything is working.
// 1: Output raw joystick values. 0-1023 raw ADC 10-bit values
// 2: Output centered joystick values. Values should be approx -500 to +500, jitter around 0 at idle.
// 3: Output centered joystick values. Filtered for deadzone. Approx -500 to +500, locked to zero at idle.
// 4: Output translation and rotation values. Approx -800 to 800 depending on the parameter.
// 5: Output debug 4 and 5 side by side for direct cause and effect reference.
int debug = 0;
// Direction
// Modify the direction of translation/rotation depending on preference. This can also be done per application in the 3DConnexion software.
// Switch between true/false as desired.
bool invX = false; // pan left/right
bool invY = false; // pan up/down
bool invZ = true; // zoom in/out
bool invRX = true; // Rotate around X axis (tilt front/back)
bool invRY = false; // Rotate around Y axis (tilt left/right)
bool invRZ = true; // Rotate around Z axis (twist left/right)
// Speed - Had to be removed when the V2 shorter range of motion. The logic reduced sensitivity on small movements. Use 3DConnexion slider instead for V2.
// Modify to change sensitibity/speed. Default and maximum 100. Works like a percentage ie. 50 is half as fast as default. This can also be done per application in the 3DConnexion software.
//int16_t speed = 100;
// Default Assembly when looking from above:
// C Y+
// | .
// B--+--D X-...Z+...X+
// | .
// A Y-
//
// Wiring. Matches the first eight analogue pins of the Arduino Pro Micro (atmega32u4)
int PINLIST[8] = { // The positions of the reads
A1, // X-axis A
A0, // Y-axis A
A3, // X-axis B
A2, // Y-axis B
A7, // X-axis C
A6, // Y-axis C
A9, // X-axis D
A8 // Y-axis D
};
// Deadzone to filter out unintended movements. Increase if the mouse has small movements when it should be idle or the mouse is too senstive to subtle movements.
int DEADZONE = 3; // Recommended to have this as small as possible for V2 to allow smaller knob range of motion.
// This portion sets up the communication with the 3DConnexion software. The communication protocol is created here.
// hidReportDescriptor webpage can be found here: https://eleccelerator.com/tutorial-about-usb-hid-report-descriptors/
static const uint8_t _hidReportDescriptor[] PROGMEM = {
0x05, 0x01, // Usage Page (Generic Desktop)
0x09, 0x08, // 0x08: Usage (Multi-Axis)
0xa1, 0x01, // Collection (Application)
0xa1, 0x00, // Collection (Physical)
0x85, 0x01, // Report ID
0x16, 0x00, 0x80, //logical minimum (-500)
0x26, 0xff, 0x7f, //logical maximum (500)
0x36, 0x00, 0x80, //Physical Minimum (-32768)
0x46, 0xff, 0x7f, //Physical Maximum (32767)
0x09, 0x30, // Usage (X)
0x09, 0x31, // Usage (Y)
0x09, 0x32, // Usage (Z)
0x75, 0x10, // Report Size (16)
0x95, 0x03, // Report Count (3)
0x81, 0x02, // Input (variable,absolute)
0xC0, // End Collection
0xa1, 0x00, // Collection (Physical)
0x85, 0x02, // Report ID
0x16, 0x00, 0x80, //logical minimum (-500)
0x26, 0xff, 0x7f, //logical maximum (500)
0x36, 0x00, 0x80, //Physical Minimum (-32768)
0x46, 0xff, 0x7f, //Physical Maximum (32767)
0x09, 0x33, // Usage (RX)
0x09, 0x34, // Usage (RY)
0x09, 0x35, // Usage (RZ)
0x75, 0x10, // Report Size (16)
0x95, 0x03, // Report Count (3)
0x81, 0x02, // Input (variable,absolute)
0xC0, // End Collection
0xa1, 0x00, // Collection (Physical)
0x85, 0x03, // Report ID
0x15, 0x00, // Logical Minimum (0)
0x25, 0x01, // Logical Maximum (1)
0x75, 0x01, // Report Size (1)
0x95, 32, // Report Count (24)
0x05, 0x09, // Usage Page (Button)
0x19, 1, // Usage Minimum (Button #1)
0x29, 32, // Usage Maximum (Button #24)
0x81, 0x02, // Input (variable,absolute)
0xC0,
0xC0
};
// Axes are matched to pin order.
#define AX 0
#define AY 1
#define BX 2
#define BY 3
#define CX 4
#define CY 5
#define DX 6
#define DY 7
// Centerpoint variable to be populated during setup routine.
int centerPoints[8];
// Function to read and store analogue voltages for each joystick axis.
void readAllFromJoystick(int *rawReads){
for(int i=0; i<8; i++){
rawReads[i] = analogRead(PINLIST[i]);
}
}
void setup() {
// HID protocol is set.
static HIDSubDescriptor node(_hidReportDescriptor, sizeof(_hidReportDescriptor));
HID().AppendDescriptor(&node);
// Begin Seral for debugging
Serial.begin(250000);
delay(100);
// Read idle/centre positions for joysticks.
readAllFromJoystick(centerPoints);
readAllFromJoystick(centerPoints);
}
// Function to send translation and rotation data to the 3DConnexion software using the HID protocol outlined earlier. Two sets of data are sent: translation and then rotation.
// For each, a 16bit integer is split into two using bit shifting. The first is mangitude and the second is direction.
void send_command(int16_t rx, int16_t ry, int16_t rz, int16_t x, int16_t y, int16_t z) {
uint8_t trans[6] = { x & 0xFF, x >> 8, y & 0xFF, y >> 8, z & 0xFF, z >> 8 };
HID().SendReport(1, trans, 6);
uint8_t rot[6] = { rx & 0xFF, rx >> 8, ry & 0xFF, ry >> 8, rz & 0xFF, rz >> 8 };
HID().SendReport(2, rot, 6);
}
void loop() {
int rawReads[8], centered[8];
// Joystick values are read. 0-1023
readAllFromJoystick(rawReads);
// Report back 0-1023 raw ADC 10-bit values if enabled
if(debug == 1){
Serial.print("AX:");
Serial.print(rawReads[0]);
Serial.print(",");
Serial.print("AY:");
Serial.print(rawReads[1]);
Serial.print(",");
Serial.print("BX:");
Serial.print(rawReads[2]);
Serial.print(",");
Serial.print("BY:");
Serial.print(rawReads[3]);
Serial.print(",");
Serial.print("CX:");
Serial.print(rawReads[4]);
Serial.print(",");
Serial.print("CY:");
Serial.print(rawReads[5]);
Serial.print(",");
Serial.print("DX:");
Serial.print(rawReads[6]);
Serial.print(",");
Serial.print("DY:");
Serial.println(rawReads[7]);
}
// Subtract centre position from measured position to determine movement.
for(int i=0; i<8; i++) centered[i] = rawReads[i] - centerPoints[i]; //
// Report centered joystick values if enabled. Values should be approx -500 to +500, jitter around 0 at idle.
if(debug == 2){
Serial.print("AX:");
Serial.print(centered[0]);
Serial.print(",");
Serial.print("AY:");
Serial.print(centered[1]);
Serial.print(",");
Serial.print("BX:");
Serial.print(centered[2]);
Serial.print(",");
Serial.print("BY:");
Serial.print(centered[3]);
Serial.print(",");
Serial.print("CX:");
Serial.print(centered[4]);
Serial.print(",");
Serial.print("CY:");
Serial.print(centered[5]);
Serial.print(",");
Serial.print("DX:");
Serial.print(centered[6]);
Serial.print(",");
Serial.print("DY:");
Serial.println(centered[7]);
}
// Filter movement values. Set to zero if movement is below deadzone threshold.
for(int i=0; i<8; i++){
if(centered[i]<DEADZONE && centered[i]>-DEADZONE) centered[i] = 0;
}
// Report centered joystick values. Filtered for deadzone. Approx -500 to +500, locked to zero at idle
if(debug == 3){
Serial.print("AX:");
Serial.print(centered[0]);
Serial.print(",");
Serial.print("AY:");
Serial.print(centered[1]);
Serial.print(",");
Serial.print("BX:");
Serial.print(centered[2]);
Serial.print(",");
Serial.print("BY:");
Serial.print(centered[3]);
Serial.print(",");
Serial.print("CX:");
Serial.print(centered[4]);
Serial.print(",");
Serial.print("CY:");
Serial.print(centered[5]);
Serial.print(",");
Serial.print("DX:");
Serial.print(centered[6]);
Serial.print(",");
Serial.print("DY:");
Serial.println(centered[7]);
}
// Doing all through arithmetic contribution by fdmakara
// Integer has been changed to 16 bit int16_t to match what the HID protocol expects.
int16_t transX, transY, transZ, rotX, rotY, rotZ; // Declare movement variables at 16 bit integers
// Original fdmakara calculations
//transX = (-centered[AX] +centered[CX])/1;
//transY = (-centered[BX] +centered[DX])/1;
//transZ = (-centered[AY] -centered[BY] -centered[CY] -centered[DY])/2;
//rotX = (-centered[AY] +centered[CY])/2;
//rotY = (+centered[BY] -centered[DY])/2;
//rotZ = (+centered[AX] +centered[BX] +centered[CX] +centered[DX])/4;
// My altered calculations based on debug output. Final divisor can be changed to alter sensitivity for each axis.
transX = -(-centered[CY] +centered[AY])/1;
transY = (-centered[BY]+centered[DY])/1;
if((abs(centered[AX])>DEADZONE)&&(abs(centered[BX])>DEADZONE)&&(abs(centered[CX])>DEADZONE)&&(abs(centered[DX])>DEADZONE)){
transZ = (-centered[AX] -centered[BX] -centered[CX] -centered[DX])/1;
transX = 0;
transY = 0;
} else {
transZ = 0;
}
rotX = (-centered[AX] +centered[CX])/1;
rotY = (+centered[BX] -centered[DX])/1;
if((abs(centered[AY])>DEADZONE)&&(abs(centered[BY])>DEADZONE)&&(abs(centered[CY])>DEADZONE)&&(abs(centered[DY])>DEADZONE)){
rotZ = (+centered[AY] +centered[BY] +centered[CY] +centered[DY])/2;
rotX = 0;
rotY = 0;
} else {
rotZ = 0;
}
// Alter speed to suit user preference - Use 3DConnexion slider instead for V2.
//transX = transX/100*speed;
//transY = transY/100*speed;
//transZ = transZ/100*speed;
//rotX = rotX/100*speed;
//rotY = rotY/100*speed;
//rotZ = rotZ/100*speed;
// Invert directions if needed
if(invX == true){ transX = transX*-1;};
if(invY == true){ transY = transY*-1;};
if(invZ == true){ transZ = transZ*-1;};
if(invRX == true){ rotX = rotX*-1;};
if(invRY == true){ rotY = rotY*-1;};
if(invRZ == true){ rotZ = rotZ*-1;};
// Report translation and rotation values if enabled. Approx -800 to 800 depending on the parameter.
if(debug == 4){
Serial.print("TX:");
Serial.print(transX);
Serial.print(",");
Serial.print("TY:");
Serial.print(transY);
Serial.print(",");
Serial.print("TZ:");
Serial.print(transZ);
Serial.print(",");
Serial.print("RX:");
Serial.print(rotX);
Serial.print(",");
Serial.print("RY:");
Serial.print(rotY);
Serial.print(",");
Serial.print("RZ:");
Serial.println(rotZ);
}
// Report debug 4 and 5 info side by side for direct reference if enabled. Very useful if you need to alter which inputs are used in the arithmatic above.
if(debug == 5){
Serial.print("AX:");
Serial.print(centered[0]);
Serial.print(",");
Serial.print("AY:");
Serial.print(centered[1]);
Serial.print(",");
Serial.print("BX:");
Serial.print(centered[2]);
Serial.print(",");
Serial.print("BY:");
Serial.print(centered[3]);
Serial.print(",");
Serial.print("CX:");
Serial.print(centered[4]);
Serial.print(",");
Serial.print("CY:");
Serial.print(centered[5]);
Serial.print(",");
Serial.print("DX:");
Serial.print(centered[6]);
Serial.print(",");
Serial.print("DY:");
Serial.print(centered[7]);
Serial.print("||");
Serial.print("TX:");
Serial.print(transX);
Serial.print(",");
Serial.print("TY:");
Serial.print(transY);
Serial.print(",");
Serial.print("TZ:");
Serial.print(transZ);
Serial.print(",");
Serial.print("RX:");
Serial.print(rotX);
Serial.print(",");
Serial.print("RY:");
Serial.print(rotY);
Serial.print(",");
Serial.print("RZ:");
Serial.println(rotZ);
}
// Send data to the 3DConnexion software.
// The correct order for me was determined after trial and error
send_command(rotX, rotZ, rotY, transX, transZ, transY);
}
see the GitHub link above.