Tangible Light

This is a conceptual app platform designed for tangible user interfaces, and the hardware is a specific example to show the implementation.

Aug 26, 2020

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design

art

tangible user interface

Devices & Components

Arduino Uno Rev3

5v 10A switching power supply

Male/Female Jumper Wires

Connector Adapter, DC Power - 2.1mm

Raspberry Pi 4 Model B

100

SG90 Micro-servo motor

PCA9685

Hardware & Tools

Laser cutter (generic)

Soldering iron (generic)

Software & Tools

Unity

Processing

Arduino IDE

Autodesk - Inventor

Project description

Code

Display Shape - Sine

arduino

We use this simple code to test whether the pin matrix works out, which would show a dynamic sine wave.

1#include <Wire.h>
2#include <Adafruit_PWMServoDriver.h>
3#include  <Math.h>
4
5// Address
6Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);
7Adafruit_PWMServoDriver  pwm1 = Adafruit_PWMServoDriver(0x41);
8Adafruit_PWMServoDriver pwm2 = Adafruit_PWMServoDriver(0x42);
9Adafruit_PWMServoDriver  pwm3 = Adafruit_PWMServoDriver(0x43);
10Adafruit_PWMServoDriver pwm4 = Adafruit_PWMServoDriver(0x44);
11Adafruit_PWMServoDriver  pwm5 = Adafruit_PWMServoDriver(0x45);
12Adafruit_PWMServoDriver pwm6 = Adafruit_PWMServoDriver(0x46);
13Adafruit_PWMServoDriver  pwm7 = Adafruit_PWMServoDriver(0x47);
14Adafruit_PWMServoDriver pwm8 = Adafruit_PWMServoDriver(0x48);
15Adafruit_PWMServoDriver  pwm9 = Adafruit_PWMServoDriver(0x49);
16
17#define SERVOMIN  110 // this is the  'minimum' pulse length count (out of 4096)
18#define SERVOMAX  400 // this is the  'maximum' pulse length count (out of 4096)
19int t = 0;
20int offset = (SERVOMAX  + SERVOMIN) / 2;
21int ampl = (SERVOMAX - SERVOMIN) / 2;
22int freq = 1;
23
24void  setup() {
25  Serial.begin(115200);
26  Serial.setTimeout(10);
27  Serial.println("16  channel Servo test!");
28
29  pwm.begin();
30  pwm1.begin();
31  pwm2.begin();
32  pwm3.begin();
33  pwm4.begin();
34  pwm5.begin();
35  pwm6.begin();
36  pwm7.begin();
37  pwm8.begin();
38  pwm9.begin();
39// Analog servos run at ~60 Hz updates
40  pwm.setPWMFreq(60);
41  pwm1.setPWMFreq(60);
42  pwm2.setPWMFreq(60);
43  pwm3.setPWMFreq(60);
44  pwm4.setPWMFreq(60);
45  pwm5.setPWMFreq(60);
46  pwm6.setPWMFreq(60);
47  pwm7.setPWMFreq(60);
48  pwm8.setPWMFreq(60);
49  pwm9.setPWMFreq(60);
50
51//Zero
52  for(int i =  0; i < 16; i += 1){
53    pwm.setPWM(i, 0, SERVOMIN);
54    pwm1.setPWM(i, 0,  SERVOMIN);
55    pwm2.setPWM(i, 0, SERVOMIN);
56    pwm3.setPWM(i, 0, SERVOMIN);
57    pwm4.setPWM(i, 0, SERVOMIN);
58    pwm5.setPWM(i, 0, SERVOMIN);
59    pwm6.setPWM(i,  0, SERVOMIN);
60    pwm7.setPWM(i, 0, SERVOMIN);
61    pwm8.setPWM(i, 0, SERVOMIN);
62    pwm9.setPWM(i, 0, SERVOMIN);
63  }
64  Serial.println("Ready");
65}
66
67void  loop() {
68  while(Serial.available()){ //To control the starting time.
69    for  (int i = 0; i < 10; ++i)
70    {
71      Serial.print((int)(offset+ampl*sin(freq*(i+t))));
72      Serial.print(" ");
73      pwm.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t))));
74      pwm1.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+1))));
75      pwm2.setPWM(i,  0, (int)(offset+ampl*sin(freq*(i+t+2))));
76      pwm3.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+3))));
77      pwm4.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+4))));
78      pwm5.setPWM(i,  0, (int)(offset+ampl*sin(freq*(i+t+5))));
79      pwm6.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+6))));
80      pwm7.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+7))));
81      pwm8.setPWM(i,  0, (int)(offset+ampl*sin(freq*(i+t+8))));
82      pwm9.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+9))));
83    }
84    Serial.println("");
85    delay(100);
86    t++;
87  }
88}
89

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
#include  <Math.h>

// Address
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);
Adafruit_PWMServoDriver  pwm1 = Adafruit_PWMServoDriver(0x41);
Adafruit_PWMServoDriver pwm2 = Adafruit_PWMServoDriver(0x42);
Adafruit_PWMServoDriver  pwm3 = Adafruit_PWMServoDriver(0x43);
Adafruit_PWMServoDriver pwm4 = Adafruit_PWMServoDriver(0x44);
Adafruit_PWMServoDriver  pwm5 = Adafruit_PWMServoDriver(0x45);
Adafruit_PWMServoDriver pwm6 = Adafruit_PWMServoDriver(0x46);
Adafruit_PWMServoDriver  pwm7 = Adafruit_PWMServoDriver(0x47);
Adafruit_PWMServoDriver pwm8 = Adafruit_PWMServoDriver(0x48);
Adafruit_PWMServoDriver  pwm9 = Adafruit_PWMServoDriver(0x49);

#define SERVOMIN  110 // this is the  'minimum' pulse length count (out of 4096)
#define SERVOMAX  400 // this is the  'maximum' pulse length count (out of 4096)
int t = 0;
int offset = (SERVOMAX  + SERVOMIN) / 2;
int ampl = (SERVOMAX - SERVOMIN) / 2;
int freq = 1;

void  setup() {
  Serial.begin(115200);
  Serial.setTimeout(10);
  Serial.println("16  channel Servo test!");

  pwm.begin();
  pwm1.begin();
  pwm2.begin();
  pwm3.begin();
  pwm4.begin();
  pwm5.begin();
  pwm6.begin();
  pwm7.begin();
  pwm8.begin();
  pwm9.begin();
// Analog servos run at ~60 Hz updates
  pwm.setPWMFreq(60);
  pwm1.setPWMFreq(60);
  pwm2.setPWMFreq(60);
  pwm3.setPWMFreq(60);
  pwm4.setPWMFreq(60);
  pwm5.setPWMFreq(60);
  pwm6.setPWMFreq(60);
  pwm7.setPWMFreq(60);
  pwm8.setPWMFreq(60);
  pwm9.setPWMFreq(60);

//Zero
  for(int i =  0; i < 16; i += 1){
    pwm.setPWM(i, 0, SERVOMIN);
    pwm1.setPWM(i, 0,  SERVOMIN);
    pwm2.setPWM(i, 0, SERVOMIN);
    pwm3.setPWM(i, 0, SERVOMIN);
    pwm4.setPWM(i, 0, SERVOMIN);
    pwm5.setPWM(i, 0, SERVOMIN);
    pwm6.setPWM(i,  0, SERVOMIN);
    pwm7.setPWM(i, 0, SERVOMIN);
    pwm8.setPWM(i, 0, SERVOMIN);
    pwm9.setPWM(i, 0, SERVOMIN);
  }
  Serial.println("Ready");
}

void  loop() {
  while(Serial.available()){ //To control the starting time.
    for  (int i = 0; i < 10; ++i)
    {
      Serial.print((int)(offset+ampl*sin(freq*(i+t))));
      Serial.print(" ");
      pwm.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t))));
      pwm1.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+1))));
      pwm2.setPWM(i,  0, (int)(offset+ampl*sin(freq*(i+t+2))));
      pwm3.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+3))));
      pwm4.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+4))));
      pwm5.setPWM(i,  0, (int)(offset+ampl*sin(freq*(i+t+5))));
      pwm6.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+6))));
      pwm7.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+7))));
      pwm8.setPWM(i,  0, (int)(offset+ampl*sin(freq*(i+t+8))));
      pwm9.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+9))));
    }
    Serial.println("");
    delay(100);
    t++;
  }
}

Display Shape - Sine

arduino

We use this simple code to test whether the pin matrix works out, which would show a dynamic sine wave.

1#include <Wire.h>
2#include <Adafruit_PWMServoDriver.h>
3#include
4  <Math.h>
5
6// Address
7Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);
8Adafruit_PWMServoDriver
9  pwm1 = Adafruit_PWMServoDriver(0x41);
10Adafruit_PWMServoDriver pwm2 = Adafruit_PWMServoDriver(0x42);
11Adafruit_PWMServoDriver
12  pwm3 = Adafruit_PWMServoDriver(0x43);
13Adafruit_PWMServoDriver pwm4 = Adafruit_PWMServoDriver(0x44);
14Adafruit_PWMServoDriver
15  pwm5 = Adafruit_PWMServoDriver(0x45);
16Adafruit_PWMServoDriver pwm6 = Adafruit_PWMServoDriver(0x46);
17Adafruit_PWMServoDriver
18  pwm7 = Adafruit_PWMServoDriver(0x47);
19Adafruit_PWMServoDriver pwm8 = Adafruit_PWMServoDriver(0x48);
20Adafruit_PWMServoDriver
21  pwm9 = Adafruit_PWMServoDriver(0x49);
22
23#define SERVOMIN  110 // this is the
24  'minimum' pulse length count (out of 4096)
25#define SERVOMAX  400 // this is the
26  'maximum' pulse length count (out of 4096)
27int t = 0;
28int offset = (SERVOMAX
29  + SERVOMIN) / 2;
30int ampl = (SERVOMAX - SERVOMIN) / 2;
31int freq = 1;
32
33void
34  setup() {
35  Serial.begin(115200);
36  Serial.setTimeout(10);
37  Serial.println("16
38  channel Servo test!");
39
40  pwm.begin();
41  pwm1.begin();
42  pwm2.begin();
43
44  pwm3.begin();
45  pwm4.begin();
46  pwm5.begin();
47  pwm6.begin();
48  pwm7.begin();
49
50  pwm8.begin();
51  pwm9.begin();
52// Analog servos run at ~60 Hz updates
53
54  pwm.setPWMFreq(60);
55  pwm1.setPWMFreq(60);
56  pwm2.setPWMFreq(60);
57  pwm3.setPWMFreq(60);
58
59  pwm4.setPWMFreq(60);
60  pwm5.setPWMFreq(60);
61  pwm6.setPWMFreq(60);
62  pwm7.setPWMFreq(60);
63
64  pwm8.setPWMFreq(60);
65  pwm9.setPWMFreq(60);
66
67//Zero
68  for(int i =
69  0; i < 16; i += 1){
70    pwm.setPWM(i, 0, SERVOMIN);
71    pwm1.setPWM(i, 0,
72  SERVOMIN);
73    pwm2.setPWM(i, 0, SERVOMIN);
74    pwm3.setPWM(i, 0, SERVOMIN);
75
76    pwm4.setPWM(i, 0, SERVOMIN);
77    pwm5.setPWM(i, 0, SERVOMIN);
78    pwm6.setPWM(i,
79  0, SERVOMIN);
80    pwm7.setPWM(i, 0, SERVOMIN);
81    pwm8.setPWM(i, 0, SERVOMIN);
82
83    pwm9.setPWM(i, 0, SERVOMIN);
84  }
85  Serial.println("Ready");
86}
87
88void
89  loop() {
90  while(Serial.available()){ //To control the starting time.
91    for
92  (int i = 0; i < 10; ++i)
93    {
94      Serial.print((int)(offset+ampl*sin(freq*(i+t))));
95
96      Serial.print(" ");
97      pwm.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t))));
98
99      pwm1.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+1))));
100      pwm2.setPWM(i,
101  0, (int)(offset+ampl*sin(freq*(i+t+2))));
102      pwm3.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+3))));
103
104      pwm4.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+4))));
105      pwm5.setPWM(i,
106  0, (int)(offset+ampl*sin(freq*(i+t+5))));
107      pwm6.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+6))));
108
109      pwm7.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+7))));
110      pwm8.setPWM(i,
111  0, (int)(offset+ampl*sin(freq*(i+t+8))));
112      pwm9.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+9))));
113
114    }
115    Serial.println("");
116    delay(100);
117    t++;
118  }
119}
120

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
#include
  <Math.h>

// Address
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);
Adafruit_PWMServoDriver
  pwm1 = Adafruit_PWMServoDriver(0x41);
Adafruit_PWMServoDriver pwm2 = Adafruit_PWMServoDriver(0x42);
Adafruit_PWMServoDriver
  pwm3 = Adafruit_PWMServoDriver(0x43);
Adafruit_PWMServoDriver pwm4 = Adafruit_PWMServoDriver(0x44);
Adafruit_PWMServoDriver
  pwm5 = Adafruit_PWMServoDriver(0x45);
Adafruit_PWMServoDriver pwm6 = Adafruit_PWMServoDriver(0x46);
Adafruit_PWMServoDriver
  pwm7 = Adafruit_PWMServoDriver(0x47);
Adafruit_PWMServoDriver pwm8 = Adafruit_PWMServoDriver(0x48);
Adafruit_PWMServoDriver
  pwm9 = Adafruit_PWMServoDriver(0x49);

#define SERVOMIN  110 // this is the
  'minimum' pulse length count (out of 4096)
#define SERVOMAX  400 // this is the
  'maximum' pulse length count (out of 4096)
int t = 0;
int offset = (SERVOMAX
  + SERVOMIN) / 2;
int ampl = (SERVOMAX - SERVOMIN) / 2;
int freq = 1;

void
  setup() {
  Serial.begin(115200);
  Serial.setTimeout(10);
  Serial.println("16
  channel Servo test!");

  pwm.begin();
  pwm1.begin();
  pwm2.begin();

  pwm3.begin();
  pwm4.begin();
  pwm5.begin();
  pwm6.begin();
  pwm7.begin();

  pwm8.begin();
  pwm9.begin();
// Analog servos run at ~60 Hz updates

  pwm.setPWMFreq(60);
  pwm1.setPWMFreq(60);
  pwm2.setPWMFreq(60);
  pwm3.setPWMFreq(60);

  pwm4.setPWMFreq(60);
  pwm5.setPWMFreq(60);
  pwm6.setPWMFreq(60);
  pwm7.setPWMFreq(60);

  pwm8.setPWMFreq(60);
  pwm9.setPWMFreq(60);

//Zero
  for(int i =
  0; i < 16; i += 1){
    pwm.setPWM(i, 0, SERVOMIN);
    pwm1.setPWM(i, 0,
  SERVOMIN);
    pwm2.setPWM(i, 0, SERVOMIN);
    pwm3.setPWM(i, 0, SERVOMIN);

    pwm4.setPWM(i, 0, SERVOMIN);
    pwm5.setPWM(i, 0, SERVOMIN);
    pwm6.setPWM(i,
  0, SERVOMIN);
    pwm7.setPWM(i, 0, SERVOMIN);
    pwm8.setPWM(i, 0, SERVOMIN);

    pwm9.setPWM(i, 0, SERVOMIN);
  }
  Serial.println("Ready");
}

void
  loop() {
  while(Serial.available()){ //To control the starting time.
    for
  (int i = 0; i < 10; ++i)
    {
      Serial.print((int)(offset+ampl*sin(freq*(i+t))));

      Serial.print(" ");
      pwm.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t))));

      pwm1.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+1))));
      pwm2.setPWM(i,
  0, (int)(offset+ampl*sin(freq*(i+t+2))));
      pwm3.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+3))));

      pwm4.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+4))));
      pwm5.setPWM(i,
  0, (int)(offset+ampl*sin(freq*(i+t+5))));
      pwm6.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+6))));

      pwm7.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+7))));
      pwm8.setPWM(i,
  0, (int)(offset+ampl*sin(freq*(i+t+8))));
      pwm9.setPWM(i, 0, (int)(offset+ampl*sin(freq*(i+t+9))));

    }
    Serial.println("");
    delay(100);
    t++;
  }
}

Downloadable files

Schematic

There are 7 PCA9685 servo drivers used in project, and the servos/ power supply are attached on each.

Schematic

There are 7 PCA9685 servo drivers used in project, and the servos/ power supply are attached on each.

Schematic

Documentation

Hardware device STL format

The linkage between pins and servo units are not drawn in this assembly file.

Hardware device STL format

Hardware device STP format

The linkage between pins and servo units are not drawn in this assembly file.

Hardware device STP format

The linkage between pins and servo units are not drawn in this assembly file.

Hardware device STP format

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