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AndunHH / spacemouse

Repository for the space mouse based on four joysticks and keys
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Open Source Spacemouse with Keys

Repository for the space mouse based on four joysticks with an addition for keys (not jet in the picture)

overview

This repository for the source code is based on the work by TeachingTech and many other contributors, as seen in the history.

Features

Wanted, with unclear solution ... ?

Purchasing the electronics and printing some parts is not scope of this repository. We start with the software.

Getting Started with PlatformIO

You can use PlatformIO to flash the board with this fast steps. PlatformIO is easier than ArduinoIDE, because you don't need to change the board.txt files there.

  1. Install PlatformIO.
  2. Clone this repo and open a terminal in the cloned directory.
  3. Copy src/config_sample.h to src/config.h and change the values to whatever suits.
  4. Run pio run -t upload or click on the upload arrow in the IDE.
  5. Assign the pins of the joysticks and go through the calibration
  6. Use your space mouse
  7. Done!

Getting Started with Arduino IDE

  1. Create a custom board in your Arduino IDE, that emulates the original space mouse
  2. Download or clone this github repository
  3. Rename the config_sample.h to config.h
  4. Try to compile and flash your board
  5. Assign the pins of the joysticks and go through the calibration
  6. Use your space mouse
  7. Done!

Custom board to emulate the space mouse

The boards.txt file needs an additional Board definition, which tells the processor to report the USB identifiers correctly and immitate the 3dconnexion space-mouse.

boards.txt on linux

You find the boards.txt in ~/.arduino15/packages/SparkFun/hardware/avr/1.1.13. If this folder doesn't exist you need to install board support for SparkFun Arduinos.

boards.txt on mac

Please read https://gist.github.com/maunsen/8dbee2bddef027b04a450241c7d36668

boards.txt on windows

C:\Users\AppData\Local\Arduino15\packages\arduino\hardware

Code to add to boards.txt

Here is the addition, which needs to be copied into the boards.txt (e.g. at the bottom).

# Add this to the bottom your boards.txt

################################################################################
################################## Spacemouse based on Pro Micro ###################################
################################################################################
spacemouse.name=SpaceMouse

spacemouse.upload.tool=avrdude
spacemouse.upload.tool.default=avrdude
spacemouse.upload.protocol=avr109
spacemouse.upload.maximum_size=28672
spacemouse.upload.maximum_data_size=2560
spacemouse.upload.speed=57600
spacemouse.upload.disable_flushing=true
spacemouse.upload.use_1200bps_touch=true
spacemouse.upload.wait_for_upload_port=true

spacemouse.bootloader.tool=avrdude
spacemouse.bootloader.tool.default=avrdude
spacemouse.bootloader.unlock_bits=0x3F
spacemouse.bootloader.lock_bits=0x2F
spacemouse.bootloader.low_fuses=0xFF
spacemouse.bootloader.high_fuses=0xD8

spacemouse.build.board=AVR_PROMICRO
spacemouse.build.core=arduino:arduino
spacemouse.build.variant=promicro
spacemouse.build.mcu=atmega32u4
spacemouse.build.usb_product="Spacemouse Pro Wireless (cabled)"
spacemouse.build.usb_manufacturer="3Dconnexion"
spacemouse.build.vid=0x256f
spacemouse.build.extra_flags={build.usb_flags}

############################# Spacemouse Pro Micro 5V / 16MHz #############################
# deleted 3.3V / 8 Mhz variant to avoid bricking

spacemouse.build.pid.0=0xc631
spacemouse.build.pid.1=0xc631
spacemouse.build.pid=0xc631
spacemouse.build.f_cpu=16000000L

spacemouse.bootloader.extended_fuses=0xCB
spacemouse.bootloader.file=caterina/Caterina-promicro16.hex

Common issues with boards.txt:

Cloning the github repo

Clone the github repo to your computer: Scroll-Up to the green "<> Code" Button and select, if you wish to clone or just download the code.

Create your own config file

Copy the config_sample.h and rename it to config.h. This is done to avoid the personal config file being overwritten when pulling new updates from this repository. You probably have to update the config.h file with new additions from the config_sample.h, but your pin assignment will not stay.

Compiling and flashing the firmware

Troubleshooting uploading

If you have the problem, that the port can not be found, the bootloader of your board is probably not reachable. The problem is, that the arduino pro micro has a very short time to get into the bootloader of 800 ms. Therefore you need to connect the reset pin twice to gnd. Than you have 8 s to initially set the com port and upload your sketch. It is also quite a fast timing and needs some number of tries.

You can read the details for this reset here: https://learn.sparkfun.com/tutorials/pro-micro--fio-v3-hookup-guide/troubleshooting-and-faq#ts-reset

Calibrate your hardware

After compiling and uploading the programm to your hardware, you can connect via the serial monitor. In the upper line, you can send the desired debug mode to the board and observe the output. "-1" stops the debug output.

Read and follow the instructions throughout the config.h file and write down your results. Recompile after every step.

  1. Check and correct your pin out -> Refer to the pictures in the Electronics section below.
  2. Tune dead zone to avoid jittering
  3. Getting min and max values for your joysticks
    • There is a semi-automatic approach, which returns you the minimum and maximum values seen within 15s.
  4. Adjust sensitivity
  5. Choose modifier function

This calibration is supported by various debug outputs which can toggle on or off before compiling or during run time by sending the corresponding number via the serial interface. All debug outputs are described at the top of your config_sample.h.

Use the spacemouse

Download the 3dconnexion driver on windows and mac

You will also need to download and install the 3DConnexion software

If all goes well, the 3DConnexion software will show a SpaceMouse Pro wireless when the Arduino is connected.

spacenav for linux users

Checkout https://wiki.freecad.org/3Dconnexion_input_devices and https://github.com/FreeSpacenav/spacenavd.

Software Main Idea

  1. The software reads the eight ADC values of the four joy sticks
  2. During start-up the zero-position of the joystick is measured and subtracted from the adc-value. -> The values now range from e.g. -500 to +500
  3. A dead zone in the middle is applied to avoid small noisy movements. (E.g. every value between +/- 3 is fixed to zero)
  4. The movement of the joysticks is mapped from the original about ca. +/- 500 digits to exactly +/- 350. (Therefore the real min and max values will be calibrated) Now all further calculations can be done with this normalized values between +/-350.
  5. We calculate the translation and rotation based on this.
  6. Applying the modifiers to minimize very small rotations or translations.
  7. Kill, swap or invert movements
  8. Sending the velocities and keys to the PC

Printed parts

There are many parts and remixes available. A very good starting point is the Part Open source SpaceMouse - Space Mushroom remix by Teaching Tech. Check out the many remixes, especially if you want to use other joysticks modules!

Here are some of the remixes or additions that are used with this software:

Electronics and pin assignment

The spacemouse is connected to an arduino Pro Micro 16 Mhz. Check out the wiring diagram by TeachingTech or with this added keys: WiringSpaceMouse

The calculations in the program expect AX to be the vertical joystick in front of you and AY the horizontal in front of you. B, C and D are clockwise around the spacemouse. Maybe your joystick axis are named X and Y in an other orientation. That doesn't matter. Connect them and use the config.h file to put the pin the vertical joystick in front of you (=AX) to the first position. In teaching techs example, this is A1, even though his joystick is labeled "y".

analog

The calculation in this programm results in X, Y and Z calculated as shown in the middle of the picture. If this doesn't suit your programm change it by using the INVX or SWITCHYZ afterwards.

Kinematics

With the axis defined as shown in the picture above, the calculations for translation and rotation are as follows:

TRANSX = -CY + AY
TRANSY = -BY + DY
TRANSZ = -AX - BX - CX - DX
ROTX = -CX + AX
ROTY = -BX + DX
ROTZ = AY + BY + CY + DY

See also

History

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
  2. The next two from the comments on the instructables page: https://www.instructables.com/Space-Mushroom-Full-6-DOFs-Controller-for-CAD-Appl/
  3. and the comments of Thingiverse: https://www.thingiverse.com/thing:5739462/comments
  4. Code to emulate a 3DConnexion Space Mouse by jfedor: https://pastebin.com/gQxUrScV
  5. This code was then remixed by BennyBWalker to include the above two sketches: https://pastebin.com/erhTgRBH
  6. Four joystick remix code by fdmakara: https://www.thingiverse.com/thing:5817728
  7. Teaching Techs work involves 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 Teaching Tech plugged them in, so Teaching Tech spent a lot of time adding debugging code to track exactly what was happening. On top of this, Teching Tech has added more control of speed/direction and comments/links to informative resources to try and explain what is happening in each phase.
  8. Code to include meassured min and max values for each Joystick by Daniel_1284580 (In Software Version V1 and newer)
  9. Improved code to make it more userfriendly by Daniel_1284580 (In Software Version V2 and newer)
  10. Improved Code, improved comments and added written tutorials in comments, by LivingTheDream Implemented new algorithm "modifier function" for better motioncontrol by Daniel_1284580 (In Software Version V3)
  11. Moved the Deadzone detection into the inital ADC conversion and calculate every value everytime and use the modifier for better seperation between the access, By Andun_HH.
  12. Added two additional buttons integrated into the knob to kill either translation or rotation at will and prevent unintended movements, by JoseLuisGZA and AndunHH.
  13. Added Encoder to use with a wheel on top of the main knob an simulate pulls on any of the axis (main use is simulating zoom like the mouse wheel), by JoseLuizGZA and rewritten by AndunHH.

License

Because TeachingTech published his source code on Printables under this license, it also applies here:

CC BY-NC-SA 4.0

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

CC BY-NC-SA 4.0