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\title{Elevates your emotions - by elevating you}
\author{A project in IN5590 by Sigmund Kleivene Slåttum E-mail: sigmuncs@ifi.uio.no }

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\textbf{Beat controlled motion floor}.
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        \section{Intro}
        The idea behind this prototype came to life trough talks with Mats Erling Høvin. We would like to explore if the musical experience in a club setting would be richer and more fun by having a floor that bounces or moves in time with the music, especially EDM music. A strong inspiration for me is the bouncy floor in Rockefeller concert hall in Oslo city which brings an exiting element to the listening experience. This prototype is the first attempt to build such a floor. \\
        
        The motion which the listener experiences is a rolling motion, an elevation and sidewards motion of approximately 1 cm. This could easily be rebuilt to limit the motion to the z-axis only, later on.\\ 
        
        The goals of my prototype initialy was
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            \item Approximatly 1 cm smoothly travel up and down along the z-axis.
            \item Lift at least 100kg
            \item It should be stable in x- and y-direction
            \item My final goal is to control the floor with a music beat sent to the floor controller through an audio channel.
        \end{itemize}\\
        My initial design:
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        \includegraphics[width=1\linewidth]{images/in5590_sigmuncs_project_sketch.jpg}
        
        
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        \section{Tools}
        The prototype is equipped with an Odrive, a micro controller with a Field oriented controller (FOC) for controlling the onboard Bruchless DC (BLDC) motor.
        Communication is done using python and a library called odrive. This library allows for sending real time commands to the Odrive, which I use for controlling the floor using a sinus function.
        
        The position of the floor is constantly updated using this equation: 
        
        $$\textit{Position\_command} = Asin(2 \pi ft + \varphi)$$
        
        Where 
        \begin{itemize}
            \item A: amplitude
            \item t: current time collected from system clock
            \item $\varphi$: phase that allows for adjustment of timing between music and motion
            \item f: frequency, calculated from 
        $\textit{bpm}\div 60$
        \end{itemize}

        Important components:
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            \item Turning Y D5D35 125KV BLDC
            \item BLDC controller 56V ODRIVE V2.6
            \item Computer with python
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        \section{Conclusion}
        \paragraph{What did i achieve?}
        The prototype works as expected, and most of my goals is achieved. The timing belt pulleys was made a bit to small, and thus making the drive belt "climb and fall" on the drive grooves. This results in noise and jerky behavior. 
        \paragraph{Future work}
        The first thing to do is to adjust the size of the timing belt pulleys, or transition to chains to ensure smooth operation. 
        When the prototype is properly tuned the next step is to try more advanced controlling algorithms. I propose using a sin-function to model the existing sin-function. This could in turn be tuned in real time using Machine learning trained on different styles of music.
    
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    \includegraphics[width=1\linewidth]{images/floor1.jpg}
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    \includegraphics[width=1\linewidth]{images/floor3.jpg}
    
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