From 83d756d7f063bd7ff2dc6ed27859fb31fb98faee Mon Sep 17 00:00:00 2001
From: glopesdev <glopesdev@users.noreply.github.com>
Date: Sat, 10 Aug 2024 08:38:11 +0100
Subject: [PATCH] Add high-level commutator controller

---
 OpenEphys.Commutator/AutoCommutator.bonsai    | 47 +++++++++++++++++++
 .../OpenEphys.Commutator.csproj               |  4 ++
 2 files changed, 51 insertions(+)
 create mode 100644 OpenEphys.Commutator/AutoCommutator.bonsai

diff --git a/OpenEphys.Commutator/AutoCommutator.bonsai b/OpenEphys.Commutator/AutoCommutator.bonsai
new file mode 100644
index 0000000..005d69d
--- /dev/null
+++ b/OpenEphys.Commutator/AutoCommutator.bonsai
@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="utf-8"?>
+<WorkflowBuilder Version="2.8.5"
+                 xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+                 xmlns:rx="clr-namespace:Bonsai.Reactive;assembly=Bonsai.Core"
+                 xmlns:commutator="clr-namespace:OpenEphys.Commutator;assembly=OpenEphys.Commutator"
+                 xmlns="https://bonsai-rx.org/2018/workflow">
+  <Description>Control an Open Ephys commutator by using rotation angle measurements.</Description>
+  <Workflow>
+    <Nodes>
+      <Expression xsi:type="WorkflowInput">
+        <Name>Source1</Name>
+      </Expression>
+      <Expression xsi:type="Combinator">
+        <Combinator xsi:type="rx:SampleInterval">
+          <rx:Interval>PT0.1S</rx:Interval>
+        </Combinator>
+      </Expression>
+      <Expression xsi:type="ExternalizedMapping">
+        <Property Name="RotationAxis" />
+      </Expression>
+      <Expression xsi:type="Combinator">
+        <Combinator xsi:type="commutator:QuaternionTwistController">
+          <commutator:RotationAxis>
+            <commutator:X>0</commutator:X>
+            <commutator:Y>0</commutator:Y>
+            <commutator:Z>1</commutator:Z>
+          </commutator:RotationAxis>
+        </Combinator>
+      </Expression>
+      <Expression xsi:type="ExternalizedMapping">
+        <Property Name="PortName" />
+      </Expression>
+      <Expression xsi:type="Combinator">
+        <Combinator xsi:type="commutator:TurnMotor" />
+      </Expression>
+      <Expression xsi:type="WorkflowOutput" />
+    </Nodes>
+    <Edges>
+      <Edge From="0" To="1" Label="Source1" />
+      <Edge From="1" To="3" Label="Source1" />
+      <Edge From="2" To="3" Label="Source2" />
+      <Edge From="3" To="5" Label="Source1" />
+      <Edge From="4" To="5" Label="Source2" />
+      <Edge From="5" To="6" Label="Source1" />
+    </Edges>
+  </Workflow>
+</WorkflowBuilder>
\ No newline at end of file
diff --git a/OpenEphys.Commutator/OpenEphys.Commutator.csproj b/OpenEphys.Commutator/OpenEphys.Commutator.csproj
index 26d1d82..5e7a039 100644
--- a/OpenEphys.Commutator/OpenEphys.Commutator.csproj
+++ b/OpenEphys.Commutator/OpenEphys.Commutator.csproj
@@ -7,6 +7,10 @@
     <TargetFramework>net472</TargetFramework>
   </PropertyGroup>
 
+  <ItemGroup>
+    <EmbeddedResource Include="**/*.bonsai" />
+  </ItemGroup>
+
   <ItemGroup>
     <PackageReference Include="Bonsai.Core" Version="2.8.5" />
     <PackageReference Include="Bonsai.System" Version="2.8.1" />