During a session back in summer, Domina Shelle asked me: 'you have a fucking-machine, don't you?'
Yes, i had one, but it wasn't much more than a geared-motor with speed-control. I immediately decided to build something more sophisticated for my Owner.
I started to research and try some concepts the very next day and finally found a concept that seemed promising. Unfortunately, i was forced to keep my flat vanilla-safe for a while, so i couldn't work on any bigger toys. But i had time to think things through properly and so, the actual build went very quickly.
The software was a little bit more tricky. I wanted a smooth movement, so i tried different approaches to accelerate / decelerate the motor, but the movement kept somewhat juddery.
I remembered my graphics lectures back from University... polynomial splines should make a nice smooth movement curve. The first approach with Bezier-curves was already working well, but editing the curve wasn't very intuitive (unless you know how they work).
Some more experiments and i had found the Akima approximation to be a very good solution, yielding a smooth curve and also being easy to edit...
Some photos and a video are here: owned-by-princess-shelle.blogspot.com/p/programmable-fucking-machine.html
For the future, i'm planning to add a feature to create and load pre-sets.
