Demo Team / Mbed 2 deprecated RadarLEDStrip

Radar effect using depth data sent over the network from an Xbox 360 Kinect which controls an LED strip

Dependencies:   EthernetInterface LPD8806 mbed-rtos mbed

main.cpp@3:91ed5544c471, 2016-08-05 (annotated)

Committer:
awatt196
Date:
Fri Aug 05 10:47:19 2016 +0000
Revision:
3:91ed5544c471
Parent:
2:23fb8e32cf1b 
APM version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
awatt196 0:8c8d92233d08 1 #include "LPD8806.h"
awatt196 0:8c8d92233d08 2 #include "EthernetInterface.h"
awatt196 0:8c8d92233d08 3 #include <string>
awatt196 0:8c8d92233d08 4 #include <math.h>
awatt196 0:8c8d92233d08 5
awatt196 0:8c8d92233d08 6 using namespace std;
awatt196 0:8c8d92233d08 7
awatt196 0:8c8d92233d08 8 #define ECHO_SERVER_PORT 4548
awatt196 0:8c8d92233d08 9
awatt196 1:a5690556741c 10 LPD8806 strip = LPD8806(36);
awatt196 0:8c8d92233d08 11
awatt196 0:8c8d92233d08 12 Serial pc(USBTX, USBRX);
awatt196 2:23fb8e32cf1b 13 InterruptIn KITT(PTA4);
awatt196 2:23fb8e32cf1b 14
awatt196 2:23fb8e32cf1b 15 //KITT bouncing light effect
awatt196 2:23fb8e32cf1b 16 void scanner() {
awatt196 2:23fb8e32cf1b 17 uint8_t r=127;
awatt196 2:23fb8e32cf1b 18 uint8_t g=0;
awatt196 2:23fb8e32cf1b 19 uint8_t b=0;
awatt196 2:23fb8e32cf1b 20 uint8_t delay=50;
awatt196 2:23fb8e32cf1b 21 int i, j, pos, dir;
awatt196 2:23fb8e32cf1b 22
awatt196 2:23fb8e32cf1b 23 pos = 0;
awatt196 2:23fb8e32cf1b 24 dir = 1;
awatt196 2:23fb8e32cf1b 25
awatt196 2:23fb8e32cf1b 26 for (i=0; i<((strip.numPixels()-1) * 8); i++) {
awatt196 2:23fb8e32cf1b 27 strip.setPixelColor(pos - 2, strip.Color(r/4, g/4, b/4));
awatt196 2:23fb8e32cf1b 28 strip.setPixelColor(pos - 1, strip.Color(r/2, g/2, b/2));
awatt196 2:23fb8e32cf1b 29 strip.setPixelColor(pos, strip.Color(r, g, b));
awatt196 2:23fb8e32cf1b 30 strip.setPixelColor(pos + 1, strip.Color(r/2, g/2, b/2));
awatt196 2:23fb8e32cf1b 31 strip.setPixelColor(pos + 2, strip.Color(r/4, g/4, b/4));
awatt196 2:23fb8e32cf1b 32
awatt196 2:23fb8e32cf1b 33 strip.show();
awatt196 2:23fb8e32cf1b 34 wait_ms(delay);
awatt196 2:23fb8e32cf1b 35
awatt196 2:23fb8e32cf1b 36 for (j=-2; j<= 2; j++)
awatt196 2:23fb8e32cf1b 37 strip.setPixelColor(pos+j, strip.Color(0,0,0));
awatt196 2:23fb8e32cf1b 38
awatt196 2:23fb8e32cf1b 39 pos += dir;
awatt196 2:23fb8e32cf1b 40 if (pos < 0) {
awatt196 2:23fb8e32cf1b 41 pos = 1;
awatt196 2:23fb8e32cf1b 42 dir = -dir;
awatt196 2:23fb8e32cf1b 43 } else if (pos >= strip.numPixels()) {
awatt196 2:23fb8e32cf1b 44 pos = strip.numPixels() - 2;
awatt196 2:23fb8e32cf1b 45 dir = -dir;
awatt196 2:23fb8e32cf1b 46 }
awatt196 2:23fb8e32cf1b 47 }
awatt196 2:23fb8e32cf1b 48 }
awatt196 0:8c8d92233d08 49
awatt196 0:8c8d92233d08 50 int main() {
awatt196 2:23fb8e32cf1b 51 KITT.rise(&scanner);
awatt196 2:23fb8e32cf1b 52
awatt196 0:8c8d92233d08 53 EthernetInterface eth;
awatt196 0:8c8d92233d08 54 eth.init(); //Use DHCP
awatt196 0:8c8d92233d08 55 eth.connect();
awatt196 0:8c8d92233d08 56 pc.printf("\nServer IP Address is %s\n", eth.getIPAddress());
awatt196 0:8c8d92233d08 57 UDPSocket server;
awatt196 0:8c8d92233d08 58 server.bind(ECHO_SERVER_PORT);
awatt196 0:8c8d92233d08 59 Endpoint client;
awatt196 0:8c8d92233d08 60 char buffer[5000]; //buffer to hold the depth data (640 data points)
awatt196 0:8c8d92233d08 61
awatt196 0:8c8d92233d08 62 // Start up the LED strip
awatt196 0:8c8d92233d08 63 strip.begin();
awatt196 0:8c8d92233d08 64
awatt196 0:8c8d92233d08 65 // Update the strip, to start they are all 'off'
awatt196 0:8c8d92233d08 66 strip.show();
awatt196 0:8c8d92233d08 67 while (1) {
awatt196 0:8c8d92233d08 68 //printf("\nWaiting for UDP packet...\n");
awatt196 0:8c8d92233d08 69 int n = server.receiveFrom(client, buffer, sizeof(buffer));
awatt196 0:8c8d92233d08 70 buffer[n] = '\0';
awatt196 0:8c8d92233d08 71
awatt196 0:8c8d92233d08 72 //printf("Received packet from: %s\n", client.get_address());
awatt196 0:8c8d92233d08 73 //printf("Packet contents : '%s'\n",buffer);
awatt196 0:8c8d92233d08 74
awatt196 0:8c8d92233d08 75 string data_string = "";
awatt196 0:8c8d92233d08 76 int rawdata_array[640]; //holds raw int data
awatt196 0:8c8d92233d08 77 int index=0;
awatt196 0:8c8d92233d08 78
awatt196 0:8c8d92233d08 79 for(int i=0; i<n; i++)
awatt196 0:8c8d92233d08 80 {
awatt196 0:8c8d92233d08 81 if(buffer[i] >= 48 && buffer[i] <= 57) //selects 0-9
awatt196 0:8c8d92233d08 82 {
awatt196 0:8c8d92233d08 83 data_string+=buffer[i];
awatt196 0:8c8d92233d08 84 }
awatt196 0:8c8d92233d08 85 else if(buffer[i] == 120) //x = invalid data
awatt196 0:8c8d92233d08 86 {
awatt196 2:23fb8e32cf1b 87 rawdata_array[index] = 30; //-1 for off. 30 for max brightness
awatt196 0:8c8d92233d08 88 index++;
awatt196 0:8c8d92233d08 89 data_string = ""; //clear string
awatt196 0:8c8d92233d08 90 }
awatt196 0:8c8d92233d08 91 else if(buffer[i] == 44 || buffer[i] == 93) //reached a comma or end bracket
awatt196 0:8c8d92233d08 92 {
awatt196 0:8c8d92233d08 93 if (data_string.length() != 0)
awatt196 0:8c8d92233d08 94 {
awatt196 0:8c8d92233d08 95 int int_data = atoi(data_string.c_str());
awatt196 0:8c8d92233d08 96 rawdata_array[index] = int_data;
awatt196 0:8c8d92233d08 97 data_string = ""; //clear string
awatt196 0:8c8d92233d08 98 index++;
awatt196 0:8c8d92233d08 99 }
awatt196 0:8c8d92233d08 100 }
awatt196 0:8c8d92233d08 101 else
awatt196 0:8c8d92233d08 102 {
awatt196 0:8c8d92233d08 103 //do nothing
awatt196 0:8c8d92233d08 104 }
awatt196 0:8c8d92233d08 105 }
awatt196 0:8c8d92233d08 106
awatt196 2:23fb8e32cf1b 107 int length = 36; //36 LEDs on strip
awatt196 2:23fb8e32cf1b 108 int m_defaultRange = -1;
awatt196 0:8c8d92233d08 109 int m_minRange = 30;
awatt196 0:8c8d92233d08 110 int m_maxRange = 250;
awatt196 0:8c8d92233d08 111 double m_minData = 127.0;
awatt196 0:8c8d92233d08 112 double m_maxData = 0.0;
awatt196 0:8c8d92233d08 113 double m_defaultData = 0.0;
awatt196 0:8c8d92233d08 114
awatt196 2:23fb8e32cf1b 115 double bucketSize = 640 / length;
awatt196 0:8c8d92233d08 116
awatt196 2:23fb8e32cf1b 117 for(int bucket=0; bucket<length; bucket++)
awatt196 0:8c8d92233d08 118 {
awatt196 2:23fb8e32cf1b 119 int bucketStart = bucketSize*bucket;
awatt196 0:8c8d92233d08 120 int bucketEnd = bucketSize*(bucket+1) - 1;
awatt196 0:8c8d92233d08 121
awatt196 0:8c8d92233d08 122 double accumulator = 0;
awatt196 0:8c8d92233d08 123 int points = 0;
awatt196 0:8c8d92233d08 124 for(int index=bucketStart; index<=bucketEnd; index++)
awatt196 0:8c8d92233d08 125 {
awatt196 0:8c8d92233d08 126 double value = (double)rawdata_array[index];
awatt196 0:8c8d92233d08 127 if(value != m_defaultRange)
awatt196 0:8c8d92233d08 128 {
awatt196 0:8c8d92233d08 129 accumulator += value;
awatt196 0:8c8d92233d08 130 points++;
awatt196 0:8c8d92233d08 131 }
awatt196 0:8c8d92233d08 132 }
awatt196 0:8c8d92233d08 133
awatt196 0:8c8d92233d08 134 // Calc average of points or default value if no data
awatt196 0:8c8d92233d08 135 double average = m_defaultRange;
awatt196 0:8c8d92233d08 136 if(points != 0)
awatt196 0:8c8d92233d08 137 {
awatt196 0:8c8d92233d08 138 average = accumulator / points;
awatt196 0:8c8d92233d08 139 }
awatt196 0:8c8d92233d08 140
awatt196 1:a5690556741c 141 int score_array[length];
awatt196 0:8c8d92233d08 142 double score = m_defaultData;
awatt196 0:8c8d92233d08 143 if ((average != m_defaultRange) && (average >= m_minRange) && (average <= m_maxRange))
awatt196 0:8c8d92233d08 144 {
awatt196 2:23fb8e32cf1b 145 score = average * (m_maxData - m_minData) / (m_maxRange - m_minRange) + m_minData;
awatt196 0:8c8d92233d08 146 if(score > 0)
awatt196 0:8c8d92233d08 147 {
awatt196 2:23fb8e32cf1b 148 //creates non-linear scaling for LED brightness
awatt196 0:8c8d92233d08 149 float x_scale = 18.142857;
awatt196 0:8c8d92233d08 150 float x = score/x_scale;
awatt196 0:8c8d92233d08 151 float y = pow(2, x);
awatt196 0:8c8d92233d08 152 if(y==128) y=127;
awatt196 0:8c8d92233d08 153 score_array[bucket] = (int)y;
awatt196 0:8c8d92233d08 154 }
awatt196 0:8c8d92233d08 155 }
awatt196 0:8c8d92233d08 156 else //out of range
awatt196 0:8c8d92233d08 157 {
awatt196 0:8c8d92233d08 158 score = 0;
awatt196 0:8c8d92233d08 159 score_array[bucket] = score;
awatt196 0:8c8d92233d08 160 }
awatt196 0:8c8d92233d08 161 //printf("bucket:%i, score=%i\r\n", bucket, score_array[bucket]);
awatt196 2:23fb8e32cf1b 162
awatt196 2:23fb8e32cf1b 163 /* blue->red
awatt196 2:23fb8e32cf1b 164 strip.setPixelColor(bucket, strip.Color(score_array[bucket],0,127-score_array[bucket]));
awatt196 2:23fb8e32cf1b 165 */
awatt196 0:8c8d92233d08 166
awatt196 2:23fb8e32cf1b 167 /* blue->green->red
awatt196 0:8c8d92233d08 168 int cyan_start=33;
awatt196 0:8c8d92233d08 169 int green_start=66;
awatt196 0:8c8d92233d08 170 int yellow_start=99;
awatt196 0:8c8d92233d08 171
awatt196 0:8c8d92233d08 172 if(score == 0) //off
awatt196 0:8c8d92233d08 173 {
awatt196 0:8c8d92233d08 174 strip.setPixelColor(bucket, strip.Color(0,0,0));
awatt196 0:8c8d92233d08 175 }
awatt196 0:8c8d92233d08 176
awatt196 0:8c8d92233d08 177 else if(score >=1 && score <cyan_start) //blue to cyan
awatt196 0:8c8d92233d08 178 {
awatt196 0:8c8d92233d08 179 strip.setPixelColor(bucket, strip.Color(0,(int)(128.0/cyan_start),127));
awatt196 0:8c8d92233d08 180 }
awatt196 0:8c8d92233d08 181 else if(score >=cyan_start && score <green_start) //cyan to green
awatt196 0:8c8d92233d08 182 {
awatt196 0:8c8d92233d08 183 strip.setPixelColor(bucket, strip.Color(0,127,(int)(128.0/score-cyan_start)));
awatt196 0:8c8d92233d08 184 }
awatt196 0:8c8d92233d08 185 else if(score >=green_start && score <=yellow_start) //green to yellow
awatt196 0:8c8d92233d08 186 {
awatt196 0:8c8d92233d08 187 strip.setPixelColor(bucket, strip.Color((int)(128.0/score-green_start),127,0));
awatt196 0:8c8d92233d08 188 }
awatt196 0:8c8d92233d08 189 else //(score >=yellow_start) //yellow to red
awatt196 0:8c8d92233d08 190 {
awatt196 0:8c8d92233d08 191 strip.setPixelColor(bucket, strip.Color(127,(int)(128.0/score-96.0),0));
awatt196 0:8c8d92233d08 192 }
awatt196 0:8c8d92233d08 193
awatt196 0:8c8d92233d08 194 if(score >=100) //red
awatt196 0:8c8d92233d08 195 {
awatt196 0:8c8d92233d08 196 strip.setPixelColor(bucket, strip.Color(127,0,0));
awatt196 0:8c8d92233d08 197 }
awatt196 0:8c8d92233d08 198 */
awatt196 0:8c8d92233d08 199
awatt196 0:8c8d92233d08 200 strip.setPixelColor(bucket, strip.Color(score_array[bucket],0,0));
awatt196 0:8c8d92233d08 201 strip.show();
awatt196 0:8c8d92233d08 202 }
awatt196 0:8c8d92233d08 203 }
awatt196 0:8c8d92233d08 204 }