main.cpp

00001 #include "mbed.h"
00002 #include "WS2812.h"
00003 #include "PixelArray.h"
00004 
00005 #define WS2812_BUF 112
00006 #define NUM_COLORS 6
00007 #define NUM_LEDS_PER_COLOR 1
00008 
00009 //-------- Colours -----------
00010 #define RED 0x2f0000
00011 #define YELLOW 0x2f2f00
00012 #define GREEN 0x002f00
00013 #define LIGHTBLUE 0x002f2f
00014 #define DARKBLUE 0x00002f
00015 #define BLUE 0x0000ff // Player scored a goal
00016 #define PINK 0x2f002f
00017 #define OFF 0x000000
00018 #define WHITE 0xffffaa
00019 #define ARMBLUE 0x128BAB
00020 #define PURPLE 0xff0055 // Player has conceded a goal
00021 
00022 // GPIO
00023 AnalogIn robotBreakBeam(A0);
00024 AnalogIn playerBreakBeam(A1);
00025 DigitalOut led_green(LED_GREEN, 1);
00026 
00027 // SERIAL
00028 Serial pc(USBTX, USBRX); // tx, rx
00029 
00030 // LED STRIPS
00031 // See the program page for information on the timing numbers
00032 // The given numbers are for the K64F
00033 WS2812 robotScoreLED(D9, WS2812_BUF, 0, 5, 5, 0);
00034 WS2812 playerScoreLED(D8,WS2812_BUF, 0, 5, 5, 0);
00035 WS2812 robotGoalLED(D5,WS2812_BUF, 0, 5, 5, 0);
00036 WS2812 playerGoalLED(D3,WS2812_BUF, 0, 5, 5, 0);
00037 
00038 // LED Variables
00039 bool seg1A, seg1B, seg1C, seg1D, seg1E, seg1F, seg1G;
00040 int seg1Array[112];
00041 int mainArray[11][122];
00042 PixelArray robotScorePx(WS2812_BUF);
00043 PixelArray playerScorePx(WS2812_BUF);
00044 PixelArray robotGoalPx(WS2812_BUF);
00045 PixelArray playerGoalPx(WS2812_BUF);
00046 const int PLAYERGOALLEDS = 55;
00047 const int ROBOTGOALLEDS = 55;
00048 
00049 // Score counters
00050 int robotScore;
00051 int playerScore;
00052 int scoreLimit = 3;
00053 bool finishedGame = false;
00054 int endFlashes = 3;
00055 int numFlashes;
00056 
00057 // Robot Bream Beam value
00058 double prevRbbValue; // Previous Robot break beam value
00059 double prevPbbValue; // Previous player break beam value
00060 
00061 // FUNCTION DECLERATIONS
00062 void Write7Seg(int num);
00063 void SetLEDArray(int x);
00064 void WriteRobotGoal(bool scored);
00065 void WritePlayerGoal(bool scored);
00066 void WriteScores();
00067 void HandleGoal(bool hasRobotScored);
00068 void WritePxScores(int line_num, bool isRobot);
00069 void WritePxGoal(unsigned int colour,bool isRobot);
00070 void HandleWin();
00071 void WriteGoalsOff();
00072 
00073 
00074 void setup()
00075 {
00076 
00077     // Turn on green LED
00078     led_green = 0;
00079 
00080     // Set brightness of the 4 LED strips
00081     robotScoreLED.setII(0x19);
00082     robotScoreLED.useII(WS2812::GLOBAL);
00083     playerScoreLED.setII(0x19);
00084     playerScoreLED.useII(WS2812::GLOBAL);
00085     robotGoalLED.setII(0x19);
00086     robotGoalLED.useII(WS2812::GLOBAL);
00087     playerGoalLED.setII(0x80);
00088     playerGoalLED.useII(WS2812::GLOBAL);
00089 
00090     // Fills 2D array with data
00091     for(int i=0; i<10; i++) {
00092         Write7Seg(i);
00093     }
00094 
00095     // Set scores to 0
00096     robotScore = 0;
00097     playerScore = 0;
00098     numFlashes = 0;
00099 
00100     // Set LEDS to start values
00101     WriteScores();
00102     wait(0.01);
00103     WritePlayerGoal(true);
00104     wait(0.01);
00105     WriteRobotGoal(true);
00106 
00107     wait(5);
00108 
00109     WriteGoalsOff();
00110     // Turn off green LED
00111     led_green = 1;
00112 }
00113 
00114 // Set segment variables
00115 void Write7Seg(int num)
00116 {
00117     switch (num) {
00118         case 0 :
00119             // Off
00120             seg1A = 1;
00121             seg1B = 1;
00122             seg1C = 1;
00123             seg1D = 1;
00124             seg1E = 1;
00125             seg1F = 1;
00126             seg1G = 0;
00127 
00128             SetLEDArray(0);
00129 
00130             break;
00131 
00132         case 1 :
00133             // 1
00134             seg1A = 0;
00135             seg1B = 1;
00136             seg1C = 1;
00137             seg1D = 0;
00138             seg1E = 0;
00139             seg1F = 0;
00140             seg1G = 0;
00141 
00142             SetLEDArray(1);
00143             break;
00144 
00145         case 2 :
00146             // 2
00147             seg1A = 1;
00148             seg1B = 1;
00149             seg1C = 0;
00150             seg1D = 1;
00151             seg1E = 1;
00152             seg1F = 0;
00153             seg1G = 1;
00154 
00155             SetLEDArray(2);
00156 
00157             break;
00158 
00159         case 3 :
00160             // 3
00161             seg1A = 1;
00162             seg1B = 1;
00163             seg1C = 1;
00164             seg1D = 1;
00165             seg1E = 0;
00166             seg1F = 0;
00167             seg1G = 1;
00168 
00169             SetLEDArray(3);
00170             break;
00171 
00172         case 4:
00173             // 4
00174             seg1A = 0;
00175             seg1B = 1;
00176             seg1C = 1;
00177             seg1D = 0;
00178             seg1E = 0;
00179             seg1F = 1;
00180             seg1G = 1;
00181 
00182             SetLEDArray(4);
00183 
00184             break;
00185 
00186         case 5:
00187             // 5
00188             seg1A = 1;
00189             seg1B = 0;
00190             seg1C = 1;
00191             seg1D = 1;
00192             seg1E = 0;
00193             seg1F = 1;
00194             seg1G = 1;
00195 
00196             SetLEDArray(5);
00197 
00198             break;
00199 
00200         case 6:
00201             // 6
00202             seg1A = 1;
00203             seg1B = 0;
00204             seg1C = 1;
00205             seg1D = 1;
00206             seg1E = 1;
00207             seg1F = 1;
00208             seg1G = 1;
00209 
00210             SetLEDArray(6);
00211 
00212             break;
00213 
00214         case 7:
00215             // 7
00216             seg1A = 1;
00217             seg1B = 1;
00218             seg1C = 1;
00219             seg1D = 0;
00220             seg1E = 0;
00221             seg1F = 0;
00222             seg1G = 0;
00223 
00224             SetLEDArray(7);
00225 
00226             break;
00227 
00228         case 8:
00229             // 8
00230             seg1A = 1;
00231             seg1B = 1;
00232             seg1C = 1;
00233             seg1D = 1;
00234             seg1E = 1;
00235             seg1F = 1;
00236             seg1G = 1;
00237 
00238             SetLEDArray(8);
00239             break;
00240 
00241         case 9:
00242             // 9
00243             seg1A = 1;
00244             seg1B = 1;
00245             seg1C = 1;
00246             seg1D = 0;
00247             seg1E = 0;
00248             seg1F = 1;
00249             seg1G = 1;
00250 
00251             SetLEDArray(9);
00252             break;
00253 
00254         case 10:
00255             // OFF
00256             seg1A = 0;
00257             seg1B = 0;
00258             seg1C = 0;
00259             seg1D = 0;
00260             seg1E = 0;
00261             seg1F = 0;
00262             seg1G = 0;
00263 
00264             SetLEDArray(10);
00265             break;
00266 
00267         default :
00268 
00269             break;
00270 
00271     }
00272 }
00273 
00274 // Write segment config to main array
00275 void SetLEDArray(int x)
00276 {
00277     for (int i = 0; i < WS2812_BUF; i++) {
00278         if (i < 16) {
00279             mainArray[x][i] = seg1A;
00280         }
00281 
00282         if ( i >= 16 && i < 32) {
00283             mainArray[x][i] = seg1B;
00284         }
00285 
00286         if (i >= 32 && i < 48) {
00287             mainArray[x][i] = seg1C;
00288         }
00289 
00290         if (i >= 48 && i < 64) {
00291             mainArray[x][i]= seg1D;
00292         }
00293 
00294         if ( i >= 64 && i < 80) {
00295             mainArray[x][i] = seg1E;
00296         }
00297 
00298         if (i >= 80 && i < 96) {
00299             mainArray[x][i] = seg1F;
00300         }
00301 
00302         if ( i >= 96 && i < 112) {
00303             mainArray[x][i] = seg1G;
00304         }
00305     }// FOR LOOP
00306 }
00307 
00308 // Write to player 1 LED (ROBOT)
00309 void WriteRobotGoal(bool scored)
00310 {
00311     if(scored == true) {
00312         WritePxGoal(BLUE,true);
00313     } else {
00314         WritePxGoal(PURPLE,true);
00315     }
00316     robotGoalLED.write(robotGoalPx.getBuf());
00317 }
00318 
00319 // Write to player 1 LED (ROBOT)
00320 void WritePlayerGoal(bool scored)
00321 {
00322     if(scored == true) {
00323         WritePxGoal(BLUE,false);
00324     } else {
00325         WritePxGoal(PURPLE,false);
00326     }
00327     playerGoalLED.write(playerGoalPx.getBuf());
00328 }
00329 
00330 // Write OFF to both goals 
00331 void WriteGoalsOff()
00332 {
00333     WritePxGoal(OFF,true);
00334     robotGoalLED.write(robotGoalPx.getBuf());
00335     WritePxGoal(OFF,false);
00336     playerGoalLED.write(playerGoalPx.getBuf());
00337 }
00338 
00339 // Update both Score LEDs with the current score
00340 void WriteScores()
00341 {
00342     WritePxScores(playerScore,false);
00343     playerScoreLED.write(playerScorePx.getBuf());
00344     wait(0.01);
00345     WritePxScores(robotScore,true);
00346     robotScoreLED.write(robotScorePx.getBuf());
00347 }
00348 
00349 // Write pixel array
00350 void WritePxScores(int line_num,bool isRobot)
00351 {
00352     if(isRobot == true) {
00353 
00354         for (int i = 0; i < WS2812_BUF; i++) {
00355             if (mainArray[line_num][i] == 0) {
00356                 robotScorePx.Set(i,OFF);
00357             }
00358 
00359             if (mainArray[line_num][i] == 1) {
00360                 robotScorePx.Set(i,WHITE);
00361             }
00362         }
00363     } else {
00364         for (int i = 0; i < WS2812_BUF; i++) {
00365             if (mainArray[line_num][i] == 0) {
00366                 playerScorePx.Set(i,OFF);
00367             }
00368 
00369             if (mainArray[line_num][i] == 1) {
00370                 playerScorePx.Set(i,WHITE);
00371             }
00372         }
00373     }
00374 
00375 }
00376 
00377 // Write Goal pixel array, using input colour for the specified goal
00378 // INPUTS: colour, isRobot
00379 //
00380 //         colour - This is the colour that you wish to set the array to
00381 //         isRobot - This specifies which goal to set the colours of, based on if it is the Robot side goal or not
00382 //
00383 void WritePxGoal(unsigned int colour,bool isRobot)
00384 {
00385     if(isRobot == true) {
00386         for (int i = 0; i < WS2812_BUF; i++) {
00387             robotGoalPx.Set(i,colour);
00388         }
00389     } else {
00390         for (int i = 0; i < WS2812_BUF; i++) {
00391             playerGoalPx.Set(i,colour);
00392         }
00393     }
00394 }
00395 
00396 // Write the goal LEDs and score LEDs when a goal is recorded. Also check to see if the goal being scored
00397 // is the final point of the game and the game is over.
00398 // INPUTS: hasRobotScored
00399 //      
00400 //      hasRobotScored - true if the goal being recorded is from the playerside goal, meaning the robot has scored a point
00401 //
00402 void HandleGoal(bool hasRobotScored)
00403 {
00404     if(hasRobotScored == true) {
00405         robotScore++;
00406         WriteRobotGoal(true);
00407         wait(0.01);
00408         WritePlayerGoal(false);
00409         wait(0.01);
00410         WriteScores();
00411     } else {
00412         playerScore++;
00413         WriteRobotGoal(false);
00414         wait(0.01);
00415         WritePlayerGoal(true);
00416         wait(0.01);
00417         WriteScores();
00418     }
00419 
00420     wait(5);
00421 
00422     // If either player reaches the score limit, then call HandleWin(). If not, then turn goal LEDs off
00423     if(robotScore == scoreLimit || playerScore == scoreLimit) {
00424         HandleWin();
00425     } else {
00426         WriteGoalsOff();
00427     }
00428 }
00429 
00430 // Handle behaviour when either the player or robot has won a game. 
00431 void HandleWin()
00432 {
00433     // Initalise variable as true
00434     bool isRobotWinner = true;
00435     
00436     // Decide if the robot is the winner. If not, then change isRobotWinner to false
00437     if(playerScore == scoreLimit) {
00438         isRobotWinner = false;
00439         pc.printf("Player won!");
00440 
00441         // Animation for goal LEDs. Turns off the robot Goal LEDs, working from in the middle point outwards.
00442         for(int i = 0; i < (ROBOTGOALLEDS / 2); i++) {
00443             robotGoalPx.Set((ROBOTGOALLEDS /2) - i, OFF);
00444             robotGoalPx.Set((ROBOTGOALLEDS /2) + i, OFF);
00445             robotGoalLED.write(robotGoalPx.getBuf());
00446             wait(0.15);
00447         }
00448 
00449         WriteGoalsOff();
00450 
00451     } else {
00452         pc.printf("Robot won!");
00453 
00454         // Animation for goal LEDs. Turns off the player Goal LEDs, working from in the middle point outwards.
00455         for(int i = 0; i < (PLAYERGOALLEDS / 2); i++) {
00456             playerGoalPx.Set((PLAYERGOALLEDS /2) - i, OFF);
00457             playerGoalPx.Set((PLAYERGOALLEDS /2) + i, OFF);
00458             playerGoalLED.write(playerGoalPx.getBuf());
00459             wait(0.25);
00460         }
00461 
00462         WriteGoalsOff();
00463     }
00464 
00465     // Reset scores then write to LEDs
00466     robotScore = 0;
00467     playerScore = 0;
00468     WriteScores();
00469 }
00470 
00471 int main()
00472 {
00473     setup();
00474 
00475     while(1) {
00476         double rbbValue = robotBreakBeam; // Read Robot Break beam
00477         double pbbValue = playerBreakBeam; // Read Player Break beam
00478 
00479         // IF PLAYER HAS SCORED A GOAL
00480         if ((prevRbbValue - rbbValue)>0.03) {
00481             pc.printf("Player has scored a goal \n\r");
00482             HandleGoal(false);
00483         }
00484 
00485         // IF ROBOT HAS SCORED A GOAL
00486         if ((prevPbbValue - pbbValue) > 0.03) {
00487             pc.printf("Robot has scored a goal \n\r");
00488             HandleGoal(true);
00489         }
00490 
00491         prevRbbValue = rbbValue;
00492         prevPbbValue = pbbValue;
00493 
00494         pc.printf("PlayerGoal: %f, RobotGoal: %f \r\n",pbbValue,rbbValue);
00495         pc.printf("Player: %i v %i : Robot \r\n",playerScore,robotScore);
00496         wait(0.02);
00497 
00498     }
00499 }