Revision 8:2a4298cbae3f, committed 2019-05-04

Comitter:

whutsup

Date:

Sat May 04 18:51:43 2019 +0000

Parent:

7:050f086f6f5c

Commit message:

Lune RGB LEDs control;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorControl.cpp	Sat May 04 18:51:43 2019 +0000
@@ -0,0 +1,83 @@
+#include "mbed.h"
+#include "QEI.h"
+ 
+extern              Serial bt;
+DigitalOut          Enable(A0);
+DigitalOut          M1(PA_1);
+DigitalOut          M2(PF_1);
+
+
+extern              QEI re;
+extern              Ticker      timer1;
+extern int          targetDis;
+
+void MotorTest(int mode)
+{
+    
+    switch (mode)
+    
+    {
+        case 0 : //stop
+            
+            Enable = 0;
+            timer1.detach();
+
+            break;
+    
+        case 1 : // right
+    
+            Enable = 1;
+            M1 = 1;
+            M2 = 0;            
+    
+            break;
+    
+        case 2 : // left
+        
+            Enable = 1;
+            M1 = 0;
+            M2 = 1;
+        
+            break;       
+            
+    }
+    
+              
+}
+
+void ControlPos()
+{
+        
+        int pulse = re.getPulses();
+        int d = pulse/200;
+       
+        float ref_d = (targetDis-d);
+        float abs_ref_d = abs(ref_d);
+//        float s;
+//        s = abs_ref_d; 
+        
+        if(-0.8f > ref_d)
+        {
+                Enable = 1;
+                M1 = 0;
+                M2 = 1; //(s<3)?s/5:1;
+                
+        }
+        
+        else if ( 0.8f <ref_d)
+        {
+                    
+                Enable = 1;
+                M1 = 1; //(s<3)?s/5:1;
+                M2 = 0;
+                        
+        }
+        
+        if (abs_ref_d < 0.8f)
+        {
+            
+                Enable = 0;
+                timer1.detach();
+                  
+        }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorControl.h	Sat May 04 18:51:43 2019 +0000
@@ -0,0 +1,2 @@
+void MotorTest(int mode);
+void ControlPos();
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.lib	Sat May 04 18:51:43 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RgbControl.cpp	Sat May 04 18:51:43 2019 +0000
@@ -0,0 +1,656 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "PololuLedStrip.h"
+
+
+PololuLedStrip      led7(PB_0);
+PololuLedStrip      led6(PA_12);
+PololuLedStrip      led5(PB_6);
+PololuLedStrip      led4(PB_1);
+PololuLedStrip      led3(PA_8);
+PololuLedStrip      led2(PA_11);
+PololuLedStrip      led1(PA_3);
+PololuLedStrip      led0(PA_4);
+
+#define LED_COUNT 16
+
+rgb_color colors0[LED_COUNT];
+rgb_color colors1[LED_COUNT];
+rgb_color colors2[LED_COUNT];
+rgb_color colors3[LED_COUNT];
+rgb_color colors4[LED_COUNT];
+rgb_color colors5[LED_COUNT];
+rgb_color colors6[LED_COUNT];
+rgb_color colors7[LED_COUNT];
+
+Ticker      led;
+
+extern              QEI re;
+extern int R;
+extern int G;
+extern int B;
+extern              Serial bt;
+extern int dayLed;
+
+void LedOn1()
+{
+        
+        int pulse = re.getPulses();  
+        int d = pulse/200;
+        
+        if(48>=d)
+        {
+            
+            uint8_t r[8];
+            uint8_t g[8];
+            uint8_t b[8];   
+            
+            for (int i=0 ; i<8 ; i++)
+            {
+                int n = (i+1); 
+                int moveL_r = ((R/6)*(d-1*n*6))+R;
+                int moveL_g = ((G/6)*(d-1*n*6))+G;
+                int moveL_b = ((B/6)*(d-1*n*6))+B;
+                
+                moveL_r = (0 >= moveL_r) ? 0: moveL_r;
+                moveL_g = (0 >= moveL_g) ? 0: moveL_g;
+                moveL_b = (0 >= moveL_b) ? 0: moveL_b;
+                
+                moveL_r = (R <= moveL_r) ? R: moveL_r;
+                moveL_g = (G <= moveL_g) ? G: moveL_g;
+                moveL_b = (B <= moveL_b) ? B: moveL_b;
+                
+                
+                r[i] = moveL_r;
+                g[i] = moveL_g;
+                b[i] = moveL_b;
+                
+            } 
+            
+            
+        
+            for(int i=0; i<16; i++)
+            {
+                colors0[i] = (rgb_color){ r[0], g[0], b[0] };
+                colors1[i] = (rgb_color){ r[1], g[1], b[1] };
+                colors2[i] = (rgb_color){ r[2], g[2], b[2] };
+                colors3[i] = (rgb_color){ r[3], g[3], b[3] };
+                colors4[i] = (rgb_color){ r[4], g[4], b[4] };
+                colors5[i] = (rgb_color){ r[5], g[5], b[5] };
+                colors6[i] = (rgb_color){ r[6], g[6], b[6] };
+                colors7[i] = (rgb_color){ r[7], g[7], b[7] };
+            }
+            
+            
+            led0.write(colors0, LED_COUNT);
+            led1.write(colors1, LED_COUNT);
+            led2.write(colors2, LED_COUNT);
+            led3.write(colors3, LED_COUNT);
+            led4.write(colors4, LED_COUNT);
+            led5.write(colors5, LED_COUNT);
+            led6.write(colors6, LED_COUNT);
+            led7.write(colors7, LED_COUNT);
+            
+        }
+        
+        else if(52<=d)
+        {
+            uint8_t r[8];
+            uint8_t g[8];
+            uint8_t b[8];
+                                    
+            for (int i=0 ; i<8 ; i++)
+            {
+                int moveR_r = -1*(R/6)*(d-1*(52+(i+1)*6))+R;
+                int moveR_g = -1*(G/6)*(d-1*(52+(i+1)*6))+G;
+                int moveR_b = -1*(B/6)*(d-1*(52+(i+1)*6))+B;
+                                
+                
+                moveR_r = (0 >= moveR_r) ? 0: moveR_r;
+                moveR_g = (0 >= moveR_g) ? 0: moveR_g;
+                moveR_b = (0 >= moveR_b) ? 0: moveR_b;
+                
+                moveR_r = (R <= moveR_r) ? R: moveR_r;
+                moveR_g = (G <= moveR_g) ? G: moveR_g;
+                moveR_b = (B <= moveR_b) ? B: moveR_b;
+                
+                
+                r[i] = moveR_r;
+                g[i] = moveR_g;
+                b[i] = moveR_b;
+            }
+
+            
+        
+            for(int i=0; i<16; i++)
+            {
+                colors0[i] = (rgb_color){ r[0], g[0], b[0] };
+                colors1[i] = (rgb_color){ r[1], g[1], b[1] };
+                colors2[i] = (rgb_color){ r[2], g[2], b[2] };
+                colors3[i] = (rgb_color){ r[3], g[3], b[3] };
+                colors4[i] = (rgb_color){ r[4], g[4], b[4] };
+                colors5[i] = (rgb_color){ r[5], g[5], b[5] };
+                colors6[i] = (rgb_color){ r[6], g[6], b[6] };
+                colors7[i] = (rgb_color){ r[7], g[7], b[7] };
+            }
+            
+            
+            led0.write(colors0, LED_COUNT);
+            led1.write(colors1, LED_COUNT);
+            led2.write(colors2, LED_COUNT);
+            led3.write(colors3, LED_COUNT);
+            led4.write(colors4, LED_COUNT);
+            led5.write(colors5, LED_COUNT);
+            led6.write(colors6, LED_COUNT);
+            led7.write(colors7, LED_COUNT);
+            
+        }
+        
+        else
+        {
+            
+            for(int i=0; i<16; i++)
+            {
+                colors0[i] = (rgb_color){ R, G, B };
+                colors1[i] = (rgb_color){ R, G, B };
+                colors2[i] = (rgb_color){ R, G, B };
+                colors3[i] = (rgb_color){ R, G, B };
+                colors4[i] = (rgb_color){ R, G, B };
+                colors5[i] = (rgb_color){ R, G, B };
+                colors6[i] = (rgb_color){ R, G, B };
+                colors7[i] = (rgb_color){ R, G, B };
+            }
+            
+            
+            led0.write(colors0, LED_COUNT);
+            led1.write(colors1, LED_COUNT);
+            led2.write(colors2, LED_COUNT);
+            led3.write(colors3, LED_COUNT);
+            led4.write(colors4, LED_COUNT);
+            led5.write(colors5, LED_COUNT);
+            led6.write(colors6, LED_COUNT);
+            led7.write(colors7, LED_COUNT);
+        }
+    
+}
+
+
+void LedOn2()
+{
+    
+        int pulse = re.getPulses();  
+        int p = pulse/200;
+        uint8_t k[8];
+        int n = 8;
+        int d = 6;
+        double bi= 0.02f;
+        
+        uint8_t r[8];
+        uint8_t g[8];
+        uint8_t b[8];
+        
+        for (int i=0 ; i<8 ; i++)
+        {
+            k[i] = ((n-i)*d)/log((1/bi)+1);
+        }
+        
+        
+        if(48>=p)
+        {
+
+
+            for (int i=0 ; i<8 ; i++)
+            {
+
+                int moveL_r = R*bi*(10^((p-1*i*d)/k[i])-1);
+                int moveL_g = G*bi*(10^((p-1*i*d)/k[i])-1);
+                int moveL_b = B*bi*(10^((p-1*i*d)/k[i])-1);;
+                 
+                moveL_r = (0 >= moveL_r) ? 0: moveL_r;
+                moveL_g = (0 >= moveL_g) ? 0: moveL_g;
+                moveL_b = (0 >= moveL_b) ? 0: moveL_b;
+                
+                moveL_r = (R <= moveL_r) ? R: moveL_r;
+                moveL_g = (G <= moveL_g) ? G: moveL_g;
+                moveL_b = (B <= moveL_b) ? B: moveL_b;
+                 
+                r[i] = moveL_r;
+                g[i] = moveL_g;
+                b[i] = moveL_b;
+    
+            } 
+            
+        
+            for(int i=0; i<16; i++)
+            {
+                colors0[i] = (rgb_color){ r[0], g[0], b[0] };
+                colors1[i] = (rgb_color){ r[1], g[1], b[1] };
+                colors2[i] = (rgb_color){ r[2], g[2], b[2] };
+                colors3[i] = (rgb_color){ r[3], g[3], b[3] };
+                colors4[i] = (rgb_color){ r[4], g[4], b[4] };
+                colors5[i] = (rgb_color){ r[5], g[5], b[5] };
+                colors6[i] = (rgb_color){ r[6], g[6], b[6] };
+                colors7[i] = (rgb_color){ r[7], g[7], b[7] };
+            }
+            
+            
+            led0.write(colors0, LED_COUNT);
+            led1.write(colors1, LED_COUNT);
+            led2.write(colors2, LED_COUNT);
+            led3.write(colors3, LED_COUNT);
+            led4.write(colors4, LED_COUNT);
+            led5.write(colors5, LED_COUNT);
+            led6.write(colors6, LED_COUNT);
+            led7.write(colors7, LED_COUNT);
+            
+ 
+          
+        }
+        
+        else if(49<=p)
+        {
+
+                                    
+            for (int i=0 ; i<8 ; i++)
+            {
+
+                int moveR_r = R*bi*(10^((-1*p+(n+1+i)*d)/k[n-1-i])-1);
+                int moveR_g = G*bi*(10^((-1*p+(n+1+i)*d)/k[n-1-i])-1);
+                int moveR_b = B*bi*(10^((-1*p+(n+1+i)*d)/k[n-1-i])-1);
+                
+                moveR_r = (0 >= moveR_r) ? 0: moveR_r;
+                moveR_g = (0 >= moveR_g) ? 0: moveR_g;
+                moveR_b = (0 >= moveR_b) ? 0: moveR_b;
+                
+                moveR_r = (R <= moveR_r) ? R: moveR_r;
+                moveR_g = (G <= moveR_g) ? G: moveR_g;
+                moveR_b = (B <= moveR_b) ? B: moveR_b;
+                
+                r[i] = moveR_r;
+                g[i] = moveR_g;
+                b[i] = moveR_b;
+                                
+            }
+
+            
+        
+            for(int i=0; i<16; i++)
+            {
+                colors0[i] = (rgb_color){ r[0], g[0], b[0] };
+                colors1[i] = (rgb_color){ r[1], g[1], b[1] };
+                colors2[i] = (rgb_color){ r[2], g[2], b[2] };
+                colors3[i] = (rgb_color){ r[3], g[3], b[3] };
+                colors4[i] = (rgb_color){ r[4], g[4], b[4] };
+                colors5[i] = (rgb_color){ r[5], g[5], b[5] };
+                colors6[i] = (rgb_color){ r[6], g[6], b[6] };
+                colors7[i] = (rgb_color){ r[7], g[7], b[7] };
+            }
+            
+            
+            led0.write(colors0, LED_COUNT);
+            led1.write(colors1, LED_COUNT);
+            led2.write(colors2, LED_COUNT);
+            led3.write(colors3, LED_COUNT);
+            led4.write(colors4, LED_COUNT);
+            led5.write(colors5, LED_COUNT);
+            led6.write(colors6, LED_COUNT);
+            led7.write(colors7, LED_COUNT);
+            
+        }
+        
+//        else
+//        {
+//            
+//            for(int i=0; i<16; i++)
+//            {
+//                colors0[i] = (rgb_color){ R, G, B };
+//                colors1[i] = (rgb_color){ R, G, B };
+//                colors2[i] = (rgb_color){ R, G, B };
+//                colors3[i] = (rgb_color){ R, G, B };
+//                colors4[i] = (rgb_color){ R, G, B };
+//                colors5[i] = (rgb_color){ R, G, B };
+//                colors6[i] = (rgb_color){ R, G, B };
+//                colors7[i] = (rgb_color){ R, G, B };
+//            }
+//            
+//            
+//            led0.write(colors0, LED_COUNT);
+//            led1.write(colors1, LED_COUNT);
+//            led2.write(colors2, LED_COUNT);
+//            led3.write(colors3, LED_COUNT);
+//            led4.write(colors4, LED_COUNT);
+//            led5.write(colors5, LED_COUNT);
+//            led6.write(colors6, LED_COUNT);
+//            led7.write(colors7, LED_COUNT);
+//        }
+
+}
+
+void LedOn3()
+{
+    
+        int pulse = re.getPulses();  
+        int d = pulse/200;
+        
+        
+        if(48>=d)
+        {
+            
+            uint8_t r[8];
+            uint8_t g[8];
+            uint8_t b[8];   
+
+            
+            for (int i=0 ; i<8 ; i++)
+            { 
+                int moveL_r = ((R/(48-6*(i)))+1)*(d-48)+R;
+                int moveL_g = ((G/(48-6*(i)))+1)*(d-48)+G;
+                int moveL_b = ((B/(48-6*(i)))+1)*(d-48)+B;
+                
+                r[i] = (0 >= moveL_r) ? 0: moveL_r;
+                g[i] = (0 >= moveL_g) ? 0: moveL_g;
+                b[i] = (0 >= moveL_b) ? 0: moveL_b;
+            } 
+            
+            
+        
+            for(int i=0; i<16; i++)
+            {
+                colors0[i] = (rgb_color){ r[0], g[0], b[0] };
+                colors1[i] = (rgb_color){ r[1], g[1], b[1] };
+                colors2[i] = (rgb_color){ r[2], g[2], b[2] };
+                colors3[i] = (rgb_color){ r[3], g[3], b[3] };
+                colors4[i] = (rgb_color){ r[4], g[4], b[4] };
+                colors5[i] = (rgb_color){ r[5], g[5], b[5] };
+                colors6[i] = (rgb_color){ r[6], g[6], b[6] };
+                colors7[i] = (rgb_color){ r[7], g[7], b[7] };
+            }
+            
+            
+            led0.write(colors0, LED_COUNT);
+            led1.write(colors1, LED_COUNT);
+            led2.write(colors2, LED_COUNT);
+            led3.write(colors3, LED_COUNT);
+            led4.write(colors4, LED_COUNT);
+            led5.write(colors5, LED_COUNT);
+            led6.write(colors6, LED_COUNT);
+            led7.write(colors7, LED_COUNT);
+            
+        }
+        
+        else if(52<=d)
+        {
+            uint8_t r[8];
+            uint8_t g[8];
+            uint8_t b[8];
+                                    
+            for (int i=0 ; i<8 ; i++)
+            {
+                int moveR_r = ((-1*R/(6+6*(i)))-1)*(d-52)+R;
+                int moveR_g = ((-1*G/(6+6*(i)))-1)*(d-52)+G;
+                int moveR_b = ((-1*B/(6+6*(i)))-1)*(d-52)+B;
+                                
+                r[i] = (0 >= moveR_r) ? 0:moveR_r ;
+                g[i] = (0 >= moveR_g) ? 0:moveR_g ;
+                b[i] = (0 >= moveR_b) ? 0:moveR_b ;
+            }
+
+            
+        
+            for(int i=0; i<16; i++)
+            {
+                colors0[i] = (rgb_color){ r[0], g[0], b[0] };
+                colors1[i] = (rgb_color){ r[1], g[1], b[1] };
+                colors2[i] = (rgb_color){ r[2], g[2], b[2] };
+                colors3[i] = (rgb_color){ r[3], g[3], b[3] };
+                colors4[i] = (rgb_color){ r[4], g[4], b[4] };
+                colors5[i] = (rgb_color){ r[5], g[5], b[5] };
+                colors6[i] = (rgb_color){ r[6], g[6], b[6] };
+                colors7[i] = (rgb_color){ r[7], g[7], b[7] };
+            }
+            
+            
+            led0.write(colors0, LED_COUNT);
+            led1.write(colors1, LED_COUNT);
+            led2.write(colors2, LED_COUNT);
+            led3.write(colors3, LED_COUNT);
+            led4.write(colors4, LED_COUNT);
+            led5.write(colors5, LED_COUNT);
+            led6.write(colors6, LED_COUNT);
+            led7.write(colors7, LED_COUNT);
+            
+        }
+        
+        else
+        {
+            
+            for(int i=0; i<16; i++)
+            {
+                colors0[i] = (rgb_color){ R, G, B };
+                colors1[i] = (rgb_color){ R, G, B };
+                colors2[i] = (rgb_color){ R, G, B };
+                colors3[i] = (rgb_color){ R, G, B };
+                colors4[i] = (rgb_color){ R, G, B };
+                colors5[i] = (rgb_color){ R, G, B };
+                colors6[i] = (rgb_color){ R, G, B };
+                colors7[i] = (rgb_color){ R, G, B };
+            }
+            
+            
+            led0.write(colors0, LED_COUNT);
+            led1.write(colors1, LED_COUNT);
+            led2.write(colors2, LED_COUNT);
+            led3.write(colors3, LED_COUNT);
+            led4.write(colors4, LED_COUNT);
+            led5.write(colors5, LED_COUNT);
+            led6.write(colors6, LED_COUNT);
+            led7.write(colors7, LED_COUNT);
+        }
+    
+}
+
+void MoonPhase()
+{
+         
+        int d = dayLed;;
+        
+        if(48>=d)
+        {
+            
+            uint8_t r[8];
+            uint8_t g[8];
+            uint8_t b[8];   
+            
+            for (int i=0 ; i<8 ; i++)
+            {
+                int n = (i+1); 
+                int moveL_r = ((R/6)*(d-1*n*6))+R;
+                int moveL_g = ((G/6)*(d-1*n*6))+G;
+                int moveL_b = ((B/6)*(d-1*n*6))+B;
+                
+                moveL_r = (0 >= moveL_r) ? 0: moveL_r;
+                moveL_g = (0 >= moveL_g) ? 0: moveL_g;
+                moveL_b = (0 >= moveL_b) ? 0: moveL_b;
+                
+                moveL_r = (R <= moveL_r) ? R: moveL_r;
+                moveL_g = (G <= moveL_g) ? G: moveL_g;
+                moveL_b = (B <= moveL_b) ? B: moveL_b;
+                
+                
+                r[i] = moveL_r;
+                g[i] = moveL_g;
+                b[i] = moveL_b;
+                
+            } 
+            
+            
+        
+            for(int i=0; i<16; i++)
+            {
+                colors0[i] = (rgb_color){ r[0], g[0], b[0] };
+                colors1[i] = (rgb_color){ r[1], g[1], b[1] };
+                colors2[i] = (rgb_color){ r[2], g[2], b[2] };
+                colors3[i] = (rgb_color){ r[3], g[3], b[3] };
+                colors4[i] = (rgb_color){ r[4], g[4], b[4] };
+                colors5[i] = (rgb_color){ r[5], g[5], b[5] };
+                colors6[i] = (rgb_color){ r[6], g[6], b[6] };
+                colors7[i] = (rgb_color){ r[7], g[7], b[7] };
+            }
+            
+            
+            led0.write(colors0, LED_COUNT);
+            led1.write(colors1, LED_COUNT);
+            led2.write(colors2, LED_COUNT);
+            led3.write(colors3, LED_COUNT);
+            led4.write(colors4, LED_COUNT);
+            led5.write(colors5, LED_COUNT);
+            led6.write(colors6, LED_COUNT);
+            led7.write(colors7, LED_COUNT);
+            
+        }
+        
+        else if(52<=d)
+        {
+            uint8_t r[8];
+            uint8_t g[8];
+            uint8_t b[8];
+                                    
+            for (int i=0 ; i<8 ; i++)
+            {
+                int moveR_r = -1*(R/6)*(d-1*(52+(i+1)*6))+R;
+                int moveR_g = -1*(G/6)*(d-1*(52+(i+1)*6))+G;
+                int moveR_b = -1*(B/6)*(d-1*(52+(i+1)*6))+B;
+                                
+                
+                moveR_r = (0 >= moveR_r) ? 0: moveR_r;
+                moveR_g = (0 >= moveR_g) ? 0: moveR_g;
+                moveR_b = (0 >= moveR_b) ? 0: moveR_b;
+                
+                moveR_r = (R <= moveR_r) ? R: moveR_r;
+                moveR_g = (G <= moveR_g) ? G: moveR_g;
+                moveR_b = (B <= moveR_b) ? B: moveR_b;
+                
+                
+                r[i] = moveR_r;
+                g[i] = moveR_g;
+                b[i] = moveR_b;
+            }
+
+            
+        
+            for(int i=0; i<16; i++)
+            {
+                colors0[i] = (rgb_color){ r[0], g[0], b[0] };
+                colors1[i] = (rgb_color){ r[1], g[1], b[1] };
+                colors2[i] = (rgb_color){ r[2], g[2], b[2] };
+                colors3[i] = (rgb_color){ r[3], g[3], b[3] };
+                colors4[i] = (rgb_color){ r[4], g[4], b[4] };
+                colors5[i] = (rgb_color){ r[5], g[5], b[5] };
+                colors6[i] = (rgb_color){ r[6], g[6], b[6] };
+                colors7[i] = (rgb_color){ r[7], g[7], b[7] };
+            }
+            
+            
+            led0.write(colors0, LED_COUNT);
+            led1.write(colors1, LED_COUNT);
+            led2.write(colors2, LED_COUNT);
+            led3.write(colors3, LED_COUNT);
+            led4.write(colors4, LED_COUNT);
+            led5.write(colors5, LED_COUNT);
+            led6.write(colors6, LED_COUNT);
+            led7.write(colors7, LED_COUNT);
+            
+        }
+        
+        else
+        {
+            
+            for(int i=0; i<16; i++)
+            {
+                colors0[i] = (rgb_color){ R, G, B };
+                colors1[i] = (rgb_color){ R, G, B };
+                colors2[i] = (rgb_color){ R, G, B };
+                colors3[i] = (rgb_color){ R, G, B };
+                colors4[i] = (rgb_color){ R, G, B };
+                colors5[i] = (rgb_color){ R, G, B };
+                colors6[i] = (rgb_color){ R, G, B };
+                colors7[i] = (rgb_color){ R, G, B };
+            }
+            
+            
+            led0.write(colors0, LED_COUNT);
+            led1.write(colors1, LED_COUNT);
+            led2.write(colors2, LED_COUNT);
+            led3.write(colors3, LED_COUNT);
+            led4.write(colors4, LED_COUNT);
+            led5.write(colors5, LED_COUNT);
+            led6.write(colors6, LED_COUNT);
+            led7.write(colors7, LED_COUNT);
+        }
+    
+}
+
+
+void ModeSelect(int mode)
+{
+    
+    switch(mode)
+    {
+        
+        case 0 :
+        
+        led.detach();
+
+        
+        break;
+        
+        case 1 :
+        led.detach();
+        
+        R = 119;
+        G = 66;
+        B = 255;
+        
+        led.attach(&LedOn1, 0.05);
+        
+        break;
+        
+        case 2 :
+
+        led.detach();
+        
+        R = 119;
+        G = 66;
+        B = 255;
+        
+        led.attach(&LedOn2, 0.05);
+        break;
+        
+        case 3 :
+    
+        led.detach();
+        
+        R = 119;
+        G = 66;
+        B = 255;
+        
+        led.attach(&LedOn3, 0.05);
+        
+        break;
+        
+        case 4 :
+    
+        led.detach();
+        
+        R = 119;
+        G = 66;
+        B = 255;
+        
+        led.attach(&MoonPhase, 0.05);
+        
+        break;
+        
+    }
+    
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RgbControl.h	Sat May 04 18:51:43 2019 +0000
@@ -0,0 +1,5 @@
+void LedOn1();
+void LedOn2();
+void LedOn3();
+void MoonPhase();
+void ModeSelect(int mode);
\ No newline at end of file

--- a/main.cpp	Wed Nov 01 23:15:43 2017 +0000
+++ b/main.cpp	Sat May 04 18:51:43 2019 +0000
@@ -1,48 +1,154 @@
 #include "mbed.h"
 #include "PololuLedStrip.h"
+#include "QEI.h"
+#include "MotorControl.h"
+#include "RgbControl.h"
 
-PololuLedStrip ledStrip(D8);
+//Serial              bt(USBTX,USBRX);
+
+Serial          bt(D1,D0);
+
+InterruptIn         LeftReset(PF_0);
+InterruptIn         RightReset(PB_4);
+
+QEI                 re(PA_5,PA_7,NC,220);
 
-#define LED_COUNT 60
-rgb_color colors[LED_COUNT];
+Ticker              timer1; //control Position
+Timeout             ResetTimer;
+
 
-Timer timer;
+int                 targetDis;
+char                rxData[7];
+bool                flagRx = 0;
+int                 dayLed;
 
-// Converts a color from the HSV representation to RGB.
-rgb_color hsvToRgb(float h, float s, float v)
+int R;
+int G;
+int B;
+
+void ReadData()
 {
-    int i = floor(h * 6);
-    float f = h * 6 - i;
-    float p = v * (1 - s);
-    float q = v * (1 - f * s);
-    float t = v * (1 - (1 - f) * s);
-    float r = 0, g = 0, b = 0;
-    switch(i % 6){
-        case 0: r = v; g = t; b = p; break;
-        case 1: r = q; g = v; b = p; break;
-        case 2: r = p; g = v; b = t; break;
-        case 3: r = p; g = q; b = v; break;
-        case 4: r = t; g = p; b = v; break;
-        case 5: r = v; g = p; b = q; break;
-    }
-    return (rgb_color){r * 255, g * 255, b * 255};
+    char inChar;
+    static char rxCount = 0;
+    static char rxBuf[7];
+    
+    while(1 == bt.readable())
+    {
+        
+        inChar = bt.getc();
+     
+        if('<' == inChar)
+        {
+            rxCount = 1;
+        }
+        
+        else if (rxCount > 0 && rxCount <8)
+        {
+            rxBuf[rxCount-1] = inChar;
+            rxCount++;            
+        }
+        
+        else if ( 8 == rxCount && '>' == inChar)
+        {
+            rxCount = 0;
+            flagRx = 1;
+            memcpy(rxData, rxBuf, 7);
+            
+        }
+    }  
+}
+
+
+void Reset_L()
+{   
+    MotorTest(0);
+    re.reset();
+}
+
+void Reset_R()
+{   
+    MotorTest(0);
+}
+
+void Stop()
+{
+    MotorTest(0);
 }
 
 int main()
 {
-    timer.start();
+    
+        bt.baud(115200);
+        bt.puts("START\n");
+                MotorTest(2);
+        ResetTimer.attach(&Stop,15);
+        
 
-    while(1)
-    {
-        // Update the colors array.
-        uint32_t time = timer.read_ms();       
-        for(int i = 0; i < LED_COUNT; i++)
+        LeftReset.rise(&Reset_L);
+        RightReset.rise(&Reset_R);
+        
+        char tmpCommand[4] = {0,};                     // [ADD] command
+        int rxVal = 0;
+        
+        int modeMotor = 0;
+        int modeNum = 0;
+        bt.attach(&ReadData, Serial::RxIrq);
+
+        while(1)
         {
-            uint8_t phase = (time >> 4) - (i << 2);
-            colors[i] = hsvToRgb(phase / 256.0, 1.0, 1.0);
+            
+            if (1 == flagRx)
+            {
+                flagRx = 0;
+                tmpCommand[0] = rxData[0];
+                tmpCommand[1] = rxData[1];
+                tmpCommand[2] = rxData[2];
+                rxVal = atoi(rxData+3);
+                
+                if (0 == strcmp(tmpCommand,"MOT"))
+                {               
+                    bt.putc(tmpCommand[0]);
+                    modeMotor = rxVal;
+                    MotorTest(modeMotor);              
+                                    
+                }
+                
+                else if (0 == strcmp(tmpCommand,"POS"))
+                {
+                    bt.putc(tmpCommand[0]);     
+                    targetDis = rxVal;
+                    timer1.attach(&ControlPos,0.1);
+                }
+                
+                else if (0 == strcmp(tmpCommand,"MOD"))
+                {  
+                    bt.putc(tmpCommand[0]);     
+                    modeNum = rxVal;
+                    ModeSelect(modeNum);
+                    
+                }
+                
+                else if (0 == strcmp(tmpCommand,"DAY"))
+                {   
+                    ModeSelect(4);
+                    bt.putc(tmpCommand[0]);     
+                    targetDis = atoi(rxData+5);                                     // [ADD] return 2 characters in the back of 4 characters
+                    dayLed = 0.01*(atoi(rxData+3)-atoi(rxData+5));                 // [ADD] return 2 cahracters in the front of 4 characters
+                    timer1.attach(&ControlPos,0.1);            
+                }                
+                
+           }
+            
+//            int pulse = re.getPulses();  
+//            int d = pulse/220;
+//            int e = LeftReset.read();
+//            bt.printf("%d %d \n",d,e);
+
+            wait(0.1);
+
+                    
         }
-    
-        // Send the colors to the LED strip.
-        ledStrip.write(colors, LED_COUNT);
-    }
-}
+
+
+
+}
\ No newline at end of file

--- a/mbed.bld	Wed Nov 01 23:15:43 2017 +0000
+++ b/mbed.bld	Sat May 04 18:51:43 2019 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/mbed_official/code/mbed/builds/fb8e0ae1cceb
\ No newline at end of file
+https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc
\ No newline at end of file