File content as of revision 0:2cf2aa8c0d7c:

#include "mbed.h"
#include "rtos.h"
#include "WS2812.h"
#include "PixelArray.h" 
 
#define WS2812_BUF 10
#define NUM_COLORS 1
#define NUM_LEDS_PER_COLOR 10
PixelArray px(WS2812_BUF);

// See the program page for information on the timing numbers
// The given numbers are for the K64F
WS2812 ws(p9, WS2812_BUF, 5, 10, 10, 15);

PwmOut Servo_Y(p22);
PwmOut Servo_X(p21);
PwmOut Servo_Z(p23);

Serial pc(USBTX, USBRX); // tx, rx

 
float Servo_z_smooth;

void Servo_Z_Thread(void const *args) {
    float Sevro_Pos;
    float Sevro_Pos_New = 0.1;
    float Sevro_Pos_Old = 0.01;
    
    while (true) {
        
        Sevro_Pos_New = Servo_z_smooth;
        
        if(Sevro_Pos_Old <= Sevro_Pos_New)
            {
            for(float i=Sevro_Pos_Old*10000; i<=Sevro_Pos_New*10000; i=i+25)
                {
                Sevro_Pos = i/10000;
                Servo_Z = Sevro_Pos;
                pc.printf("Servo_Z1: %1.6f %1.6f %1.6f\n\r ",Sevro_Pos, i,Sevro_Pos_Old);
                //Thread::wait(50);
                }
            }
        else
            {
            for(float i=Sevro_Pos_Old*10000; i>=Sevro_Pos_New*10000; i=i-25)
                {
                Sevro_Pos = i/10000;
                Servo_Z = Sevro_Pos;
                pc.printf("Servo_Z2: %1.6f \n\r",Sevro_Pos);
                //Thread::wait(50);
                }            
            }
        Sevro_Pos_Old = Sevro_Pos_New;
        Thread::wait(500);
    }    
}
 
 
 
void LED_All_Colour(int red , int green ,int blue , int bright)
    {
    ws.useII(WS2812::PER_PIXEL); // use per-pixel intensity scaling
    
    int colorbuf[NUM_COLORS] = {0x000000};
    //int colorbuf[NUM_COLORS] = {0x000000,0x00f0ff,0x00ff00,0x00ffff,0xffffff,0x00ff00,0x00ffff,0x0000ff,0xff00ff};
    
    red <<= 16;
    green <<= 8;
    
    colorbuf[0] = red + green + blue;
    
    pc.printf("Colour: %6x red:%6x  Green:%6x  Blue:%6x Bright:%x \n\r",colorbuf[0], red , green , blue, bright);
    // for each of the colours (j) write out 10 of them
    // the pixels are written at the colour*10, plus the colour position
    // all modulus 60 so it wraps around
    for (int i = 0; i < WS2812_BUF; i++) {
        px.Set(i, colorbuf[(i / NUM_LEDS_PER_COLOR) % NUM_COLORS]);
    }
    
    // now all the colours are computed, add a fade effect using intensity scaling
    // compute and write the II value for each pixel
    for (int j=0; j<WS2812_BUF; j++) {
        // px.SetI(pixel position, II value)
        //px.SetI(j%WS2812_BUF, 0xff+(0xf*(j%NUM_LEDS_PER_COLOR)));     //full brightness
        px.SetI(j%WS2812_BUF, bright +(bright*(j%NUM_LEDS_PER_COLOR)));        //control brightness    
    }
    //set the colour of the LEDs
    for (int z=WS2812_BUF; z >= 0 ; z--) {
        ws.write_offsets(px.getBuf(),z,z,z);
        

        }    
}


void LED_Colour_Pos(int position, int red , int green ,int blue , int bright)
    {
    ws.useII(WS2812::PER_PIXEL); // use per-pixel intensity scaling
    
    int colorbuf = 0x000000;
    
    red <<= 16;
    green <<= 8;
    
    colorbuf = red + green + blue;
    
    pc.printf("Colour: %6x red:%6x  Green:%6x  Blue:%6x Bright:%x \n\r",colorbuf, red , green , blue, bright);
    // for each of the colours (j) write out 10 of them
    // the pixels are written at the colour*10, plus the colour position
    // all modulus 60 so it wraps around
    px.Set(position, colorbuf);
    
    // now all the colours are computed, add a fade effect using intensity scaling
    // compute and write the II value for each pixel
    //px.SetI(pixel position, II value)
    px.SetI(position, bright);        //control brightness    
}

void LED_Colour_Pos_Set()
{
    //set the colour of the LEDs
    for (int z=WS2812_BUF-1; z >= 0 ; z--) 
    {
        ws.write_offsets(px.getBuf(),z,z,z);
    } 
}


void Smooth_Fade(int h , int speed)
{
   for(int j = 0; j<=h;j++)
    {
        for(int i = 0;i<=255;i=i+speed)
        {
            LED_All_Colour(i, 0 ,255-i , 255);
            //wait(0.01);
        }    
        for(int i = 0;i<=255;i=i+speed)
        {
            LED_All_Colour(255-i, i ,0 , 255);
            //wait(0.01);
        } 
        for(int i = 0;i<=255;i=i+speed)
        {
            LED_All_Colour(0, 255-i ,i , 255);
            //wait(0.01);
        } 
    }  
}


void Red_Blue_Flash(int h)
{
   for(int i = 0;i<=h;i++)
        {
            
            LED_All_Colour(255, 0 ,0 , 50);
            wait(0.02);
            LED_All_Colour(255, 0 ,0 , 255);
            wait(0.02);
            LED_All_Colour(0, 0 , 255 , 50);
            wait(0.02);            
            LED_All_Colour(0, 0 , 255 , 255);
            wait(0.02);
        }   
}

 
int main() {
    Thread thread_Servo_Z(Servo_Z_Thread );
                
    
    while (true) {
       /////////////////////////////////////////////////////////////////////////////////////
       ////////////////////////////////////   X   //////////////////////////////////////////
       /////////////////////////////////////////////////////////////////////////////////////
        Servo_Y = 0.05;
        Servo_X = 0.06;
        Servo_z_smooth = 0.01;
        LED_Colour_Pos(0,255,0,0,128);
        LED_Colour_Pos(1,0,255,0,128);
        LED_Colour_Pos(2,0,0,255,128);
        LED_Colour_Pos(3,255,255,0,128);  
        LED_Colour_Pos(4,255,0,255,128); 
        LED_Colour_Pos(5,128,255,0,128);
        LED_Colour_Pos(6,128,50,0,255);
        LED_Colour_Pos(7,0,255,128,128);
        LED_Colour_Pos(8,128,0,128,255);  
        LED_Colour_Pos(9,128,128,255,128); 
        LED_Colour_Pos_Set();        
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4 \n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(1000);
        Servo_Y = 0.05;
        Servo_X = 0.06;
        Servo_z_smooth = 0.05;
        LED_Colour_Pos(0,128,255,0,128);
        LED_Colour_Pos(1,128,50,0,255);
        LED_Colour_Pos(2,0,255,128,128);
        LED_Colour_Pos(3,128,0,128,255);  
        LED_Colour_Pos(4,128,128,255,128); 
        LED_Colour_Pos(5,255,255,0,255);
        LED_Colour_Pos(6,128,50,127,255);
        LED_Colour_Pos(7,255,255,0,128);
        LED_Colour_Pos(8,128,0,128,255);  
        LED_Colour_Pos(9,0,128,255,128);         
        LED_Colour_Pos_Set();         
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500);
        Servo_Y = 0.05;
        Servo_X = 0.08;
        Servo_z_smooth = 0.08;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500); 
        Servo_Y = 0.06;
        Servo_X = 0.05;
        Servo_z_smooth = 0.1;
        LED_All_Colour(255, 0 , 0 , 255);
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500); 
        Servo_Y = 0.05;
        Servo_X = 0.05;
        Servo_z_smooth = 0.05;
        LED_All_Colour(255, 255 , 0 , 255);        
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500); 
        Servo_Y = 0.05;
        Servo_X = 0.09;
        Servo_z_smooth = 0.05;
        LED_All_Colour(0, 0 , 255 , 255);        
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500); 
        Servo_Y = 0.05;
        Servo_X = 0.05;
        Servo_z_smooth = 0.05;
        LED_All_Colour(0, 255 , 0 , 255);        
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500);     
        Servo_Y = 0.05;
        Servo_X = 0.09;
        Servo_z_smooth = 0.05;
        LED_Colour_Pos(0,255,0,0,128);
        LED_Colour_Pos(1,0,255,0,128);
        LED_Colour_Pos(2,0,0,255,128);
        LED_Colour_Pos(3,255,255,0,128);  
        LED_Colour_Pos(4,255,0,255,128); 
        LED_Colour_Pos(5,128,255,0,128);
        LED_Colour_Pos(6,128,50,0,255);
        LED_Colour_Pos(7,0,255,128,128);
        LED_Colour_Pos(8,128,0,128,255);  
        LED_Colour_Pos(9,128,128,255,128); 
        LED_Colour_Pos_Set(); 
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500); 
        Servo_Y = 0.05;
        Servo_X = 0.05;
        Servo_z_smooth = 0.05;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500);  
        Servo_Y = 0.05;
        Servo_X = 0.08;
        Servo_z_smooth = 0.05;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500); 
        
       /////////////////////////////////////////////////////////////////////////////////////
       ////////////////////////////////////   y   //////////////////////////////////////////
       /////////////////////////////////////////////////////////////////////////////////////
        Servo_Y = 0.055;
        Servo_X = 0.08;
        Servo_z_smooth = 0.05;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500);   
        Servo_Y = 0.08;
        Servo_X = 0.075;
        Servo_z_smooth = 0.05;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500); 
        Servo_Y = 0.055;
        Servo_X = 0.075;
        Servo_z_smooth = 0.05;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500); 
        Servo_Y = 0.065;
        Servo_X = 0.075;
        Servo_z_smooth = 0.05;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(1000); 
        Servo_Y = 0.055;
        Servo_X = 0.075;
        Servo_z_smooth = 0.05;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500);   
        Servo_Y = 0.065;
        Servo_X = 0.075;
        Servo_z_smooth = 0.05;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500); 
        Servo_Y = 0.055;
        Servo_X = 0.075;
        Servo_z_smooth = 0.05;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500);  
        Servo_Y = 0.065;
        Servo_X = 0.075;
        Servo_z_smooth = 0.05;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500); 
        Servo_Y = 0.06;
        Servo_X = 0.075;
        Servo_z_smooth = 0.09;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(750);                             
        
        /////////////////////////////////////////////////////////////////////////////////////
        ////////////////////////////////////   Z   //////////////////////////////////////////
        /////////////////////////////////////////////////////////////////////////////////////
        Servo_Y = 0.06;
        Servo_X = 0.075;
        Servo_z_smooth = 0.08;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500);  
        Servo_Y = 0.06;
        Servo_X = 0.075;
        Servo_z_smooth = 0.1;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500);                             
        Servo_Y = 0.06;
        Servo_X = 0.075;
        Servo_z_smooth = 0.07;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(500);
        Servo_Y = 0.06;
        Servo_X = 0.075;
        Servo_z_smooth = 0.11;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(750); 
        Servo_Y = 0.06;
        Servo_X = 0.075;
        Servo_z_smooth = 0.07;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(750);  
        Servo_Y = 0.06;
        Servo_X = 0.075;
        Servo_z_smooth = 0.11;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(750);                             
        Servo_Y = 0.06;
        Servo_X = 0.075;
        Servo_z_smooth = 0.07;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(750);
        Servo_Y = 0.06;
        Servo_X = 0.075;
        Servo_z_smooth = 0.11;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(750);                            
        Servo_Y = 0.06;
        Servo_X = 0.075;
        Servo_z_smooth = 0.07;
        printf("Servo X: %f 1.4 Servo Y: %f 1.4 Servo Z: %f 1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(1500);                          
        Servo_Y = 0.06;
        Servo_X = 0.75;
        Servo_z_smooth = 0.03;
        printf("Servo X: %f1.4 Servo Y: %f1.4 Servo Z: %f1.4\n\r",Servo_X, Servo_Y, Servo_z_smooth);
        Thread::wait(1500);                    
    }
}