LE KICKASS TEAM / Mbed 2 deprecated RTOS_Lights_Master

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Dependencies:   mbed-rtos mbed

main.cpp@3:25eba54bace2, 2015-12-08 (annotated)

Committer:
alecselfridge
Date:
Tue Dec 08 00:21:22 2015 +0000
Revision:
3:25eba54bace2
Parent:
2:f3ae10decc2f
Child:
4:b3c3bca604a6
Current Version 1.4 w/ all features.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alecselfridge 2:f3ae10decc2f 1 /************************************************************************
alecselfridge 2:f3ae10decc2f 2 * Authors: Alec Selfridge/Dylan Smith
alecselfridge 2:f3ae10decc2f 3 * Date: 12/4/2015
alecselfridge 2:f3ae10decc2f 4 * Rev: 1.4
alecselfridge 2:f3ae10decc2f 5 * Project: RTOS Light Animations
alecselfridge 2:f3ae10decc2f 6 * Notes: The z-axis of the accelerometer is used to calculate the
alecselfridge 2:f3ae10decc2f 7 * "effective" angle that the board is tilted. First, the Z data
alecselfridge 2:f3ae10decc2f 8 * (0-65) is converted to a (0-90) scale. Then the actual
alecselfridge 2:f3ae10decc2f 9 * manipulation occurs by injecting the acc data into a response
alecselfridge 2:f3ae10decc2f 10 * formula in the form of ax^2 - by + c. The resulting angle has
alecselfridge 2:f3ae10decc2f 11 * no sign but it's magnitude is used to determine the rate at
alecselfridge 2:f3ae10decc2f 12 * which LEDs will "fill", thus simulating a gravity effect. To
alecselfridge 2:f3ae10decc2f 13 * account for both directions of tilt we check the polarity of
alecselfridge 2:f3ae10decc2f 14 * the x-axis. A negative value indicates a tilt to the right
alecselfridge 2:f3ae10decc2f 15 * and vice versa.
alecselfridge 2:f3ae10decc2f 16 * A 5-axis joystick is used to mix R, G, and B values to create
alecselfridge 2:f3ae10decc2f 17 * a custom color. The RGB LED is controled via PWM with a value
alecselfridge 2:f3ae10decc2f 18 * of 1.0 indicating "off" and vice versa.
alecselfridge 2:f3ae10decc2f 19 *
alecselfridge 2:f3ae10decc2f 20 ************************************************************************/
alecselfridge 2:f3ae10decc2f 21
alecselfridge 0:4555c427d7a8 22 #include "mbed.h"
alecselfridge 1:0a93e9e88ad3 23 #include "rtos.h"
alecselfridge 0:4555c427d7a8 24 #include "MMA7455.h"
alecselfridge 0:4555c427d7a8 25
alecselfridge 2:f3ae10decc2f 26 // response formula coefficients
alecselfridge 2:f3ae10decc2f 27 #define X2 0.0038
alecselfridge 2:f3ae10decc2f 28 #define X 0.0299
alecselfridge 2:f3ae10decc2f 29 #define C 0.1883
alecselfridge 0:4555c427d7a8 30
alecselfridge 0:4555c427d7a8 31 /*
alecselfridge 0:4555c427d7a8 32 **************************
alecselfridge 0:4555c427d7a8 33 Display Functions
alecselfridge 0:4555c427d7a8 34 **************************
alecselfridge 0:4555c427d7a8 35 */
alecselfridge 0:4555c427d7a8 36 void displayBanner();
alecselfridge 0:4555c427d7a8 37 void newline();
alecselfridge 0:4555c427d7a8 38
alecselfridge 0:4555c427d7a8 39 /*
alecselfridge 0:4555c427d7a8 40 **************************
alecselfridge 0:4555c427d7a8 41 Utility Functions
alecselfridge 0:4555c427d7a8 42 **************************
alecselfridge 0:4555c427d7a8 43 */
alecselfridge 2:f3ae10decc2f 44 void SerialInit(void);
alecselfridge 2:f3ae10decc2f 45 void AccInit(void);
alecselfridge 2:f3ae10decc2f 46 void LEDsInit(void);
alecselfridge 2:f3ae10decc2f 47 void RgbInit(void);
alecselfridge 2:f3ae10decc2f 48 void accFeed(void);
alecselfridge 0:4555c427d7a8 49 void sampleAcc(int period, int32_t data[3]);
alecselfridge 2:f3ae10decc2f 50 double getAngle(void);
alecselfridge 2:f3ae10decc2f 51 unsigned char mapLEDS(double v);
alecselfridge 2:f3ae10decc2f 52 void LEDPush(void const *args);
alecselfridge 2:f3ae10decc2f 53 void RGBpicker(void const *args);
alecselfridge 2:f3ae10decc2f 54 void testLED(void);
alecselfridge 2:f3ae10decc2f 55 void testRGB(void);
alecselfridge 0:4555c427d7a8 56
alecselfridge 0:4555c427d7a8 57 /*
alecselfridge 0:4555c427d7a8 58 **************************
alecselfridge 0:4555c427d7a8 59 Global Data
alecselfridge 0:4555c427d7a8 60 **************************
alecselfridge 0:4555c427d7a8 61 */
alecselfridge 0:4555c427d7a8 62 const char banner[37] = "Serial Comm Established with LPC4088";
alecselfridge 0:4555c427d7a8 63 // x, y, z
alecselfridge 0:4555c427d7a8 64 // holds current position
alecselfridge 0:4555c427d7a8 65 int32_t accPos[3] = {};
alecselfridge 0:4555c427d7a8 66 // holds up to 20 samples of data
alecselfridge 0:4555c427d7a8 67 int32_t accData[20][20][20] = {};
alecselfridge 0:4555c427d7a8 68 // holds calibration offsets
alecselfridge 0:4555c427d7a8 69 int32_t accCal[3] = {};
alecselfridge 2:f3ae10decc2f 70 // holds last acc value
alecselfridge 2:f3ae10decc2f 71 int32_t acc_old = 0;
alecselfridge 2:f3ae10decc2f 72 // holds most recent, adjusted, acc value
alecselfridge 2:f3ae10decc2f 73 double acc_adj = 0.0;
alecselfridge 2:f3ae10decc2f 74 // a value representing what's shown on the LEDs
alecselfridge 2:f3ae10decc2f 75 uint8_t LEDvals = 0;
alecselfridge 2:f3ae10decc2f 76 // tracker of how many times the joystick was used
alecselfridge 2:f3ae10decc2f 77 uint8_t tick = 0;
alecselfridge 2:f3ae10decc2f 78 // red value of RGB
alecselfridge 2:f3ae10decc2f 79 float r = 0;
alecselfridge 2:f3ae10decc2f 80 // green value of RGB
alecselfridge 2:f3ae10decc2f 81 float g = 0;
alecselfridge 2:f3ae10decc2f 82 // blue value of RGB
alecselfridge 2:f3ae10decc2f 83 float b = 0;
alecselfridge 0:4555c427d7a8 84
alecselfridge 0:4555c427d7a8 85 /*
alecselfridge 0:4555c427d7a8 86 **************************
alecselfridge 0:4555c427d7a8 87 Objects
alecselfridge 0:4555c427d7a8 88 **************************
alecselfridge 0:4555c427d7a8 89 */
alecselfridge 0:4555c427d7a8 90 // UART connection to PC
alecselfridge 0:4555c427d7a8 91 Serial terminal(USBTX, USBRX);
alecselfridge 0:4555c427d7a8 92 // accelerometer on I2C bus
alecselfridge 0:4555c427d7a8 93 MMA7455 acc(P0_27, P0_28);
alecselfridge 1:0a93e9e88ad3 94 // SPI interface for 8 LEDs
alecselfridge 1:0a93e9e88ad3 95 SPI leds(p5, NC, p7);
alecselfridge 1:0a93e9e88ad3 96 // load for shift register
alecselfridge 1:0a93e9e88ad3 97 DigitalOut ld(p30);
alecselfridge 2:f3ae10decc2f 98 // R of RGB LED
alecselfridge 2:f3ae10decc2f 99 PwmOut R(p25);
alecselfridge 2:f3ae10decc2f 100 // G of RGB LED
alecselfridge 2:f3ae10decc2f 101 PwmOut G(p28);
alecselfridge 2:f3ae10decc2f 102 // B of RGB LED
alecselfridge 2:f3ae10decc2f 103 PwmOut B(p26);
alecselfridge 2:f3ae10decc2f 104 // active-low 5-axis joystick
alecselfridge 2:f3ae10decc2f 105 // center, left_hi, right_hi, left_lo, right_lo
alecselfridge 2:f3ae10decc2f 106 BusIn joystick(p31, p32, p37, p39, p38);
alecselfridge 0:4555c427d7a8 107
alecselfridge 0:4555c427d7a8 108 int main() {
alecselfridge 0:4555c427d7a8 109 /*
alecselfridge 0:4555c427d7a8 110 **************************
alecselfridge 0:4555c427d7a8 111 Initializations
alecselfridge 0:4555c427d7a8 112 **************************
alecselfridge 0:4555c427d7a8 113 */
alecselfridge 0:4555c427d7a8 114 SerialInit();
alecselfridge 2:f3ae10decc2f 115 AccInit();
alecselfridge 1:0a93e9e88ad3 116 LEDsInit();
alecselfridge 2:f3ae10decc2f 117 testLED();
alecselfridge 2:f3ae10decc2f 118 RgbInit();
alecselfridge 2:f3ae10decc2f 119 testRGB();
alecselfridge 1:0a93e9e88ad3 120
alecselfridge 2:f3ae10decc2f 121 terminal.printf("Initializing timers..........");
alecselfridge 2:f3ae10decc2f 122 // timer responsible for updating the LEDs
alecselfridge 2:f3ae10decc2f 123 RtosTimer refresh_timer(LEDPush, osTimerPeriodic, (void *)0);
alecselfridge 2:f3ae10decc2f 124 // 16.7Hz timer (60ms or ~1/2 of 30fps)
alecselfridge 1:0a93e9e88ad3 125 refresh_timer.start(60);
alecselfridge 2:f3ae10decc2f 126 RtosTimer update_timer(RGBpicker, osTimerPeriodic, (void *)0);
alecselfridge 2:f3ae10decc2f 127 // 10Hz timer (100ms)
alecselfridge 2:f3ae10decc2f 128 update_timer.start(100);
alecselfridge 2:f3ae10decc2f 129 terminal.printf("done.");
alecselfridge 1:0a93e9e88ad3 130
alecselfridge 2:f3ae10decc2f 131 newline(); newline();
alecselfridge 2:f3ae10decc2f 132 terminal.printf("Initialization complete.");
alecselfridge 2:f3ae10decc2f 133 newline();
alecselfridge 0:4555c427d7a8 134 /*
alecselfridge 0:4555c427d7a8 135 **************************
alecselfridge 0:4555c427d7a8 136 Main Execution
alecselfridge 0:4555c427d7a8 137 **************************
alecselfridge 0:4555c427d7a8 138 */
alecselfridge 2:f3ae10decc2f 139 while(true) {
alecselfridge 0:4555c427d7a8 140 acc.read(accPos[0], accPos[1], accPos[2]);
alecselfridge 2:f3ae10decc2f 141 acc_adj = getAngle();
alecselfridge 2:f3ae10decc2f 142 LEDvals = mapLEDS(acc_adj);
alecselfridge 0:4555c427d7a8 143 }
alecselfridge 0:4555c427d7a8 144 }
alecselfridge 0:4555c427d7a8 145
alecselfridge 0:4555c427d7a8 146 /*
alecselfridge 0:4555c427d7a8 147 **************************
alecselfridge 0:4555c427d7a8 148 Function Definitions
alecselfridge 0:4555c427d7a8 149 **************************
alecselfridge 0:4555c427d7a8 150 */
alecselfridge 0:4555c427d7a8 151 void SerialInit()
alecselfridge 0:4555c427d7a8 152 {
alecselfridge 2:f3ae10decc2f 153 // initialize connection to PC. default: 8N1
alecselfridge 0:4555c427d7a8 154 terminal.baud(19200);
alecselfridge 0:4555c427d7a8 155 displayBanner();
alecselfridge 0:4555c427d7a8 156 newline();
alecselfridge 0:4555c427d7a8 157 }
alecselfridge 0:4555c427d7a8 158
alecselfridge 0:4555c427d7a8 159 void AccInit()
alecselfridge 0:4555c427d7a8 160 {
alecselfridge 0:4555c427d7a8 161 // configure accelerometer for 2G range
alecselfridge 0:4555c427d7a8 162 acc.setMode(MMA7455::ModeMeasurement);
alecselfridge 0:4555c427d7a8 163 acc.setRange(MMA7455::Range_2g);
alecselfridge 0:4555c427d7a8 164 terminal.printf("Calibrating accelerometer...");
alecselfridge 0:4555c427d7a8 165
alecselfridge 0:4555c427d7a8 166 // if we can successfully calibrate the accelerometer...
alecselfridge 0:4555c427d7a8 167 if(acc.calibrate()) {
alecselfridge 0:4555c427d7a8 168 newline();
alecselfridge 0:4555c427d7a8 169 acc.getCalibrationOffsets(accCal[0], accCal[1], accCal[2]);
alecselfridge 2:f3ae10decc2f 170 terminal.printf(" Offsets are (x,y,z): (%d, %d, %d)", accCal[0], accCal[1], accCal[2]);
alecselfridge 0:4555c427d7a8 171 newline(); newline();
alecselfridge 0:4555c427d7a8 172 }
alecselfridge 0:4555c427d7a8 173 else {
alecselfridge 0:4555c427d7a8 174 terminal.printf("failed.");
alecselfridge 0:4555c427d7a8 175 newline(); newline();
alecselfridge 0:4555c427d7a8 176 }
alecselfridge 0:4555c427d7a8 177 }
alecselfridge 0:4555c427d7a8 178
alecselfridge 2:f3ae10decc2f 179 void LEDsInit()
alecselfridge 2:f3ae10decc2f 180 {
alecselfridge 2:f3ae10decc2f 181 terminal.printf("Initializing LED array.......");
alecselfridge 2:f3ae10decc2f 182 leds.format(8, 3); // 8-bit packet, polarity & phase mode 3
alecselfridge 2:f3ae10decc2f 183 leds.frequency(100000); // 1MHz SPI
alecselfridge 2:f3ae10decc2f 184 ld = 1;
alecselfridge 2:f3ae10decc2f 185 LEDvals = 0x00;
alecselfridge 2:f3ae10decc2f 186 terminal.printf("done.");
alecselfridge 2:f3ae10decc2f 187 newline();
alecselfridge 2:f3ae10decc2f 188 }
alecselfridge 2:f3ae10decc2f 189
alecselfridge 2:f3ae10decc2f 190 void RgbInit()
alecselfridge 2:f3ae10decc2f 191 {
alecselfridge 2:f3ae10decc2f 192 terminal.printf("Initializing RGB LED.........");
alecselfridge 2:f3ae10decc2f 193 // 1KHz
alecselfridge 2:f3ae10decc2f 194 R.period(.001);
alecselfridge 2:f3ae10decc2f 195 R = 1.0;
alecselfridge 2:f3ae10decc2f 196 G.period(.001);
alecselfridge 2:f3ae10decc2f 197 G = 1.0;
alecselfridge 2:f3ae10decc2f 198 B.period(.001);
alecselfridge 2:f3ae10decc2f 199 B = 1.0;
alecselfridge 2:f3ae10decc2f 200 terminal.printf("done.");
alecselfridge 2:f3ae10decc2f 201 newline();
alecselfridge 2:f3ae10decc2f 202 }
alecselfridge 2:f3ae10decc2f 203
alecselfridge 0:4555c427d7a8 204 void newline()
alecselfridge 0:4555c427d7a8 205 {
alecselfridge 0:4555c427d7a8 206 // newline = carriage return + line feed
alecselfridge 0:4555c427d7a8 207 terminal.putc('\n');
alecselfridge 0:4555c427d7a8 208 terminal.putc('\r');
alecselfridge 0:4555c427d7a8 209 }
alecselfridge 0:4555c427d7a8 210
alecselfridge 0:4555c427d7a8 211 /*
alecselfridge 0:4555c427d7a8 212 Displays the following header:
alecselfridge 0:4555c427d7a8 213 ************************************************
alecselfridge 0:4555c427d7a8 214 Serial Comm Established with LPC4088
alecselfridge 0:4555c427d7a8 215 ************************************************
alecselfridge 0:4555c427d7a8 216 */
alecselfridge 0:4555c427d7a8 217 void displayBanner()
alecselfridge 0:4555c427d7a8 218 {
alecselfridge 0:4555c427d7a8 219 int i = 0;
alecselfridge 0:4555c427d7a8 220 for(int j = 0; j < 48; j++)
alecselfridge 0:4555c427d7a8 221 terminal.putc('*');
alecselfridge 0:4555c427d7a8 222 newline();
alecselfridge 0:4555c427d7a8 223
alecselfridge 0:4555c427d7a8 224 while(i != 36) {
alecselfridge 0:4555c427d7a8 225 char c = banner[i];
alecselfridge 0:4555c427d7a8 226 terminal.putc(c);
alecselfridge 0:4555c427d7a8 227 i++;
alecselfridge 0:4555c427d7a8 228 }
alecselfridge 0:4555c427d7a8 229 newline();
alecselfridge 0:4555c427d7a8 230
alecselfridge 0:4555c427d7a8 231 for(int j = 0; j < 48; j++)
alecselfridge 0:4555c427d7a8 232 terminal.putc('*');
alecselfridge 0:4555c427d7a8 233 }
alecselfridge 0:4555c427d7a8 234
alecselfridge 0:4555c427d7a8 235 // prints the current positional data from the accelerometer
alecselfridge 0:4555c427d7a8 236 void accFeed()
alecselfridge 0:4555c427d7a8 237 {
alecselfridge 0:4555c427d7a8 238 // returns false if the mode is set to standby or unable to convert
alecselfridge 0:4555c427d7a8 239 if(acc.read(accPos[0], accPos[1], accPos[2])) {
alecselfridge 0:4555c427d7a8 240 terminal.printf("x: %d y: %d z: %d", accPos[0], accPos[1], accPos[2]);
alecselfridge 0:4555c427d7a8 241 newline();
alecselfridge 0:4555c427d7a8 242 }
alecselfridge 0:4555c427d7a8 243 else {
alecselfridge 2:f3ae10decc2f 244 terminal.printf("Unable to access MMA7455.");
alecselfridge 0:4555c427d7a8 245 newline();
alecselfridge 0:4555c427d7a8 246 }
alecselfridge 0:4555c427d7a8 247 }
alecselfridge 0:4555c427d7a8 248
alecselfridge 0:4555c427d7a8 249 /*
alecselfridge 0:4555c427d7a8 250 Samples the accelerometer in 1/4s intervals for the length of "period" (max 5).
alecselfridge 0:4555c427d7a8 251 The results are placed in the 3D array. Additionally, the array passed in
alecselfridge 0:4555c427d7a8 252 will hold the last reading.
alecselfridge 0:4555c427d7a8 253 */
alecselfridge 0:4555c427d7a8 254 void sampleAcc(int period, int32_t data[3])
alecselfridge 0:4555c427d7a8 255 {
alecselfridge 0:4555c427d7a8 256 for(int i = 0; i < period*4; i++) {
alecselfridge 0:4555c427d7a8 257 //load temps
alecselfridge 0:4555c427d7a8 258 acc.read(data[0], data[1], data[2]);
alecselfridge 0:4555c427d7a8 259 accData[i][0][0] = data[0]; // x
alecselfridge 0:4555c427d7a8 260 accData[0][i][0] = data[1]; // y
alecselfridge 0:4555c427d7a8 261 accData[0][0][i] = data[2]; // z
alecselfridge 0:4555c427d7a8 262 wait(.25);
alecselfridge 0:4555c427d7a8 263 }
alecselfridge 0:4555c427d7a8 264 // if we didn't fill the whole array, we'll clear it to avoid confusion later
alecselfridge 0:4555c427d7a8 265 if(period < 5) {
alecselfridge 0:4555c427d7a8 266 for(int i = period*4; i < 20; i++)
alecselfridge 0:4555c427d7a8 267 accData[i][i][i] = 0;
alecselfridge 0:4555c427d7a8 268 }
alecselfridge 1:0a93e9e88ad3 269 }
alecselfridge 1:0a93e9e88ad3 270
alecselfridge 2:f3ae10decc2f 271 // called by the refresh timer every 60ms
alecselfridge 2:f3ae10decc2f 272 void LEDPush(void const *args)
alecselfridge 2:f3ae10decc2f 273 {
alecselfridge 2:f3ae10decc2f 274 ld = 0; // active-low load
alecselfridge 2:f3ae10decc2f 275 leds.write(LEDvals);
alecselfridge 2:f3ae10decc2f 276 ld = 1; // "lock" lights
alecselfridge 2:f3ae10decc2f 277 }
alecselfridge 2:f3ae10decc2f 278
alecselfridge 2:f3ae10decc2f 279 void RGBPush(void)
alecselfridge 2:f3ae10decc2f 280 {
alecselfridge 2:f3ae10decc2f 281 R = r;
alecselfridge 2:f3ae10decc2f 282 G = g;
alecselfridge 2:f3ae10decc2f 283 B = b;
alecselfridge 2:f3ae10decc2f 284 }
alecselfridge 2:f3ae10decc2f 285
alecselfridge 2:f3ae10decc2f 286 /*
alecselfridge 2:f3ae10decc2f 287 -0-90 degrees = 0-65 units (deg/unit ratio)
alecselfridge 2:f3ae10decc2f 288 -90 - conversion = actual angle (a value of 65 means the device is flat)
alecselfridge 2:f3ae10decc2f 289 thus, Theta = 90 - (90/65 * x) (90/65 = 1.38)
alecselfridge 2:f3ae10decc2f 290 -Using ax^2 - by + c allows the data to fit into a custom model of about 1/3 scale
alecselfridge 2:f3ae10decc2f 291 Therefore, the final equation is: Theta = 90 - 3(ax^2 - by + c)
alecselfridge 2:f3ae10decc2f 292 */
alecselfridge 2:f3ae10decc2f 293 double getAngle(void)
alecselfridge 2:f3ae10decc2f 294 {
alecselfridge 2:f3ae10decc2f 295 double deg = 1.38 * accPos[2];
alecselfridge 2:f3ae10decc2f 296 double cal = 1.38 * accCal[2];
alecselfridge 2:f3ae10decc2f 297 return ( 90 - (3.0 * ((X2*deg*deg) - (X*cal) + C)) );
alecselfridge 2:f3ae10decc2f 298 }
alecselfridge 2:f3ae10decc2f 299
alecselfridge 2:f3ae10decc2f 300 // look-up table based on ranges
alecselfridge 2:f3ae10decc2f 301 // this setup gives a nonlinear response from 0-90 degrees
alecselfridge 2:f3ae10decc2f 302 unsigned char mapLEDS(double v)
alecselfridge 1:0a93e9e88ad3 303 {
alecselfridge 2:f3ae10decc2f 304 int angle = int(v);
alecselfridge 2:f3ae10decc2f 305 if(accPos[0] < 0) {
alecselfridge 2:f3ae10decc2f 306 if(angle < 8)
alecselfridge 2:f3ae10decc2f 307 return 0xFF;
alecselfridge 2:f3ae10decc2f 308 else if(angle >= 8 && angle < 15)
alecselfridge 2:f3ae10decc2f 309 return 0x7F;
alecselfridge 2:f3ae10decc2f 310 else if(angle >= 15 && angle < 25)
alecselfridge 2:f3ae10decc2f 311 return 0x3F;
alecselfridge 2:f3ae10decc2f 312 else if(angle >= 25 && angle < 35)
alecselfridge 2:f3ae10decc2f 313 return 0x1F;
alecselfridge 2:f3ae10decc2f 314 else if(angle >= 35 && angle < 40)
alecselfridge 2:f3ae10decc2f 315 return 0x0F;
alecselfridge 2:f3ae10decc2f 316 else if(angle >= 40 && angle < 50)
alecselfridge 2:f3ae10decc2f 317 return 0x07;
alecselfridge 2:f3ae10decc2f 318 else if(angle >= 50 && angle < 60)
alecselfridge 2:f3ae10decc2f 319 return 0x03;
alecselfridge 2:f3ae10decc2f 320 else if(angle >= 60 && angle < 70)
alecselfridge 2:f3ae10decc2f 321 return 0x01;
alecselfridge 2:f3ae10decc2f 322 else if(angle >= 70)
alecselfridge 2:f3ae10decc2f 323 return 0x00;
alecselfridge 2:f3ae10decc2f 324 else
alecselfridge 2:f3ae10decc2f 325 return 0xFF;
alecselfridge 2:f3ae10decc2f 326 }
alecselfridge 2:f3ae10decc2f 327 else {
alecselfridge 2:f3ae10decc2f 328 if(angle < 8)
alecselfridge 2:f3ae10decc2f 329 return 0xFF;
alecselfridge 2:f3ae10decc2f 330 else if(angle >= 8 && angle < 15)
alecselfridge 2:f3ae10decc2f 331 return 0xFE;
alecselfridge 2:f3ae10decc2f 332 else if(angle >= 15 && angle < 25)
alecselfridge 2:f3ae10decc2f 333 return 0xFC;
alecselfridge 2:f3ae10decc2f 334 else if(angle >= 25 && angle < 35)
alecselfridge 2:f3ae10decc2f 335 return 0xF8;
alecselfridge 2:f3ae10decc2f 336 else if(angle >= 35 && angle < 40)
alecselfridge 2:f3ae10decc2f 337 return 0xF0;
alecselfridge 2:f3ae10decc2f 338 else if(angle >= 40 && angle < 50)
alecselfridge 2:f3ae10decc2f 339 return 0xE0;
alecselfridge 2:f3ae10decc2f 340 else if(angle >= 50 && angle < 60)
alecselfridge 2:f3ae10decc2f 341 return 0xC0;
alecselfridge 2:f3ae10decc2f 342 else if(angle >= 60 && angle < 70)
alecselfridge 2:f3ae10decc2f 343 return 0x80;
alecselfridge 2:f3ae10decc2f 344 else if(angle >= 70)
alecselfridge 2:f3ae10decc2f 345 return 0x00;
alecselfridge 2:f3ae10decc2f 346 else
alecselfridge 2:f3ae10decc2f 347 return 0xFF;
alecselfridge 2:f3ae10decc2f 348 }
alecselfridge 1:0a93e9e88ad3 349 }
alecselfridge 1:0a93e9e88ad3 350
alecselfridge 2:f3ae10decc2f 351 /*
alecselfridge 2:f3ae10decc2f 352 joystick: 0 1 2 3 4
alecselfridge 2:f3ae10decc2f 353 center left_hi right_hi left_lo right_lo
alecselfridge 2:f3ae10decc2f 354 */
alecselfridge 2:f3ae10decc2f 355 void RGBpicker(void const *args)
alecselfridge 1:0a93e9e88ad3 356 {
alecselfridge 2:f3ae10decc2f 357 tick++;
alecselfridge 2:f3ae10decc2f 358 if(tick > 1) {
alecselfridge 2:f3ae10decc2f 359 tick = 0;
alecselfridge 2:f3ae10decc2f 360 return;
alecselfridge 2:f3ae10decc2f 361 }
alecselfridge 2:f3ae10decc2f 362 // left : R
alecselfridge 3:25eba54bace2 363 if(!(joystick[3])) {
alecselfridge 2:f3ae10decc2f 364 if(R.read() == 0.0)
alecselfridge 2:f3ae10decc2f 365 r = 1.0;
alecselfridge 2:f3ae10decc2f 366 r = r - .02;
alecselfridge 2:f3ae10decc2f 367 }
alecselfridge 2:f3ae10decc2f 368 // right : B
alecselfridge 3:25eba54bace2 369 if(!(joystick[2])) {
alecselfridge 2:f3ae10decc2f 370 if(B.read() == 0.0)
alecselfridge 2:f3ae10decc2f 371 b = 1.0;
alecselfridge 2:f3ae10decc2f 372 b = b - .02;
alecselfridge 2:f3ae10decc2f 373 }
alecselfridge 2:f3ae10decc2f 374 // up : G
alecselfridge 3:25eba54bace2 375 if(!(joystick[4])) {
alecselfridge 2:f3ae10decc2f 376 if(G.read() == 0.0)
alecselfridge 2:f3ae10decc2f 377 g = 1.0;
alecselfridge 2:f3ae10decc2f 378 g = g - .02;
alecselfridge 2:f3ae10decc2f 379 }
alecselfridge 3:25eba54bace2 380 // down : Reset
alecselfridge 3:25eba54bace2 381 if(!(joystick[1])) {
alecselfridge 3:25eba54bace2 382 r = 1.0; g = 1.0; b = 1.0;
alecselfridge 3:25eba54bace2 383 }
alecselfridge 2:f3ae10decc2f 384 // center : confirm changes
alecselfridge 3:25eba54bace2 385 if(!joystick[0]) {
alecselfridge 2:f3ae10decc2f 386 RGBPush();
alecselfridge 3:25eba54bace2 387 terminal.printf("RGB updated: (%3.2f, %3.2f, %3.2f)", ((1 - R.read())*100), ((1 - G.read())*100), ((1 - B.read())*100));
alecselfridge 2:f3ae10decc2f 388 newline();
alecselfridge 2:f3ae10decc2f 389 }
alecselfridge 1:0a93e9e88ad3 390 }
alecselfridge 1:0a93e9e88ad3 391
alecselfridge 2:f3ae10decc2f 392 // "chase" pattern to verify LED array
alecselfridge 2:f3ae10decc2f 393 void testLED(void)
alecselfridge 2:f3ae10decc2f 394 {
alecselfridge 2:f3ae10decc2f 395 LEDvals = 0x80;
alecselfridge 2:f3ae10decc2f 396 LEDPush(0);
alecselfridge 2:f3ae10decc2f 397 wait_ms(75);
alecselfridge 2:f3ae10decc2f 398 for(int i = 0; i < 8; i++) {
alecselfridge 2:f3ae10decc2f 399 LEDvals = LEDvals >> 1;;
alecselfridge 2:f3ae10decc2f 400 LEDPush(0);
alecselfridge 2:f3ae10decc2f 401 wait_ms(75);
alecselfridge 2:f3ae10decc2f 402 }
alecselfridge 2:f3ae10decc2f 403 LEDvals = 0x01;
alecselfridge 2:f3ae10decc2f 404 LEDPush(0);
alecselfridge 2:f3ae10decc2f 405 wait_ms(75);
alecselfridge 2:f3ae10decc2f 406 for(int i = 0; i < 8; i++) {
alecselfridge 2:f3ae10decc2f 407 LEDvals = LEDvals << 1;;
alecselfridge 2:f3ae10decc2f 408 LEDPush(0);
alecselfridge 2:f3ae10decc2f 409 wait_ms(75);
alecselfridge 2:f3ae10decc2f 410 }
alecselfridge 2:f3ae10decc2f 411 }
alecselfridge 2:f3ae10decc2f 412
alecselfridge 2:f3ae10decc2f 413 // cycles thru various colors to show functionality of an RGB LED
alecselfridge 2:f3ae10decc2f 414 void testRGB(void)
alecselfridge 1:0a93e9e88ad3 415 {
alecselfridge 2:f3ae10decc2f 416 r = 1.0; g = 1.0; b = 1.0;
alecselfridge 2:f3ae10decc2f 417 RGBPush();
alecselfridge 2:f3ae10decc2f 418 wait_ms(150);
alecselfridge 2:f3ae10decc2f 419 r = 0.0; g = 1.0; b = 1.0;
alecselfridge 2:f3ae10decc2f 420 RGBPush();
alecselfridge 2:f3ae10decc2f 421 wait_ms(150);
alecselfridge 2:f3ae10decc2f 422 r = .6; g = 0.0; b = 0.0;
alecselfridge 2:f3ae10decc2f 423 RGBPush();
alecselfridge 2:f3ae10decc2f 424 wait_ms(150);
alecselfridge 2:f3ae10decc2f 425 r = 1.0; g = 1.0; b = 0.0;
alecselfridge 2:f3ae10decc2f 426 RGBPush();
alecselfridge 2:f3ae10decc2f 427 wait_ms(150);
alecselfridge 2:f3ae10decc2f 428 r = 1.0; g = 0.0; b = 0.0;
alecselfridge 2:f3ae10decc2f 429 RGBPush();
alecselfridge 2:f3ae10decc2f 430 wait_ms(150);
alecselfridge 2:f3ae10decc2f 431 r = 1.0; g = 0.0; b = 1.0;
alecselfridge 2:f3ae10decc2f 432 RGBPush();
alecselfridge 2:f3ae10decc2f 433 wait_ms(150);
alecselfridge 2:f3ae10decc2f 434 r = 1.0; g = 1.0; b = 0.0;
alecselfridge 2:f3ae10decc2f 435 RGBPush();
alecselfridge 2:f3ae10decc2f 436 wait_ms(150);
alecselfridge 2:f3ae10decc2f 437 r = 0.0; g = 0.0; b = 1.0;
alecselfridge 2:f3ae10decc2f 438 RGBPush();
alecselfridge 2:f3ae10decc2f 439 wait_ms(150);
alecselfridge 2:f3ae10decc2f 440 r = 0.0; g = 1.0; b = 1.0;
alecselfridge 2:f3ae10decc2f 441 RGBPush();
alecselfridge 2:f3ae10decc2f 442 wait_ms(150);
alecselfridge 2:f3ae10decc2f 443 r = 1.0; g = 1.0; b = 1.0;
alecselfridge 2:f3ae10decc2f 444 RGBPush();
alecselfridge 2:f3ae10decc2f 445 wait_ms(150);
alecselfridge 0:4555c427d7a8 446 }