Model-Based Team / Mbed 2 deprecated CubicHand

Cubic Hand project for EECS 249A course.

Dependencies:   MMA8451Q TSI cc3000_hostdriver_mbedsocket NVIC_set_all_priorities mbed Multi_WS2811

ledCube.cpp@33:ff87df17c55d, 2014-12-11 (annotated)

Committer:
robertbui
Date:
Thu Dec 11 06:23:57 2014 +0000
Revision:
33:ff87df17c55d
Parent:
32:bf5f545621aa
Parent:
29:9deef77084af
Child:
34:4a755e3898e4
gesture recognition merged. System has "commitment" issues esp with Kevin's code.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joseoyola 2:45b90e8d7d82 1 /*
joseoyola 16:a3de0c0dbe33 2 * Neopixel LED Cube library
joseoyola 5:41f28ce7f5a9 3 * by Robert Bui and Jose Oyola
joseoyola 2:45b90e8d7d82 4 * UC Berkeley 2014
joseoyola 2:45b90e8d7d82 5 */
joseoyola 2:45b90e8d7d82 6
joseoyola 2:45b90e8d7d82 7 #include "mbed.h"
joseoyola 5:41f28ce7f5a9 8 #include "WS2811.h"
joseoyola 5:41f28ce7f5a9 9 #include "Colors.h"
joseoyola 5:41f28ce7f5a9 10 #include "TSISensor.h"
joseoyola 5:41f28ce7f5a9 11 #include "MMA8451Q.h"
joseoyola 16:a3de0c0dbe33 12 #include "ledCube.h"
joseoyola 5:41f28ce7f5a9 13
joseoyola 5:41f28ce7f5a9 14
joseoyola 5:41f28ce7f5a9 15 #define MMA8451_I2C_ADDRESS (0x1d<<1)
joseoyola 5:41f28ce7f5a9 16
joseoyola 5:41f28ce7f5a9 17 #define PANEL1 0
joseoyola 5:41f28ce7f5a9 18 #define PANEL2 1
joseoyola 5:41f28ce7f5a9 19 #define PANEL3 2
robertbui 32:bf5f545621aa 20 #define nLEDs 200 //MAX_LEDS_PER_STRIP;
robertbui 32:bf5f545621aa 21 #define nROWs 10 //number of rows per cube panel
robertbui 32:bf5f545621aa 22 #define nCOLs 10 //number of columns per cube panel
robertbui 32:bf5f545621aa 23 #define DATA_OUT_PIN1 2 // PTD2
robertbui 32:bf5f545621aa 24 #define DATA_OUT_PIN2 3 // PTD3
joseoyola 5:41f28ce7f5a9 25
joseoyola 5:41f28ce7f5a9 26
joseoyola 20:c2bc970bbff8 27 LedCube::LedCube():X(0),Y(1),Z(2),ledStrip1(nLEDs, DATA_OUT_PIN1),ledStrip2(nLEDs, DATA_OUT_PIN2)
joseoyola 16:a3de0c0dbe33 28 {
joseoyola 16:a3de0c0dbe33 29 }
joseoyola 5:41f28ce7f5a9 30
joseoyola 16:a3de0c0dbe33 31 LedCube::~LedCube()
joseoyola 16:a3de0c0dbe33 32 {
joseoyola 16:a3de0c0dbe33 33 }
joseoyola 5:41f28ce7f5a9 34
robertbui 32:bf5f545621aa 35 /*Sets the initial size and position of the lighted cube*/
joseoyola 16:a3de0c0dbe33 36 void LedCube::Init(int x, int y, int z)
joseoyola 16:a3de0c0dbe33 37 {
joseoyola 16:a3de0c0dbe33 38 size = 2;
joseoyola 16:a3de0c0dbe33 39 prevSize = size;
joseoyola 16:a3de0c0dbe33 40 pos[X] = prevPos[X] = x;
joseoyola 16:a3de0c0dbe33 41 pos[Y] = prevPos[Y] = y;
joseoyola 16:a3de0c0dbe33 42 pos[Z] = prevPos[Z] = z;
joseoyola 16:a3de0c0dbe33 43 r = 255*0.1;
joseoyola 16:a3de0c0dbe33 44 g = 255*0.1;
joseoyola 16:a3de0c0dbe33 45 b = 255*0.1;
joseoyola 5:41f28ce7f5a9 46
joseoyola 24:554ea084eddf 47 brightness = 0.5;
joseoyola 16:a3de0c0dbe33 48 saturation = 1.0;
joseoyola 16:a3de0c0dbe33 49
joseoyola 16:a3de0c0dbe33 50 ledStrip1.begin();
joseoyola 16:a3de0c0dbe33 51 ledStrip2.begin();
joseoyola 16:a3de0c0dbe33 52 }
joseoyola 5:41f28ce7f5a9 53
robertbui 32:bf5f545621aa 54 /*Determines which LED should be lit based on its
robertbui 32:bf5f545621aa 55 cartesian coordinate. The origin is the led at
robertbui 32:bf5f545621aa 56 bottom left of panel 1 when using a three panel cube
robertbui 32:bf5f545621aa 57 ________
robertbui 32:bf5f545621aa 58 / /|
robertbui 32:bf5f545621aa 59 / 3 / |
robertbui 32:bf5f545621aa 60 /_______/ 2|
robertbui 32:bf5f545621aa 61 | | |
robertbui 32:bf5f545621aa 62 | 1 | /
robertbui 32:bf5f545621aa 63 | |
robertbui 32:bf5f545621aa 64 --------
robertbui 32:bf5f545621aa 65 */
robertbui 32:bf5f545621aa 66
joseoyola 16:a3de0c0dbe33 67 int LedCube::getLedIndex(int panel, int x, int y) {
joseoyola 8:c06f5046c9f7 68 if (panel == PANEL1) {
joseoyola 8:c06f5046c9f7 69 if (y % 2 == 0) {
joseoyola 8:c06f5046c9f7 70 return nCOLs*2 * y + x;
joseoyola 8:c06f5046c9f7 71 }
joseoyola 8:c06f5046c9f7 72 else {
joseoyola 8:c06f5046c9f7 73 return nCOLs*2 * y + nCOLs + ((nCOLs - 1) - x);
joseoyola 8:c06f5046c9f7 74 }
joseoyola 5:41f28ce7f5a9 75 }
joseoyola 8:c06f5046c9f7 76
joseoyola 8:c06f5046c9f7 77 if (panel == PANEL2) {
joseoyola 8:c06f5046c9f7 78 if (y % 2 == 0) {
joseoyola 8:c06f5046c9f7 79 return nCOLs*2 * y + nCOLs + x;
joseoyola 8:c06f5046c9f7 80 }
joseoyola 8:c06f5046c9f7 81 else {
joseoyola 8:c06f5046c9f7 82 return nCOLs*2 * y + ((nCOLs - 1) - x);
joseoyola 8:c06f5046c9f7 83 }
joseoyola 5:41f28ce7f5a9 84 }
joseoyola 8:c06f5046c9f7 85
joseoyola 8:c06f5046c9f7 86 if (panel == PANEL3) {
joseoyola 8:c06f5046c9f7 87 if (y % 2 == 0) {
joseoyola 8:c06f5046c9f7 88 return nCOLs * y + x;
joseoyola 8:c06f5046c9f7 89 }
joseoyola 8:c06f5046c9f7 90 else {
joseoyola 8:c06f5046c9f7 91 return nCOLs * y + ((nCOLs - 1) - x);
joseoyola 8:c06f5046c9f7 92 }
joseoyola 8:c06f5046c9f7 93 }
joseoyola 8:c06f5046c9f7 94
joseoyola 8:c06f5046c9f7 95 else return -1;
joseoyola 5:41f28ce7f5a9 96 }
joseoyola 5:41f28ce7f5a9 97
joseoyola 16:a3de0c0dbe33 98 void LedCube::updateLEDs(bool on, int size, int x, int y, int z) {
joseoyola 10:9d87a886f066 99 //Panel 1
joseoyola 24:554ea084eddf 100 double bright;
joseoyola 24:554ea084eddf 101 bright = 1.0 / ((y + 1) * (y + 1));
joseoyola 24:554ea084eddf 102 printf("Panel 1 Brightness: %f\r\n", bright);
joseoyola 24:554ea084eddf 103 for(int i = x; i < x + size; i++) {
joseoyola 24:554ea084eddf 104 for(int j = z; j < z + size; j++) {
joseoyola 24:554ea084eddf 105 int led = getLedIndex(PANEL1, i, j);
joseoyola 24:554ea084eddf 106 if(on) {
joseoyola 24:554ea084eddf 107 ledStrip1.setPixelColor(led, r*bright, g*bright, b*bright);
joseoyola 24:554ea084eddf 108 } else {
joseoyola 24:554ea084eddf 109 ledStrip1.setPixelColor(led, 0, 0, 0);
joseoyola 24:554ea084eddf 110 }
joseoyola 24:554ea084eddf 111 }
joseoyola 24:554ea084eddf 112 }
joseoyola 24:554ea084eddf 113
joseoyola 24:554ea084eddf 114 //Panel 2
joseoyola 24:554ea084eddf 115 bright = 1.0 / (((nCOLs-1) - x - (size-1) + 1) * ((nCOLs-1) - x - (size-1) + 1));
joseoyola 24:554ea084eddf 116 printf("Panel 2 Brightness: %f\r\n", bright);
joseoyola 24:554ea084eddf 117 for(int i = y; i < y + size; i++) {
joseoyola 24:554ea084eddf 118 for(int j = z; j < z + size; j++) {
joseoyola 24:554ea084eddf 119 int led = getLedIndex(PANEL2, i, j);
joseoyola 24:554ea084eddf 120 if(on) {
joseoyola 24:554ea084eddf 121 ledStrip1.setPixelColor(led, r*bright, g*bright, b*bright);
joseoyola 24:554ea084eddf 122 } else {
joseoyola 24:554ea084eddf 123 ledStrip1.setPixelColor(led, 0, 0, 0);
joseoyola 24:554ea084eddf 124 }
joseoyola 24:554ea084eddf 125 }
joseoyola 24:554ea084eddf 126 }
joseoyola 24:554ea084eddf 127
joseoyola 24:554ea084eddf 128 //Panel 3
joseoyola 24:554ea084eddf 129 bright = 1.0 / (((nCOLs-1) - z - (size-1) + 1) * ((nCOLs-1) - z - (size-1) + 1));
joseoyola 24:554ea084eddf 130 printf("Panel 3 Brightness: %f\r\n", bright);
joseoyola 24:554ea084eddf 131 for(int i = x; i < x + size; i++) {
joseoyola 24:554ea084eddf 132 for(int j = y; j < y + size; j++) {
joseoyola 24:554ea084eddf 133 int led = getLedIndex(PANEL3, i, j);
joseoyola 24:554ea084eddf 134 if(on) {
joseoyola 24:554ea084eddf 135 ledStrip2.setPixelColor(led, r*bright, g*bright, b*bright);
joseoyola 24:554ea084eddf 136 } else {
joseoyola 24:554ea084eddf 137 ledStrip2.setPixelColor(led, 0, 0, 0);
joseoyola 24:554ea084eddf 138 }
joseoyola 24:554ea084eddf 139 }
joseoyola 24:554ea084eddf 140 }
joseoyola 24:554ea084eddf 141 }
joseoyola 24:554ea084eddf 142
joseoyola 24:554ea084eddf 143 void LedCube::updateLEDsOld(bool on, int size, int x, int y, int z) {
joseoyola 24:554ea084eddf 144 //Panel 1
joseoyola 16:a3de0c0dbe33 145 if(y == 0) {
joseoyola 16:a3de0c0dbe33 146 for(int i = x; i < x + size; i++) {
joseoyola 16:a3de0c0dbe33 147 for(int j = z; j < z + size; j++) {
joseoyola 10:9d87a886f066 148 int led = getLedIndex(PANEL1, i, j);
joseoyola 10:9d87a886f066 149 if(on) {
joseoyola 10:9d87a886f066 150 ledStrip1.setPixelColor(led, r, g, b);
joseoyola 10:9d87a886f066 151 } else {
joseoyola 10:9d87a886f066 152 ledStrip1.setPixelColor(led, 0, 0, 0);
joseoyola 10:9d87a886f066 153 }
joseoyola 10:9d87a886f066 154 }
joseoyola 10:9d87a886f066 155 }
joseoyola 10:9d87a886f066 156 }
joseoyola 10:9d87a886f066 157
joseoyola 10:9d87a886f066 158 //Panel 2
joseoyola 16:a3de0c0dbe33 159 if(x + size - 1 == (nCOLs - 1)) {
joseoyola 16:a3de0c0dbe33 160 for(int i = y; i < y + size; i++) {
joseoyola 16:a3de0c0dbe33 161 for(int j = z; j < z + size; j++) {
joseoyola 10:9d87a886f066 162 int led = getLedIndex(PANEL2, i, j);
joseoyola 10:9d87a886f066 163 if(on) {
joseoyola 20:c2bc970bbff8 164 ledStrip1.setPixelColor(led, r, g, b);
joseoyola 10:9d87a886f066 165 } else {
joseoyola 20:c2bc970bbff8 166 ledStrip1.setPixelColor(led, 0, 0, 0);
joseoyola 10:9d87a886f066 167 }
joseoyola 10:9d87a886f066 168 }
joseoyola 10:9d87a886f066 169 }
joseoyola 10:9d87a886f066 170 }
joseoyola 10:9d87a886f066 171
joseoyola 10:9d87a886f066 172 //Panel 3
joseoyola 16:a3de0c0dbe33 173 if(z + size - 1 == (nCOLs - 1)) {
joseoyola 16:a3de0c0dbe33 174 for(int i = x; i < x + size; i++) {
joseoyola 16:a3de0c0dbe33 175 for(int j = y; j < y + size; j++) {
joseoyola 10:9d87a886f066 176 int led = getLedIndex(PANEL3, i, j);
joseoyola 10:9d87a886f066 177 if(on) {
joseoyola 20:c2bc970bbff8 178 ledStrip2.setPixelColor(led, r, g, b);
joseoyola 10:9d87a886f066 179 } else {
joseoyola 20:c2bc970bbff8 180 ledStrip2.setPixelColor(led, 0, 0, 0);
joseoyola 10:9d87a886f066 181 }
joseoyola 10:9d87a886f066 182 }
joseoyola 10:9d87a886f066 183 }
joseoyola 10:9d87a886f066 184 }
joseoyola 10:9d87a886f066 185 }
joseoyola 10:9d87a886f066 186
joseoyola 10:9d87a886f066 187
joseoyola 16:a3de0c0dbe33 188 void LedCube::cubeUpdate() {
joseoyola 16:a3de0c0dbe33 189 updateLEDs(false, prevSize, prevPos[X], prevPos[Y], prevPos[Z]); //Turn off LEDs from previous state
joseoyola 16:a3de0c0dbe33 190 updateLEDs(true, size, pos[X], pos[Y], pos[Z]); //Turn on new LEDs for new state
joseoyola 16:a3de0c0dbe33 191 prevSize = size;
joseoyola 16:a3de0c0dbe33 192 prevPos[X] = pos[X];
joseoyola 16:a3de0c0dbe33 193 prevPos[Y] = pos[Y];
joseoyola 16:a3de0c0dbe33 194 prevPos[Z] = pos[Z];
joseoyola 16:a3de0c0dbe33 195 ledStrip1.show();
joseoyola 16:a3de0c0dbe33 196 ledStrip2.show();
joseoyola 16:a3de0c0dbe33 197 ledStrip1.startDMA();
joseoyola 16:a3de0c0dbe33 198 ledStrip2.startDMA();
joseoyola 16:a3de0c0dbe33 199 printf("Position: %d, %d, %d \t Size: %d\r\n", pos[X], pos[Y], pos[Z], size);
joseoyola 10:9d87a886f066 200 }
joseoyola 10:9d87a886f066 201
joseoyola 16:a3de0c0dbe33 202 int LedCube::move(int deltaX, int deltaY, int deltaZ) {
joseoyola 16:a3de0c0dbe33 203 int retVal = -1;
joseoyola 10:9d87a886f066 204 //Moving in X direction
joseoyola 16:a3de0c0dbe33 205 if(pos[Y] == 0 || pos[Z] + size - 1 == (nCOLs - 1)) { //Making sure square is "stuck" to panel 1 or 3
joseoyola 16:a3de0c0dbe33 206 if((pos[X] + size + deltaX - 1) < nCOLs && (pos[X] + deltaX) >= 0) {
joseoyola 10:9d87a886f066 207 pos[X] += deltaX;
joseoyola 16:a3de0c0dbe33 208 if (deltaX != 0) retVal = 1;
joseoyola 10:9d87a886f066 209 }
joseoyola 10:9d87a886f066 210 }
joseoyola 10:9d87a886f066 211
joseoyola 10:9d87a886f066 212 //Moving in Y direction
joseoyola 16:a3de0c0dbe33 213 if(pos[X] + size - 1 == (nCOLs - 1) || pos[Z] + size - 1 == (nCOLs - 1)) {//Making sure square is "stuck" to panel 2 or 3
joseoyola 16:a3de0c0dbe33 214 if((pos[Y] + size + deltaY - 1) < nCOLs && (pos[Y] + deltaY) >= 0) {
joseoyola 10:9d87a886f066 215 pos[Y] += deltaY;
joseoyola 16:a3de0c0dbe33 216 if (deltaY != 0) retVal = 1;
joseoyola 10:9d87a886f066 217 }
joseoyola 10:9d87a886f066 218 }
joseoyola 10:9d87a886f066 219
joseoyola 10:9d87a886f066 220 //Moving in Z direction
joseoyola 16:a3de0c0dbe33 221 if(pos[X] + size - 1 == (nCOLs - 1) || pos[Y] == 0) {//Making sure square is "stuck" to panel 1 or 2
joseoyola 16:a3de0c0dbe33 222 if((pos[Z] + size + deltaZ - 1) < nCOLs && (pos[Z] + deltaZ) >= 0) {
joseoyola 10:9d87a886f066 223 pos[Z] += deltaZ;
joseoyola 16:a3de0c0dbe33 224 if (deltaZ != 0) retVal = 1;
joseoyola 10:9d87a886f066 225 }
joseoyola 10:9d87a886f066 226 }
joseoyola 16:a3de0c0dbe33 227 return retVal;
joseoyola 16:a3de0c0dbe33 228 }
joseoyola 16:a3de0c0dbe33 229
joseoyola 16:a3de0c0dbe33 230 void LedCube::changeColor(float hue){
joseoyola 20:c2bc970bbff8 231 Colors::HSBtoRGB(hue, saturation, brightness, &r, &g, &b);
joseoyola 16:a3de0c0dbe33 232 }
joseoyola 16:a3de0c0dbe33 233
joseoyola 16:a3de0c0dbe33 234 void LedCube::changeSize(int newSize) {
joseoyola 16:a3de0c0dbe33 235 if((pos[X] + newSize) < nCOLs && (pos[Y] + newSize) < nCOLs && (pos[Z] + newSize) < nCOLs) {
joseoyola 16:a3de0c0dbe33 236 size = newSize;
joseoyola 16:a3de0c0dbe33 237 }
robertbui 32:bf5f545621aa 238 }
robertbui 32:bf5f545621aa 239
robertbui 32:bf5f545621aa 240 void LedCube::UpdateCube(int size, int deltaX, int deltaY, int deltaZ, float hue) {
robertbui 32:bf5f545621aa 241 changeSize(size);
robertbui 32:bf5f545621aa 242 move(deltaX, deltaY, deltaZ);
robertbui 32:bf5f545621aa 243 changeColor(hue);
robertbui 32:bf5f545621aa 244 cubeUpdate();
robertbui 32:bf5f545621aa 245 }
robertbui 32:bf5f545621aa 246
robertbui 32:bf5f545621aa 247
robertbui 32:bf5f545621aa 248