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@43:cf824a44a040, 2014-12-11 (annotated)

Committer:
robertbui
Date:
Thu Dec 11 13:33:29 2014 +0000
Revision:
43:cf824a44a040
Parent:
41:367cab0162de
Child:
49:361833355173
First working code. Lighted led cube moves. color and size doesn't work yet.

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 30:0933d7f2fe78 20 #define nLEDs 200 //MAX_LEDS_PER_STRIP;
robertbui 30:0933d7f2fe78 21 #define nROWs 10 //number of rows per cube panel
robertbui 30:0933d7f2fe78 22 #define nCOLs 10 //number of columns per cube panel
robertbui 30:0933d7f2fe78 23 #define DATA_OUT_PIN1 2 // PTD2
robertbui 30:0933d7f2fe78 24 #define DATA_OUT_PIN2 3 // PTD3
joseoyola 5:41f28ce7f5a9 25
joseoyola 5:41f28ce7f5a9 26
robertbui 41:367cab0162de 27 LedCube::LedCube():X(0),Y(1),Z(2),ledStrip1(nLEDs, DATA_OUT_PIN1),ledStrip2(nLEDs/2, 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 30:0933d7f2fe78 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 30:0933d7f2fe78 54 /*Determines which LED should be lit based on its
robertbui 30:0933d7f2fe78 55 cartesian coordinate. The origin is the led at
robertbui 31:0e341d81ea00 56 bottom left of panel 1 when using a three panel cube
robertbui 31:0e341d81ea00 57 ________
robertbui 31:0e341d81ea00 58 / /|
robertbui 31:0e341d81ea00 59 / 3 / |
robertbui 31:0e341d81ea00 60 /_______/ 2|
robertbui 31:0e341d81ea00 61 | | |
robertbui 31:0e341d81ea00 62 | 1 | /
robertbui 31:0e341d81ea00 63 | |
robertbui 31:0e341d81ea00 64 --------
robertbui 31:0e341d81ea00 65 */
robertbui 30:0933d7f2fe78 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 for(int i = x; i < x + size; i++) {
joseoyola 24:554ea084eddf 103 for(int j = z; j < z + size; j++) {
joseoyola 24:554ea084eddf 104 int led = getLedIndex(PANEL1, i, j);
joseoyola 24:554ea084eddf 105 if(on) {
joseoyola 24:554ea084eddf 106 ledStrip1.setPixelColor(led, r*bright, g*bright, b*bright);
joseoyola 24:554ea084eddf 107 } else {
joseoyola 24:554ea084eddf 108 ledStrip1.setPixelColor(led, 0, 0, 0);
joseoyola 24:554ea084eddf 109 }
joseoyola 24:554ea084eddf 110 }
joseoyola 24:554ea084eddf 111 }
joseoyola 24:554ea084eddf 112
joseoyola 24:554ea084eddf 113 //Panel 2
joseoyola 24:554ea084eddf 114 bright = 1.0 / (((nCOLs-1) - x - (size-1) + 1) * ((nCOLs-1) - x - (size-1) + 1));
joseoyola 24:554ea084eddf 115 for(int i = y; i < y + size; i++) {
joseoyola 24:554ea084eddf 116 for(int j = z; j < z + size; j++) {
joseoyola 24:554ea084eddf 117 int led = getLedIndex(PANEL2, i, j);
joseoyola 24:554ea084eddf 118 if(on) {
joseoyola 24:554ea084eddf 119 ledStrip1.setPixelColor(led, r*bright, g*bright, b*bright);
joseoyola 24:554ea084eddf 120 } else {
joseoyola 24:554ea084eddf 121 ledStrip1.setPixelColor(led, 0, 0, 0);
joseoyola 24:554ea084eddf 122 }
joseoyola 24:554ea084eddf 123 }
joseoyola 24:554ea084eddf 124 }
joseoyola 24:554ea084eddf 125
joseoyola 24:554ea084eddf 126 //Panel 3
robertbui 40:bdd949fc3bc2 127 bright = 1.0 / (((nCOLs-1) - z - (size-1) + 1) * ((nCOLs-1) - z - (size-1) + 1));
joseoyola 24:554ea084eddf 128 for(int i = x; i < x + size; i++) {
joseoyola 24:554ea084eddf 129 for(int j = y; j < y + size; j++) {
joseoyola 24:554ea084eddf 130 int led = getLedIndex(PANEL3, i, j);
joseoyola 24:554ea084eddf 131 if(on) {
joseoyola 24:554ea084eddf 132 ledStrip2.setPixelColor(led, r*bright, g*bright, b*bright);
joseoyola 24:554ea084eddf 133 } else {
joseoyola 24:554ea084eddf 134 ledStrip2.setPixelColor(led, 0, 0, 0);
joseoyola 24:554ea084eddf 135 }
joseoyola 24:554ea084eddf 136 }
joseoyola 24:554ea084eddf 137 }
joseoyola 24:554ea084eddf 138 }
joseoyola 24:554ea084eddf 139
joseoyola 24:554ea084eddf 140 void LedCube::updateLEDsOld(bool on, int size, int x, int y, int z) {
joseoyola 24:554ea084eddf 141 //Panel 1
joseoyola 16:a3de0c0dbe33 142 if(y == 0) {
joseoyola 16:a3de0c0dbe33 143 for(int i = x; i < x + size; i++) {
joseoyola 16:a3de0c0dbe33 144 for(int j = z; j < z + size; j++) {
joseoyola 10:9d87a886f066 145 int led = getLedIndex(PANEL1, i, j);
joseoyola 10:9d87a886f066 146 if(on) {
joseoyola 10:9d87a886f066 147 ledStrip1.setPixelColor(led, r, g, b);
joseoyola 10:9d87a886f066 148 } else {
joseoyola 10:9d87a886f066 149 ledStrip1.setPixelColor(led, 0, 0, 0);
joseoyola 10:9d87a886f066 150 }
joseoyola 10:9d87a886f066 151 }
joseoyola 10:9d87a886f066 152 }
joseoyola 10:9d87a886f066 153 }
joseoyola 10:9d87a886f066 154
joseoyola 10:9d87a886f066 155 //Panel 2
joseoyola 16:a3de0c0dbe33 156 if(x + size - 1 == (nCOLs - 1)) {
joseoyola 16:a3de0c0dbe33 157 for(int i = y; i < y + size; i++) {
joseoyola 16:a3de0c0dbe33 158 for(int j = z; j < z + size; j++) {
joseoyola 10:9d87a886f066 159 int led = getLedIndex(PANEL2, i, j);
joseoyola 10:9d87a886f066 160 if(on) {
joseoyola 20:c2bc970bbff8 161 ledStrip1.setPixelColor(led, r, g, b);
joseoyola 10:9d87a886f066 162 } else {
joseoyola 20:c2bc970bbff8 163 ledStrip1.setPixelColor(led, 0, 0, 0);
joseoyola 10:9d87a886f066 164 }
joseoyola 10:9d87a886f066 165 }
joseoyola 10:9d87a886f066 166 }
joseoyola 10:9d87a886f066 167 }
joseoyola 10:9d87a886f066 168
joseoyola 10:9d87a886f066 169 //Panel 3
joseoyola 16:a3de0c0dbe33 170 if(z + size - 1 == (nCOLs - 1)) {
joseoyola 16:a3de0c0dbe33 171 for(int i = x; i < x + size; i++) {
joseoyola 16:a3de0c0dbe33 172 for(int j = y; j < y + size; j++) {
joseoyola 10:9d87a886f066 173 int led = getLedIndex(PANEL3, i, j);
joseoyola 10:9d87a886f066 174 if(on) {
joseoyola 20:c2bc970bbff8 175 ledStrip2.setPixelColor(led, r, g, b);
joseoyola 10:9d87a886f066 176 } else {
joseoyola 20:c2bc970bbff8 177 ledStrip2.setPixelColor(led, 0, 0, 0);
joseoyola 10:9d87a886f066 178 }
joseoyola 10:9d87a886f066 179 }
joseoyola 10:9d87a886f066 180 }
joseoyola 10:9d87a886f066 181 }
joseoyola 10:9d87a886f066 182 }
joseoyola 10:9d87a886f066 183
joseoyola 10:9d87a886f066 184
joseoyola 16:a3de0c0dbe33 185 void LedCube::cubeUpdate() {
joseoyola 16:a3de0c0dbe33 186 updateLEDs(false, prevSize, prevPos[X], prevPos[Y], prevPos[Z]); //Turn off LEDs from previous state
joseoyola 16:a3de0c0dbe33 187 updateLEDs(true, size, pos[X], pos[Y], pos[Z]); //Turn on new LEDs for new state
joseoyola 16:a3de0c0dbe33 188 prevSize = size;
joseoyola 16:a3de0c0dbe33 189 prevPos[X] = pos[X];
joseoyola 16:a3de0c0dbe33 190 prevPos[Y] = pos[Y];
joseoyola 16:a3de0c0dbe33 191 prevPos[Z] = pos[Z];
joseoyola 16:a3de0c0dbe33 192 ledStrip1.show();
joseoyola 16:a3de0c0dbe33 193 ledStrip2.show();
joseoyola 16:a3de0c0dbe33 194 ledStrip1.startDMA();
joseoyola 16:a3de0c0dbe33 195 ledStrip2.startDMA();
joseoyola 10:9d87a886f066 196 }
joseoyola 10:9d87a886f066 197
joseoyola 16:a3de0c0dbe33 198 int LedCube::move(int deltaX, int deltaY, int deltaZ) {
joseoyola 16:a3de0c0dbe33 199 int retVal = -1;
joseoyola 10:9d87a886f066 200 //Moving in X direction
joseoyola 16:a3de0c0dbe33 201 if(pos[Y] == 0 || pos[Z] + size - 1 == (nCOLs - 1)) { //Making sure square is "stuck" to panel 1 or 3
joseoyola 16:a3de0c0dbe33 202 if((pos[X] + size + deltaX - 1) < nCOLs && (pos[X] + deltaX) >= 0) {
joseoyola 10:9d87a886f066 203 pos[X] += deltaX;
joseoyola 16:a3de0c0dbe33 204 if (deltaX != 0) retVal = 1;
joseoyola 10:9d87a886f066 205 }
joseoyola 10:9d87a886f066 206 }
joseoyola 10:9d87a886f066 207
joseoyola 10:9d87a886f066 208 //Moving in Y direction
joseoyola 16:a3de0c0dbe33 209 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 210 if((pos[Y] + size + deltaY - 1) < nCOLs && (pos[Y] + deltaY) >= 0) {
joseoyola 10:9d87a886f066 211 pos[Y] += deltaY;
joseoyola 16:a3de0c0dbe33 212 if (deltaY != 0) retVal = 1;
joseoyola 10:9d87a886f066 213 }
joseoyola 10:9d87a886f066 214 }
joseoyola 10:9d87a886f066 215
joseoyola 10:9d87a886f066 216 //Moving in Z direction
joseoyola 16:a3de0c0dbe33 217 if(pos[X] + size - 1 == (nCOLs - 1) || pos[Y] == 0) {//Making sure square is "stuck" to panel 1 or 2
joseoyola 16:a3de0c0dbe33 218 if((pos[Z] + size + deltaZ - 1) < nCOLs && (pos[Z] + deltaZ) >= 0) {
joseoyola 10:9d87a886f066 219 pos[Z] += deltaZ;
joseoyola 16:a3de0c0dbe33 220 if (deltaZ != 0) retVal = 1;
joseoyola 10:9d87a886f066 221 }
joseoyola 10:9d87a886f066 222 }
joseoyola 16:a3de0c0dbe33 223 return retVal;
joseoyola 16:a3de0c0dbe33 224 }
joseoyola 16:a3de0c0dbe33 225
joseoyola 16:a3de0c0dbe33 226 void LedCube::changeColor(float hue){
joseoyola 20:c2bc970bbff8 227 Colors::HSBtoRGB(hue, saturation, brightness, &r, &g, &b);
joseoyola 16:a3de0c0dbe33 228 }
joseoyola 16:a3de0c0dbe33 229
joseoyola 16:a3de0c0dbe33 230 void LedCube::changeSize(int newSize) {
robertbui 43:cf824a44a040 231 if( newSize > 0 && (pos[X] + newSize) < nCOLs && (pos[Y] + newSize) < nCOLs && (pos[Z] + newSize) < nCOLs) {
joseoyola 16:a3de0c0dbe33 232 size = newSize;
joseoyola 16:a3de0c0dbe33 233 }
robertbui 30:0933d7f2fe78 234 }
robertbui 30:0933d7f2fe78 235
robertbui 43:cf824a44a040 236 void LedCube::UpdateCube(int ledSize, int deltaX, int deltaY, int deltaZ, float hue) {
robertbui 43:cf824a44a040 237 // if(ledSize == 0 && deltaX == 0 && deltaY == 0 && deltaZ == 0 && hue == 0){
robertbui 43:cf824a44a040 238 // }
robertbui 43:cf824a44a040 239 //else{
robertbui 43:cf824a44a040 240 changeSize(ledSize);
robertbui 40:bdd949fc3bc2 241 move(deltaX, deltaY, deltaZ);
robertbui 40:bdd949fc3bc2 242 changeColor(hue);
robertbui 40:bdd949fc3bc2 243 cubeUpdate();
robertbui 43:cf824a44a040 244 // }
robertbui 30:0933d7f2fe78 245 }
robertbui 30:0933d7f2fe78 246
robertbui 43:cf824a44a040 247 void LedCube::UpdateCube2(CubeUpdateParameters cubeParams){
robertbui 39:e90071c1535a 248 UpdateCube(cubeParams.size, cubeParams.deltaX, cubeParams.deltaY, cubeParams.deltaZ, cubeParams.hue);
robertbui 39:e90071c1535a 249 }
robertbui 30:0933d7f2fe78 250