Psi Swarm Robot / PRRobot

Practical Robotics Modular Robot Library

Dependents:   ModularRobot

led.cpp@3:8762f6b2ea8d, 2016-11-28 (annotated)

Committer:
jah128
Date:
Mon Nov 28 22:41:14 2016 +0000
Revision:
3:8762f6b2ea8d
Parent:
1:a6728adaf7e7
Child:
4:c2e933d53bea
Added first RPi input

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a2dd255c508 1 #include "robot.h"
jah128 0:8a2dd255c508 2
jah128 0:8a2dd255c508 3 // The LED driver is quite powerful in terms of how it can be used (LEDs can be grouped, have individual and group PWM control, can be blinked etc).
jah128 0:8a2dd255c508 4 //
jah128 0:8a2dd255c508 5 // To keep things relatively simple, in this version of the code, we will not use the groups or blinking functions, and will have all LEDs enabled.
jah128 0:8a2dd255c508 6 //
jah128 0:8a2dd255c508 7 // Their state is controlled solely by each LEDs PWM control - which is a 1 byte value between 0 (fully off) and 255 (fully on)
jah128 0:8a2dd255c508 8
jah128 0:8a2dd255c508 9 char red_led_states [8];
jah128 0:8a2dd255c508 10 char green_led_states [8];
jah128 0:8a2dd255c508 11
jah128 3:8762f6b2ea8d 12 void Led::all_off()
jah128 3:8762f6b2ea8d 13 {
jah128 3:8762f6b2ea8d 14 for(int i=0;i<8;i++){
jah128 3:8762f6b2ea8d 15 set_green_led(i,0);
jah128 3:8762f6b2ea8d 16 set_red_led(i,0);
jah128 3:8762f6b2ea8d 17 }
jah128 3:8762f6b2ea8d 18 }
jah128 3:8762f6b2ea8d 19
jah128 0:8a2dd255c508 20 void Led::set_green_led (char led, char brightness)
jah128 0:8a2dd255c508 21 {
jah128 0:8a2dd255c508 22 if(led < 8) {
jah128 0:8a2dd255c508 23 green_led_states [led] = brightness;
jah128 0:8a2dd255c508 24 char data[2];
jah128 0:8a2dd255c508 25 data[0] = 3 + led + led;
jah128 0:8a2dd255c508 26 data[1] = brightness;
jah128 0:8a2dd255c508 27 if(i2c_lock==0){
jah128 0:8a2dd255c508 28 i2c_lock = 1;
jah128 0:8a2dd255c508 29 primary_i2c.write(LED_ADDRESS,data,2);
jah128 0:8a2dd255c508 30 }i2c_lock = 0;
jah128 0:8a2dd255c508 31 }
jah128 0:8a2dd255c508 32 }
jah128 0:8a2dd255c508 33
jah128 0:8a2dd255c508 34 void Led::set_red_led (char led, char brightness)
jah128 0:8a2dd255c508 35 {
jah128 0:8a2dd255c508 36
jah128 0:8a2dd255c508 37 if(led < 8) {
jah128 0:8a2dd255c508 38 red_led_states [led] = brightness;
jah128 0:8a2dd255c508 39 char data[2];
jah128 0:8a2dd255c508 40 data[0] = 2 + led + led;
jah128 0:8a2dd255c508 41 data[1] = brightness;
jah128 0:8a2dd255c508 42 if(i2c_lock==0){
jah128 0:8a2dd255c508 43 i2c_lock = 1;
jah128 0:8a2dd255c508 44 primary_i2c.write(LED_ADDRESS,data,2);
jah128 0:8a2dd255c508 45 }i2c_lock = 0;
jah128 0:8a2dd255c508 46 }
jah128 0:8a2dd255c508 47 }
jah128 0:8a2dd255c508 48
jah128 0:8a2dd255c508 49 int Led::reset_led_driver()
jah128 0:8a2dd255c508 50 {
jah128 0:8a2dd255c508 51 // The TLC59116 has a software reset option over i2c:
jah128 0:8a2dd255c508 52 // The bytes A5h, 5Ah are sent to special address D6h
jah128 0:8a2dd255c508 53 char data[2];
jah128 0:8a2dd255c508 54 data[0] = 0xA5;
jah128 0:8a2dd255c508 55 data[1] = 0x5A;
jah128 0:8a2dd255c508 56 return primary_i2c.write(0xD6,data,2);
jah128 0:8a2dd255c508 57 }
jah128 0:8a2dd255c508 58
jah128 0:8a2dd255c508 59 int Led::init_led_driver()
jah128 0:8a2dd255c508 60 {
jah128 0:8a2dd255c508 61 // This code enables the LED outputs so all LEDs are on, and are set to work on individual PWM control
jah128 0:8a2dd255c508 62 //
jah128 0:8a2dd255c508 63 // First we write 0x80 to the Mode 1 register (0x00) to enable the oscillator and register auto-increment
jah128 0:8a2dd255c508 64 char data[2];
jah128 0:8a2dd255c508 65 data[0]=0x00;
jah128 0:8a2dd255c508 66 data[1]=0x80;
jah128 0:8a2dd255c508 67 int okay = primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 68 if(okay == 0) {
jah128 0:8a2dd255c508 69 // Now we turn all the LEDs the enable on PWM control
jah128 0:8a2dd255c508 70 data[0]=0x14;
jah128 0:8a2dd255c508 71 data[1]=0xAA;
jah128 0:8a2dd255c508 72 primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 73 data[0]=0x15;
jah128 0:8a2dd255c508 74 data[1]=0xAA;
jah128 0:8a2dd255c508 75 primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 76 data[0]=0x16;
jah128 0:8a2dd255c508 77 data[1]=0xAA;
jah128 0:8a2dd255c508 78 primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 79 data[0]=0x17;
jah128 0:8a2dd255c508 80 data[1]=0xAA;
jah128 0:8a2dd255c508 81 primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 82 }
jah128 0:8a2dd255c508 83 return okay;
jah128 0:8a2dd255c508 84 }
jah128 0:8a2dd255c508 85
jah128 0:8a2dd255c508 86 int led_ticker_sub_state = 0;
jah128 0:8a2dd255c508 87 char led_ticker_state = 0;
jah128 0:8a2dd255c508 88 char increment = 1;
jah128 0:8a2dd255c508 89 Ticker led_ticker;
jah128 0:8a2dd255c508 90
jah128 0:8a2dd255c508 91 void Led::start_test()
jah128 0:8a2dd255c508 92 {
jah128 0:8a2dd255c508 93 led_ticker.attach(this,&Led::test_ticker_routine,0.02);
jah128 0:8a2dd255c508 94 }
jah128 0:8a2dd255c508 95
jah128 3:8762f6b2ea8d 96 void Led::stop_test()
jah128 3:8762f6b2ea8d 97 {
jah128 3:8762f6b2ea8d 98 led_ticker.detach();
jah128 3:8762f6b2ea8d 99 }
jah128 3:8762f6b2ea8d 100
jah128 0:8a2dd255c508 101 void Led::test_ticker_routine()
jah128 0:8a2dd255c508 102 {
jah128 0:8a2dd255c508 103 led_ticker_sub_state += increment;
jah128 0:8a2dd255c508 104 increment += 1;
jah128 0:8a2dd255c508 105 if(led_ticker_sub_state > 250) {
jah128 0:8a2dd255c508 106 led_ticker_sub_state = 0;
jah128 0:8a2dd255c508 107 led_ticker_state ++;
jah128 0:8a2dd255c508 108 increment = 1;
jah128 0:8a2dd255c508 109 if (led_ticker_state == 24) led_ticker_state = 0;
jah128 0:8a2dd255c508 110 }
jah128 0:8a2dd255c508 111 char working_led = led_ticker_state % 8;
jah128 0:8a2dd255c508 112
jah128 0:8a2dd255c508 113 if(led_ticker_state < 8 || led_ticker_state > 15) set_green_led(working_led, led_ticker_sub_state );
jah128 0:8a2dd255c508 114 else set_green_led(working_led, 0);
jah128 0:8a2dd255c508 115 if(led_ticker_state > 7) set_red_led(working_led, led_ticker_sub_state );
jah128 0:8a2dd255c508 116 else set_red_led(working_led, 0);
jah128 0:8a2dd255c508 117 if(led_ticker_sub_state == 0) {
jah128 0:8a2dd255c508 118
jah128 0:8a2dd255c508 119 }
jah128 0:8a2dd255c508 120 }