Diff: animations.cpp

Revision:

12:878c6e9d9e60

Parent:

11:312663037b8c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/animations.cpp	Mon Oct 17 13:09:10 2016 +0000
@@ -0,0 +1,94 @@
+/* University of York Robotics Laboratory PsiSwarm Library: Animations Source File
+ * 
+ * Copyright 2016 University of York
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. 
+ * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
+ * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 
+ * See the License for the specific language governing permissions and limitations under the License.
+ *
+ * Library of simple predetermined movements and LED animations
+ *
+ * File: animations.cpp
+ * [Was dances.cpp in version 0.7]
+ *
+ * (C) Dept. Electronics & Computer Science, University of York
+ * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
+ *
+ * PsiSwarm Library Version: 0.8
+ *
+ * October 2016
+ *
+ *
+ */
+
+
+#include "psiswarm.h"
+
+char hold_colour = 1;
+//
+void Animations::set_colour(char colour)
+{
+    hold_colour = colour;
+}
+
+void Animations::led_run1()
+{
+    if(animation_counter == 0)led.save_led_states();
+    char led_pattern = 0x0;
+    if(animation_counter < 16){
+        switch(animation_counter % 4){
+            case 0:
+                led_pattern = 0x10;
+            break;
+            case 1:
+                led_pattern = 0x28;
+            break;
+            case 2:
+                led_pattern = 0x44;
+            break;
+            case 3:
+                led_pattern = 0x83;
+            break;   
+        }   
+    }
+    if(animation_counter == 16 || animation_counter == 18 || animation_counter == 20) led_pattern = 0x01;
+    char green_state = 0;
+    char red_state = 0;
+    if(hold_colour % 2 == 1) red_state = led_pattern;
+    if(hold_colour > 1) green_state = led_pattern;
+    led.set_leds(green_state,red_state);
+    animation_counter++;
+    if(animation_counter < 21) {
+        animation_timeout.attach(this, &Animations::led_run1, 0.05f);
+    } else {
+        animation_counter = 0;
+        led.restore_led_states();
+    }
+}
+
+//Do a simple wiggle
+void Animations::vibrate(void)
+{
+    if(animation_counter == 0)led.save_led_states();
+    if(animation_counter % 2 == 0) {
+        led.set_leds(0xC7,0x00);
+        motors.turn(1.0);
+    } else {
+        led.set_leds(0x00,0xC7);
+        motors.turn(-1.0);
+    }
+    animation_counter++;
+
+    if(animation_counter < 14) {
+        float wiggle_timeout_period = 0.06;
+        //Move less on first 'wiggle' so that we stay in roughly the same place!
+        if(animation_counter == 0) wiggle_timeout_period = 0.03;
+        animation_timeout.attach(this, &Animations::vibrate, wiggle_timeout_period);
+    } else {
+        animation_counter = 0;
+        motors.brake();
+        led.restore_led_states();
+    }
+}
\ No newline at end of file