animations.cpp

00001 /* University of York Robotics Laboratory PsiSwarm Library: Animations Source File
00002  * 
00003  * Copyright 2016 University of York
00004  *
00005  * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. 
00006  * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
00007  * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
00008  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 
00009  * See the License for the specific language governing permissions and limitations under the License.
00010  *
00011  * Library of simple predetermined movements and LED animations
00012  *
00013  * File: animations.cpp
00014  * [Was dances.cpp in version 0.7]
00015  *
00016  * (C) Dept. Electronics & Computer Science, University of York
00017  * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
00018  *
00019  * PsiSwarm Library Version: 0.8
00020  *
00021  * October 2016
00022  *
00023  *
00024  */
00025 
00026 
00027 #include "psiswarm.h"
00028 
00029 char hold_colour = 1;
00030 //
00031 void Animations::set_colour(char colour)
00032 {
00033     hold_colour = colour;
00034 }
00035 
00036 void Animations::led_run1()
00037 {
00038     if(animation_counter == 0)led.save_led_states();
00039     char led_pattern = 0x0;
00040     if(animation_counter < 16){
00041         switch(animation_counter % 4){
00042             case 0:
00043                 led_pattern = 0x10;
00044             break;
00045             case 1:
00046                 led_pattern = 0x28;
00047             break;
00048             case 2:
00049                 led_pattern = 0x44;
00050             break;
00051             case 3:
00052                 led_pattern = 0x83;
00053             break;   
00054         }   
00055     }
00056     if(animation_counter == 16 || animation_counter == 18 || animation_counter == 20) led_pattern = 0x01;
00057     char green_state = 0;
00058     char red_state = 0;
00059     if(hold_colour % 2 == 1) red_state = led_pattern;
00060     if(hold_colour > 1) green_state = led_pattern;
00061     led.set_leds(green_state,red_state);
00062     animation_counter++;
00063     if(animation_counter < 21) {
00064         animation_timeout.attach(this, &Animations::led_run1, 0.05f);
00065     } else {
00066         animation_counter = 0;
00067         led.restore_led_states();
00068     }
00069 }
00070 
00071 //Do a simple wiggle
00072 void Animations::vibrate(void)
00073 {
00074     if(animation_counter == 0)led.save_led_states();
00075     if(animation_counter % 2 == 0) {
00076         led.set_leds(0xC7,0x00);
00077         motors.turn(1.0);
00078     } else {
00079         led.set_leds(0x00,0xC7);
00080         motors.turn(-1.0);
00081     }
00082     animation_counter++;
00083 
00084     if(animation_counter < 14) {
00085         float wiggle_timeout_period = 0.06;
00086         //Move less on first 'wiggle' so that we stay in roughly the same place!
00087         if(animation_counter == 0) wiggle_timeout_period = 0.03;
00088         animation_timeout.attach(this, &Animations::vibrate, wiggle_timeout_period);
00089     } else {
00090         animation_counter = 0;
00091         motors.brake();
00092         led.restore_led_states();
00093     }
00094 }