Jason lukose / Mbed 2 deprecated 4180SmartFishTank

4180 Fish Tank Project

Dependencies:   Motordriver NeoStrip mbed-rtos mbed

Fork of rtos_basic by mbed official

main.cpp@12:097b52548f0b, 2017-12-14 (annotated)

Committer:
4180Team
Date:
Thu Dec 14 04:56:17 2017 +0000
Revision:
12:097b52548f0b
Parent:
11:0309bef74ba8 
Final 4180 Project

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 1:491820ee784d 1 #include "mbed.h"
mbed_official 11:0309bef74ba8 2 #include "rtos.h"
4180Team 12:097b52548f0b 3 #include <stdint.h>
4180Team 12:097b52548f0b 4 #include "NeoStrip.h"
4180Team 12:097b52548f0b 5 #include "gt.h"
4180Team 12:097b52548f0b 6 #include <iomanip> // setprecision
4180Team 12:097b52548f0b 7 #include <sstream> // stringstream
4180Team 12:097b52548f0b 8 #include "motordriver.h"
4180Team 12:097b52548f0b 9 #define N 64
4180Team 12:097b52548f0b 10 #define PATTERNS 3
4180Team 12:097b52548f0b 11
4180Team 12:097b52548f0b 12 RawSerial pi(USBTX, USBRX);
4180Team 12:097b52548f0b 13
4180Team 12:097b52548f0b 14 NeoStrip strip(p18, N);
4180Team 12:097b52548f0b 15 DigitalIn b1(p20); // brightness up
4180Team 12:097b52548f0b 16 DigitalIn b2(p19); // brightness down
4180Team 12:097b52548f0b 17 DigitalIn b3(p21); // next pattern
4180Team 12:097b52548f0b 18
4180Team 12:097b52548f0b 19 Thread t1;
4180Team 12:097b52548f0b 20 Thread t2;
4180Team 12:097b52548f0b 21 Mutex ulcd_mutex;
4180Team 12:097b52548f0b 22 Motor A(p24, p23, p22, 1); // pwm, fwd, rev, can brake
4180Team 12:097b52548f0b 23 PwmOut led1(LED1); //indicates when mbed is ready
4180Team 12:097b52548f0b 24 PwmOut led2(LED2);
4180Team 12:097b52548f0b 25 PwmOut led4(LED4);
4180Team 12:097b52548f0b 26 AnalogIn photocell(p16);
4180Team 12:097b52548f0b 27 float volatile x = 0; //global variable to change motor speed
4180Team 12:097b52548f0b 28 bool test = false;
4180Team 12:097b52548f0b 29 int hueToRGB(float h);
4180Team 12:097b52548f0b 30 void pattern0();
4180Team 12:097b52548f0b 31 void pattern1();
4180Team 12:097b52548f0b 32 void pattern2();
4180Team 12:097b52548f0b 33 // array of function pointers to the various patterns
4180Team 12:097b52548f0b 34 void (*patterns[])(void) = {&pattern0, &pattern1, &pattern2};
4180Team 12:097b52548f0b 35
4180Team 12:097b52548f0b 36 //
4180Team 12:097b52548f0b 37 void motor() {
4180Team 12:097b52548f0b 38 while(true) {
4180Team 12:097b52548f0b 39 led1 = 1;
4180Team 12:097b52548f0b 40 if (test) {
4180Team 12:097b52548f0b 41 x = .30;
4180Team 12:097b52548f0b 42 A.speed(x);
4180Team 12:097b52548f0b 43 Thread::wait(1200);
4180Team 12:097b52548f0b 44 test = false;
4180Team 12:097b52548f0b 45 A.speed(0);
4180Team 12:097b52548f0b 46 }
4180Team 12:097b52548f0b 47 }
4180Team 12:097b52548f0b 48 }
4180Team 12:097b52548f0b 49 double volatile bright = 0.05;
4180Team 12:097b52548f0b 50 bool test2 = false;
4180Team 12:097b52548f0b 51 float value = 0;
4180Team 12:097b52548f0b 52 void ambient() {
4180Team 12:097b52548f0b 53 led2 = 1;
emilmont 1:491820ee784d 54 while (true) {
4180Team 12:097b52548f0b 55 if (test2) {
4180Team 12:097b52548f0b 56 value = photocell;
4180Team 12:097b52548f0b 57 if (value < .10) value = .10;
4180Team 12:097b52548f0b 58 if (value > .3) value = .30;
4180Team 12:097b52548f0b 59 bright = abs(value - .10 - .20);
4180Team 12:097b52548f0b 60 if (bright > .25) bright = .25;
4180Team 12:097b52548f0b 61 strip.setBrightness(bright);
4180Team 12:097b52548f0b 62 }
4180Team 12:097b52548f0b 63 }
4180Team 12:097b52548f0b 64 }
4180Team 12:097b52548f0b 65 int pattern = 0;
4180Team 12:097b52548f0b 66 void dev_recv()
4180Team 12:097b52548f0b 67 {
4180Team 12:097b52548f0b 68 char temp = 0;
4180Team 12:097b52548f0b 69 while(pi.readable()) {
4180Team 12:097b52548f0b 70 temp = pi.getc();
4180Team 12:097b52548f0b 71 pi.putc(temp);
4180Team 12:097b52548f0b 72 if (temp=='1') {
4180Team 12:097b52548f0b 73 bright = .15;
4180Team 12:097b52548f0b 74 strip.setBrightness(bright);
4180Team 12:097b52548f0b 75 }
4180Team 12:097b52548f0b 76 if (temp=='0' && bright > 0){
4180Team 12:097b52548f0b 77 bright = 0;
4180Team 12:097b52548f0b 78 strip.setBrightness(bright);
4180Team 12:097b52548f0b 79 }
4180Team 12:097b52548f0b 80 if (temp=='=') test = true; // run motor
4180Team 12:097b52548f0b 81 if (temp=='a') test2 = true; // ambient mode on
4180Team 12:097b52548f0b 82 if (temp=='m') test2 = false; // manual mode on
4180Team 12:097b52548f0b 83 if (temp=='+') {
4180Team 12:097b52548f0b 84 bright = bright + .083;
4180Team 12:097b52548f0b 85 if (bright > .25) bright = .25;
4180Team 12:097b52548f0b 86 strip.setBrightness(bright);
4180Team 12:097b52548f0b 87 }
4180Team 12:097b52548f0b 88 if (temp=='-') {
4180Team 12:097b52548f0b 89 bright = bright - .083;
4180Team 12:097b52548f0b 90 if (bright < 0) bright = 0;
4180Team 12:097b52548f0b 91 strip.setBrightness(bright);
4180Team 12:097b52548f0b 92 }
4180Team 12:097b52548f0b 93 if (temp=='p') pattern = (pattern + 1) % 3;
emilmont 1:491820ee784d 94 }
emilmont 1:491820ee784d 95 }
emilmont 1:491820ee784d 96 int main() {
4180Team 12:097b52548f0b 97 pi.baud(9600);
4180Team 12:097b52548f0b 98 pi.attach(&dev_recv, Serial::RxIrq);
4180Team 12:097b52548f0b 99 b1.mode(PullUp);
4180Team 12:097b52548f0b 100 b2.mode(PullUp);
4180Team 12:097b52548f0b 101 b3.mode(PullUp);
4180Team 12:097b52548f0b 102 bool b3o = b3; // old copy of button 3 to poll for changes
4180Team 12:097b52548f0b 103 bright = .05;
4180Team 12:097b52548f0b 104 strip.setBrightness(bright); // set default brightness
4180Team 12:097b52548f0b 105 t1.start(ambient);
4180Team 12:097b52548f0b 106 t2.start(motor);
emilmont 1:491820ee784d 107
4180Team 12:097b52548f0b 108 while (1) {
4180Team 12:097b52548f0b 109 //button 1 increases brightness
4180Team 12:097b52548f0b 110 if (b1 && bright < .25)
4180Team 12:097b52548f0b 111 {
4180Team 12:097b52548f0b 112 bright += 0.005;
4180Team 12:097b52548f0b 113 if (bright > .25)
4180Team 12:097b52548f0b 114 bright = .25;
4180Team 12:097b52548f0b 115 strip.setBrightness(bright);
4180Team 12:097b52548f0b 116 }
4180Team 12:097b52548f0b 117
4180Team 12:097b52548f0b 118 // button 2 decreases brightness
4180Team 12:097b52548f0b 119 if (b2 && bright > 0)
4180Team 12:097b52548f0b 120 {
4180Team 12:097b52548f0b 121 bright -= 0.005;
4180Team 12:097b52548f0b 122 if (bright < 0)
4180Team 12:097b52548f0b 123 bright = 0;
4180Team 12:097b52548f0b 124 strip.setBrightness(bright);
4180Team 12:097b52548f0b 125 }
4180Team 12:097b52548f0b 126
4180Team 12:097b52548f0b 127 // button 3 changes the pattern, only do stuff when its state has changed
4180Team 12:097b52548f0b 128 if (b3 != b3o)
4180Team 12:097b52548f0b 129 {
4180Team 12:097b52548f0b 130 if (b3 && ++pattern == PATTERNS)
4180Team 12:097b52548f0b 131 pattern = 0;
4180Team 12:097b52548f0b 132 b3o = b3;
4180Team 12:097b52548f0b 133 }
4180Team 12:097b52548f0b 134 // run the pattern update function which sets the strip's pixels
4180Team 12:097b52548f0b 135 patterns[pattern]();
4180Team 12:097b52548f0b 136 strip.write();
4180Team 12:097b52548f0b 137 wait_ms(10);
emilmont 1:491820ee784d 138 }
emilmont 1:491820ee784d 139 }
4180Team 12:097b52548f0b 140
4180Team 12:097b52548f0b 141 //// pattern0 displays a static image
4180Team 12:097b52548f0b 142 void pattern0()
4180Team 12:097b52548f0b 143 {
4180Team 12:097b52548f0b 144 strip.setPixels(0, N, gt_img);
4180Team 12:097b52548f0b 145 }
4180Team 12:097b52548f0b 146
4180Team 12:097b52548f0b 147 // display a shifting rainbow, all colors have maximum
4180Team 12:097b52548f0b 148 // saturation and value, with evenly spaced hue
4180Team 12:097b52548f0b 149 void pattern1()
4180Team 12:097b52548f0b 150 {
4180Team 12:097b52548f0b 151 static float dh = 360.0 / N;
4180Team 12:097b52548f0b 152 static float x = 0;
4180Team 12:097b52548f0b 153 for (int i = 0; i < N; i++)
4180Team 12:097b52548f0b 154 strip.setPixel(i, hueToRGB((dh * i) - x));
4180Team 12:097b52548f0b 155 x += 1;
4180Team 12:097b52548f0b 156 if (x > 360)
4180Team 12:097b52548f0b 157 x = 0;
4180Team 12:097b52548f0b 158 }
4180Team 12:097b52548f0b 159 // display a shifting gradient between red and blue
4180Team 12:097b52548f0b 160 void pattern2()
4180Team 12:097b52548f0b 161 {
4180Team 12:097b52548f0b 162 // offset for each pixel to allow the pattern to move
4180Team 12:097b52548f0b 163 static float x = 0;
4180Team 12:097b52548f0b 164 float r, b, y;
4180Team 12:097b52548f0b 165 for (int i = 0; i < N; i++)
4180Team 12:097b52548f0b 166 {
4180Team 12:097b52548f0b 167 // y is a scaled position between 0 (red) and 1.0 (blue)
4180Team 12:097b52548f0b 168 y = 1.0 * i / (N - 1) + x;
4180Team 12:097b52548f0b 169 if (y > 1)
4180Team 12:097b52548f0b 170 y -= 1;
4180Team 12:097b52548f0b 171 // if on the left half, red is decreasing and blue is increasng
4180Team 12:097b52548f0b 172 if (y < 0.5)
4180Team 12:097b52548f0b 173 {
4180Team 12:097b52548f0b 174 b = 2 * y;
4180Team 12:097b52548f0b 175 r = 1 - b;
4180Team 12:097b52548f0b 176 }
4180Team 12:097b52548f0b 177 // else red is increasing and blue is decreasing
4180Team 12:097b52548f0b 178 else
4180Team 12:097b52548f0b 179 {
4180Team 12:097b52548f0b 180 r = 2 * (y - 0.5);
4180Team 12:097b52548f0b 181 b = 1 - r;
4180Team 12:097b52548f0b 182 }
4180Team 12:097b52548f0b 183 // scale to integers and set the pixel
4180Team 12:097b52548f0b 184 strip.setPixel(i, (uint8_t)(r * 255), 0, (uint8_t)(b * 200));
4180Team 12:097b52548f0b 185 }
4180Team 12:097b52548f0b 186 x += 0.003;
4180Team 12:097b52548f0b 187 if (x > 1)
4180Team 12:097b52548f0b 188 x = 0;
4180Team 12:097b52548f0b 189 }
4180Team 12:097b52548f0b 190
4180Team 12:097b52548f0b 191 // Converts HSV to RGB with the given hue, assuming
4180Team 12:097b52548f0b 192 // maximum saturation and value
4180Team 12:097b52548f0b 193 int hueToRGB(float h)
4180Team 12:097b52548f0b 194 {
4180Team 12:097b52548f0b 195 // lots of floating point magic from the internet and scratching my head
4180Team 12:097b52548f0b 196 float r, g, b;
4180Team 12:097b52548f0b 197 if (h > 360)
4180Team 12:097b52548f0b 198 h -= 360;
4180Team 12:097b52548f0b 199 if (h < 0)
4180Team 12:097b52548f0b 200 h += 360;
4180Team 12:097b52548f0b 201 int i = (int)(h / 60.0);
4180Team 12:097b52548f0b 202 float f = (h / 60.0) - i;
4180Team 12:097b52548f0b 203 float q = 1 - f;
4180Team 12:097b52548f0b 204 switch (i % 6)
4180Team 12:097b52548f0b 205 {
4180Team 12:097b52548f0b 206 case 0: r = 1; g = f; b = 0; break;
4180Team 12:097b52548f0b 207 case 1: r = q; g = 1; b = 0; break;
4180Team 12:097b52548f0b 208 case 2: r = 0; g = 1; b = f; break;
4180Team 12:097b52548f0b 209 case 3: r = 0; g = q; b = 1; break;
4180Team 12:097b52548f0b 210 case 4: r = f; g = 0; b = 1; break;
4180Team 12:097b52548f0b 211 case 5: r = 1; g = 0; b = q; break;
4180Team 12:097b52548f0b 212 default: r = 0; g = 0; b = 0; break;
4180Team 12:097b52548f0b 213 }
4180Team 12:097b52548f0b 214 // scale to integers and return the packed value
4180Team 12:097b52548f0b 215 uint8_t R = (uint8_t)(r * 255);
4180Team 12:097b52548f0b 216 uint8_t G = (uint8_t)(g * 255);
4180Team 12:097b52548f0b 217 uint8_t B = (uint8_t)(b * 255);
4180Team 12:097b52548f0b 218 return (R << 16) | (G << 8) | B;
4180Team 12:097b52548f0b 219 }
4180Team 12:097b52548f0b 220 // test code, this demonstrates working motor drivers.
4180Team 12:097b52548f0b 221 // full reverse to full stop, dynamicaly brake and switch off.
4180Team 12:097b52548f0b 222