Kevin Abraham
Platform controller for the Mobile Arcade project
Diff: main.cpp
- Revision:
- 1:113469a23547
- Parent:
- 0:d4e7f9c1287f
- Child:
- 2:774edcf60939
--- a/main.cpp Fri Nov 30 20:15:39 2018 +0000
+++ b/main.cpp Tue Dec 11 06:34:25 2018 +0000
@@ -1,60 +1,223 @@
#include "mbed.h"
#include "Motor.h"
+#include "APA102.h"
-DigitalOut led1(LED1);
+#define NUM_LEDS 72
+
+#define TAIL_BLINKER_START 0
+#define NUM_TAIL_BLINKER 3
+#define TAIL_REVERSE_START 3
+#define NUM_TAIL_REVERSE 2
+
+#define GLOW_START 6
+#define NUM_GLOW 21
+
+#define HEAD_FOG_START 28
+#define NUM_HEAD_FOG 1
+
+#define HEAD_BLINKER_START 30
+#define NUM_HEAD_BLINKER 2
+#define HEAD_LIGHT_START 32
+#define NUM_HEAD_LIGHT 3
+
+#define GAME_START 51
+#define NUM_GAME 19
+
+#define COLOR_HEADLIGHT_DIM CRGB(8, 8, 8)
+#define COLOR_HEADLIGHT_ON CRGB(32, 32, 32)
+#define COLOR_FOGLIGHT CRGB(64, 64, 0)
-// TB6612 mbed
-// PWMA 21
-// AI2 22
-// AI1 23
-// BI1 24
-// BI2 25
-// PWMB 26
+#define COLOR_TAILLIGHT CRGB(32, 0, 0)
+#define COLOR_BRAKELIGHT CRGB(128, 0, 0)
+#define COLOR_REVERSE CRGB(64, 64, 64)
+
+#define COLOR_UNDERGLOW CRGB(0, 16, 0)
+#define COLOR_GAME CRGB(0, 2, 3)
+
+#define COLOR_BLINKER CRGB(128, 32, 0)
+#define BLINK_DELAY 0.5
+
+#define BLINKER_L 1
+#define BLINKER_R 2
+#define FOGLIGHT 4
+#define REVERSE 8
+#define UNDERGLOW 16
+#define HEADLIGHT 32
+#define BRAKELIGHT 64
+uint8_t lights = FOGLIGHT | UNDERGLOW | BRAKELIGHT;
+
+CRGB l_leds[NUM_LEDS];
+CRGB r_leds[NUM_LEDS];
+
+CRGB gameColor = COLOR_GAME;
+
+SPI l_strip(p5, p6, p7);
+SPI r_strip(p11, p12, p13);
Motor l_motor(p21, p23, p22); // PWMA, AI1, AI2
Motor r_motor(p26, p24, p25); // PWMB, BI1, BI2
-Serial bt(p28, p27); // Bluefruit RX, TX
-Thread btThread;
+float l_vel = 0;
+float r_vel = 0;
-void bt_thread()
-{
+Serial bt(p28, p27); // Bluefruit RX, TX
+Serial pc(USBTX, USBRX);
+
+Thread btThread;
+Thread blinkerThread;
+
+void bt_thread() {
char bnum = 0;
char bhit = 0;
- while(1) {
- while (!bt.readable()) wait(0.01);
+ for(;;) {
+ while (!bt.readable()) wait(0.1);
if (bt.getc() == '!' && bt.getc() == 'B') {
bnum = bt.getc(); // button number
- bhit = bt.getc(); // 1 = hit, 0 = release
+ bhit = bt.getc(); // '1' = hit, '0' = release
if (bt.getc() == char(~('!' + 'B' + bnum + bhit))) {
- switch (bnum) {
- case '1': // number button 1
- l_motor.speed(bhit == '1' ? 1.0f : 0);
- break;
- case '2': // number button 2
- r_motor.speed(bhit == '1' ? 1.0f : 0);
- break;
- case '3': // number button 3
- l_motor.speed(bhit == '1' ? -1.0f : 0);
- break;
- case '4': // number button 4
- r_motor.speed(bhit == '1' ? -1.0f : 0);
- break;
- default:
- break;
+ pc.printf("%i\n", bnum);
+ if (bnum == 53 && bhit == '1') { // UP
+ l_vel += 0.25f;
+ r_vel += 0.25f;
+ } else if (bnum == 54 && bhit == '1') { // DOWN
+ l_vel -= 0.25f;
+ r_vel -= 0.25f;
+ } else if (bnum == 55 && bhit == '1') { // LEFT
+ l_vel += 0.25f;
+ r_vel -= 0.25f;
+ } else if (bnum == 56 && bhit == '1') { // RIGHT
+ l_vel -= 0.25f;
+ r_vel += 0.25f;
+ } else if (bnum == '2' && bhit == '1') {
+ lights ^= FOGLIGHT;
+ }
+ l_motor.speed(l_vel);
+ r_motor.speed(r_vel);
+ if (bnum == '1' && bhit == '1') {
+ l_vel = 0;
+ r_vel = 0;
+ l_motor.brake(1);
+ r_motor.brake(1);
+ }
+ if (l_vel + r_vel > 0.01f) {
+ lights &= ~(BRAKELIGHT | REVERSE);
+ lights |= HEADLIGHT;
+ } else if (l_vel + r_vel < -0.01f) {
+ lights &= ~(BRAKELIGHT | HEADLIGHT);
+ lights |= REVERSE;
+ } else {
+ lights &= ~(HEADLIGHT | REVERSE);
+ lights |= BRAKELIGHT;
+ }
+ if (l_vel - r_vel > 0.01f) {
+ lights &= ~BLINKER_R;
+ lights |= BLINKER_L;
+ } else if (r_vel - l_vel > 0.01f) {
+ lights &= ~BLINKER_L;
+ lights |= BLINKER_R;
+ } else {
+ lights &= ~(BLINKER_L | BLINKER_R);
}
}
}
}
}
+void blinker_thread() {
+ for (;;) {
+ while (!(lights & (BLINKER_L | BLINKER_R))) {
+ wait(0.1);
+ }
+
+ if (lights & BLINKER_L) {
+ fill_solid(&(l_leds[HEAD_BLINKER_START]), NUM_HEAD_BLINKER, COLOR_BLINKER);
+ fill_solid(&(l_leds[TAIL_BLINKER_START]), NUM_TAIL_BLINKER, COLOR_BLINKER);
+ }
+ if (lights & BLINKER_R) {
+ fill_solid(&(r_leds[HEAD_BLINKER_START]), NUM_HEAD_BLINKER, COLOR_BLINKER);
+ fill_solid(&(r_leds[TAIL_BLINKER_START]), NUM_TAIL_BLINKER, COLOR_BLINKER);
+ }
+ wait(BLINK_DELAY);
+
+ if (l_leds[HEAD_BLINKER_START] == COLOR_BLINKER) {
+ fill_solid(&(l_leds[HEAD_BLINKER_START]), NUM_HEAD_BLINKER, CRGB::Black);
+ fill_solid(&(l_leds[TAIL_BLINKER_START]), NUM_TAIL_BLINKER, CRGB::Black);
+ }
+ if (r_leds[HEAD_BLINKER_START] == COLOR_BLINKER) {
+ fill_solid(&(r_leds[HEAD_BLINKER_START]), NUM_HEAD_BLINKER, CRGB::Black);
+ fill_solid(&(r_leds[TAIL_BLINKER_START]), NUM_TAIL_BLINKER, CRGB::Black);
+ }
+ wait(BLINK_DELAY);
+ }
+}
+
// main() runs in its own thread in the OS
-int main()
-{
+int main() {
+
+ // Jack up the frequency
+ l_strip.frequency(4000000);
+ r_strip.frequency(4000000);
+
+ // Clear out the strip
+ fill_solid(l_leds, NUM_LEDS, CRGB::Black);
+ fill_solid(r_leds, NUM_LEDS, CRGB::Black);
+ APA102_write(l_strip, l_leds, NUM_LEDS);
+ APA102_write(r_strip, r_leds, NUM_LEDS);
+
+ // Start threads
btThread.start(bt_thread);
- while (true) {
- // Blink LED and wait 0.5 seconds
- led1 = !led1;
- wait(0.5);
+ blinkerThread.start(blinker_thread);
+
+ int ctr = 0;
+ bool up = true;
+
+ int gamePwmNum = 1;
+ int gamePwmDen = 4;
+ int gamePwmMax = 8;
+
+ for(;;) {
+ if (ctr % (gamePwmDen * 7) == 0) {
+ gamePwmNum += up ? 1 : -1;
+ if (gamePwmNum == gamePwmMax) {
+ up = false;
+ } else if (gamePwmNum == 1) {
+ up = true;
+ ctr = 0;
+ }
+ }
+
+ fill_solid(&(l_leds[HEAD_LIGHT_START]), NUM_HEAD_LIGHT, lights & HEADLIGHT ? COLOR_HEADLIGHT_ON : COLOR_HEADLIGHT_DIM);
+ fill_solid(&(r_leds[HEAD_LIGHT_START]), NUM_HEAD_LIGHT, lights & HEADLIGHT ? COLOR_HEADLIGHT_ON : COLOR_HEADLIGHT_DIM);
+
+ if (!(lights & BLINKER_L)) {
+ fill_solid(&(l_leds[HEAD_BLINKER_START]), NUM_HEAD_BLINKER, lights & HEADLIGHT ? COLOR_HEADLIGHT_ON : COLOR_HEADLIGHT_DIM);
+ fill_solid(&(l_leds[TAIL_BLINKER_START]), NUM_TAIL_BLINKER, lights & BRAKELIGHT ? COLOR_BRAKELIGHT : COLOR_TAILLIGHT);
+ }
+
+ if (!(lights & BLINKER_R)) {
+ fill_solid(&(r_leds[HEAD_BLINKER_START]), NUM_HEAD_BLINKER, lights & HEADLIGHT ? COLOR_HEADLIGHT_ON : COLOR_HEADLIGHT_DIM);
+ fill_solid(&(r_leds[TAIL_BLINKER_START]), NUM_TAIL_BLINKER, lights & BRAKELIGHT ? COLOR_BRAKELIGHT : COLOR_TAILLIGHT);
+ }
+
+ fill_solid(&(l_leds[HEAD_FOG_START]), NUM_HEAD_FOG, lights & FOGLIGHT ? COLOR_FOGLIGHT : CRGB::Black);
+ fill_solid(&(r_leds[HEAD_FOG_START]), NUM_HEAD_FOG, lights & FOGLIGHT ? COLOR_FOGLIGHT : CRGB::Black);
+
+ fill_solid(&(l_leds[GLOW_START]), NUM_GLOW, lights & UNDERGLOW ? COLOR_UNDERGLOW : CRGB::Black);
+ fill_solid(&(r_leds[GLOW_START]), NUM_GLOW, lights & UNDERGLOW ? COLOR_UNDERGLOW : CRGB::Black);
+
+ fill_solid(&(l_leds[TAIL_REVERSE_START]), NUM_TAIL_REVERSE, lights & REVERSE ? COLOR_REVERSE :
+ lights & BRAKELIGHT ? COLOR_BRAKELIGHT : COLOR_TAILLIGHT);
+ fill_solid(&(r_leds[TAIL_REVERSE_START]), NUM_TAIL_REVERSE, lights & REVERSE ? COLOR_REVERSE :
+ lights & BRAKELIGHT ? COLOR_BRAKELIGHT : COLOR_TAILLIGHT);
+
+ double scaleFactor = ceil((double) gamePwmNum / gamePwmDen);
+ fill_solid(&(l_leds[GAME_START]), NUM_GAME, (ctr % gamePwmDen) < (gamePwmNum / scaleFactor) ? gameColor * scaleFactor : CRGB::Black);
+ fill_solid(&(r_leds[GAME_START]), NUM_GAME, (ctr % gamePwmDen) < (gamePwmNum / scaleFactor) ? gameColor * scaleFactor : CRGB::Black);
+ ctr++;
+
+ APA102_write(l_strip, l_leds, NUM_LEDS);
+ APA102_write(r_strip, r_leds, NUM_LEDS);
+
+ wait(0);
}
}