Alan Millard / Mbed 2 deprecated BeautifulMemeProjectBT

Bluetooth communication for flocking.

Dependencies:   mbed

Fork of BeautifulMemeProject by James Hilder

PsiSwarm/led.cpp@27:7eb032772bc2, 2016-01-31 (annotated)

Committer:
alanmillard
Date:
Sun Jan 31 15:14:54 2016 +0000
Revision:
27:7eb032772bc2
Parent:
10:1b09d4bb847b 
Flocking seems to work better now, however the robot controller sometimes "crashes" (unsure why).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a5497a2e366 1 /* University of York Robotics Laboratory PsiSwarm Library: LED Functions Source File
jah128 0:8a5497a2e366 2 *
jah128 0:8a5497a2e366 3 * File: led.cpp
jah128 0:8a5497a2e366 4 *
jah128 6:ff3c66f7372b 5 * (C) Dept. Electronics & Computer Science, University of York
jah128 6:ff3c66f7372b 6 * James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
jah128 0:8a5497a2e366 7 *
jah128 6:ff3c66f7372b 8 * PsiSwarm Library Version: 0.3
jah128 0:8a5497a2e366 9 *
jah128 6:ff3c66f7372b 10 * October 2015
jah128 0:8a5497a2e366 11 *
jah128 0:8a5497a2e366 12 */
jah128 0:8a5497a2e366 13
jah128 0:8a5497a2e366 14 #include "psiswarm.h"
jah128 0:8a5497a2e366 15
jah128 0:8a5497a2e366 16 char green_led_states;
jah128 0:8a5497a2e366 17 char red_led_states;
jah128 0:8a5497a2e366 18 char center_led_state;
jah128 0:8a5497a2e366 19
jah128 0:8a5497a2e366 20 char held_red_states;
jah128 0:8a5497a2e366 21 char held_green_states;
jah128 0:8a5497a2e366 22 Timeout blink_led_timeout;
jah128 0:8a5497a2e366 23
jah128 0:8a5497a2e366 24 unsigned short get_led_states(){
jah128 0:8a5497a2e366 25 return (green_led_states << 8) + red_led_states;
jah128 0:8a5497a2e366 26 }
jah128 0:8a5497a2e366 27
jah128 0:8a5497a2e366 28 void set_leds(char green, char red){
jah128 0:8a5497a2e366 29 green_led_states = green;
jah128 0:8a5497a2e366 30 red_led_states = red;
jah128 0:8a5497a2e366 31 IF_update_leds();
jah128 0:8a5497a2e366 32 }
jah128 0:8a5497a2e366 33
jah128 0:8a5497a2e366 34 void set_base_led(char state){
jah128 0:8a5497a2e366 35 IF_set_base_LED(state);
jah128 0:8a5497a2e366 36 }
jah128 0:8a5497a2e366 37
jah128 0:8a5497a2e366 38 void set_green_leds(char green){
jah128 0:8a5497a2e366 39 green_led_states = green;
jah128 0:8a5497a2e366 40 IF_update_leds();
jah128 0:8a5497a2e366 41 }
jah128 0:8a5497a2e366 42
jah128 0:8a5497a2e366 43 void set_red_leds(char red){
jah128 0:8a5497a2e366 44 red_led_states = red;
jah128 0:8a5497a2e366 45 IF_update_leds();
jah128 0:8a5497a2e366 46 }
jah128 0:8a5497a2e366 47
jah128 0:8a5497a2e366 48 void set_led(char led, char state){
jah128 0:8a5497a2e366 49 if(state % 2 == 1) red_led_states |= 1 << led;
jah128 0:8a5497a2e366 50 else red_led_states &= ~(1 << led);
jah128 0:8a5497a2e366 51 if(state / 2) green_led_states |= 1 << led;
jah128 0:8a5497a2e366 52 else green_led_states &= ~(1 << led);
jah128 0:8a5497a2e366 53 IF_update_leds();
jah128 0:8a5497a2e366 54 }
jah128 0:8a5497a2e366 55
jah128 0:8a5497a2e366 56 void blink_leds(float timeout){
jah128 10:1b09d4bb847b 57 save_led_states();
jah128 0:8a5497a2e366 58 set_leds(0xFF,0xFF);
jah128 10:1b09d4bb847b 59 blink_led_timeout.attach(&restore_led_states, timeout);
jah128 0:8a5497a2e366 60 }
jah128 0:8a5497a2e366 61
jah128 0:8a5497a2e366 62 void set_center_led(char state){
jah128 0:8a5497a2e366 63 set_center_led(state, center_led_brightness);
jah128 0:8a5497a2e366 64 }
jah128 0:8a5497a2e366 65
jah128 0:8a5497a2e366 66 void set_center_led(char state, float brightness){
jah128 0:8a5497a2e366 67 center_led_brightness = brightness;
jah128 0:8a5497a2e366 68 center_led_state = state;
jah128 0:8a5497a2e366 69 switch(center_led_state){
jah128 0:8a5497a2e366 70 case 0: center_led_red.write(0);
jah128 0:8a5497a2e366 71 center_led_green.write(0);
jah128 0:8a5497a2e366 72 break;
jah128 0:8a5497a2e366 73 case 1: center_led_red.write(center_led_brightness / 4);
jah128 0:8a5497a2e366 74 center_led_green.write(0);
jah128 0:8a5497a2e366 75 break;
jah128 0:8a5497a2e366 76 case 2: center_led_red.write(0);
jah128 0:8a5497a2e366 77 center_led_green.write(center_led_brightness);
jah128 0:8a5497a2e366 78 break;
jah128 0:8a5497a2e366 79 case 3: center_led_red.write(center_led_brightness / 4);
jah128 0:8a5497a2e366 80 center_led_green.write(center_led_brightness);
jah128 0:8a5497a2e366 81 break;
jah128 0:8a5497a2e366 82 }
jah128 0:8a5497a2e366 83 }
jah128 0:8a5497a2e366 84
jah128 0:8a5497a2e366 85 void set_center_led_brightness(float brightness){
jah128 0:8a5497a2e366 86 set_center_led(center_led_state,brightness);
jah128 0:8a5497a2e366 87 }
jah128 0:8a5497a2e366 88
jah128 10:1b09d4bb847b 89 void save_led_states(){
jah128 10:1b09d4bb847b 90 held_red_states = red_led_states;
jah128 10:1b09d4bb847b 91 held_green_states = green_led_states;
jah128 10:1b09d4bb847b 92 }
jah128 10:1b09d4bb847b 93
jah128 10:1b09d4bb847b 94 void restore_led_states(){
jah128 0:8a5497a2e366 95 set_leds(held_green_states,held_red_states);
jah128 0:8a5497a2e366 96 }
jah128 0:8a5497a2e366 97
jah128 0:8a5497a2e366 98 void IF_init_leds(){
jah128 0:8a5497a2e366 99 green_led_states = 0;
jah128 0:8a5497a2e366 100 red_led_states = 0;
jah128 0:8a5497a2e366 101 center_led_red.period_us(100);
jah128 0:8a5497a2e366 102 center_led_green.period_us(100);
jah128 0:8a5497a2e366 103 set_center_led(0,0.2);
jah128 0:8a5497a2e366 104 }
jah128 0:8a5497a2e366 105
jah128 0:8a5497a2e366 106 void IF_update_leds(){
jah128 0:8a5497a2e366 107 char led_byte_0 = (((green_led_states & (1 << 3)) == 0) << 7) +
jah128 0:8a5497a2e366 108 (((green_led_states & (1 << 2)) == 0) << 5) +
jah128 0:8a5497a2e366 109 (((green_led_states & (1 << 1)) == 0) << 3) +
jah128 0:8a5497a2e366 110 (((green_led_states & (1)) == 0) << 1) +
jah128 0:8a5497a2e366 111 (((red_led_states & (1 << 3)) == 0) << 6) +
jah128 0:8a5497a2e366 112 (((red_led_states & (1 << 2)) == 0) << 4) +
jah128 0:8a5497a2e366 113 (((red_led_states & (1 << 1)) == 0) << 2) +
jah128 0:8a5497a2e366 114 (((red_led_states & (1)) == 0));
jah128 0:8a5497a2e366 115 char led_byte_1 = (((green_led_states & (1 << 7)) == 0) << 7) +
jah128 0:8a5497a2e366 116 (((green_led_states & (1 << 6)) == 0) << 5) +
jah128 0:8a5497a2e366 117 (((green_led_states & (1 << 5)) == 0) << 3) +
jah128 0:8a5497a2e366 118 (((green_led_states & (1 << 4)) == 0) << 1) +
jah128 0:8a5497a2e366 119 (((red_led_states & (1 << 7)) == 0) << 6) +
jah128 0:8a5497a2e366 120 (((red_led_states & (1 << 6)) == 0) << 4) +
jah128 0:8a5497a2e366 121 (((red_led_states & (1 << 5)) == 0) << 2) +
jah128 0:8a5497a2e366 122 (((red_led_states & (1 << 4)) == 0));
jah128 0:8a5497a2e366 123 IF_write_to_led_ic(led_byte_0,led_byte_1);
jah128 0:8a5497a2e366 124 }