Diff: main.cpp

Revision:

40:d5c8ce80b6c4

Parent:

39:e735259e1d2e

--- a/main.cpp	Mon Jun 15 07:24:39 2015 -0700
+++ b/main.cpp	Fri Jun 10 08:56:46 2016 -0700
@@ -7,11 +7,22 @@
 #define INSTANTIATE_TEMPLATES 1
 #include "WS2811.h"
 
+#include "audio.h"
+using namespace NKAudio;
+
+#include "1khz_1sec.h"
+
+AudioFile audioFiles[] = {
+    { __1khz_1sec_s8, __1khz_1sec_s8_len },
+    { 0, 0 } // mark end
+};
+
 // I/O pin usage
 // PTD2 (D11) data output for strip# 1
 // PTD3 (D12) data output for strip# 2
-// PTA2 (D3) blinking eyes output (HI = ON)
-// PTA5 (D5) servomotor (20 msec period; 1.0-2.0msec ON)
+// PTA12 (D3) servomotor (20 msec period; 1.0-2.0msec ON)
+// PTA5 (D5) blinking eyes output (HI = ON)
+// PTE30
 
 const unsigned DATA_OUT_PIN1 = 2; // PTD2
 const unsigned DATA_OUT_PIN2 = 3; // PTD3
@@ -37,18 +48,12 @@
 static MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
 
 // RGB LED on FRDM board
-static DigitalOut rled(LED_RED);       // max = 0.0
-static DigitalOut gled(LED_GREEN);     // max = 0.0
+static DigitalOut rled(LED_RED);       // PTB18 max = 0.0
+static DigitalOut gled(LED_GREEN);     // PTB19 max = 0.0
 // LED_BLUE is on PTD1
 
-// D0, D1 are out. D3-D7 are OK
-// D4 doesn't work.
-// D5 is original.
-// D6 doesn't work.
-// D7 doesn't work.
-// D3 works for eyes.
-static PwmOut servo(D3);    // PTA5
-static DigitalOut eyes(D5);     // PTA2       also redLED1; max = 1.0
+static PwmOut servo(D3);    // PTA12
+static DigitalOut eyes(D5);     // PTA5
 
 // static DigitalOut greenLED2(D4);   // max = 1.0
 static DigitalIn button1(D6);      // low=ON, debounced
@@ -62,33 +67,8 @@
 // const float minFlapTime = (maxServo - minServo) * 0.17; // 0.17 seconds / 60° at 4.8V
 const float minFlapTime = 0.5;
 const float maxFlapTime = 1.0;
-
-// Globals
-// test run was about 6 meters in about 5 seconds, for
-// a final velocity of 2.4m/s, and a uniform acceleration of 0.48 m/s^2
-// or about 0.048g
-static float restZAccel;    // in m/s^2 1g = 9.8 m/s^2
-static float currentZAccel;  // in m/s^2 
-static float currentSpeed;  // in m/s
-
-const float speedUpdateInterval = 0.1;
-static Ticker speedUpdateTicker;
-
-static float wingFlapTime = maxFlapTime;
-
-// we have to know delta T to compute speed.
-// So this is called at speedUpdateInterval seconds intervals.
-static void updateSpeedAndAcceleration()
-{
-    currentZAccel = acc.getAccZ() * 9.8;
-    currentSpeed += (currentZAccel - restZAccel) * speedUpdateInterval;
-}
-
-static void resetSpeedAndAcceleration()
-{
-    restZAccel   = currentZAccel;
-    currentSpeed = 0.0;
-}
+float currentPosition = 1.0;
+float currentSpeed = 1.0;
 
 // @brief sets different colors in each of the LEDs of a strip
 // @param strip the light strip
@@ -112,8 +92,7 @@
         last = nLEDs;
     }
 
-    for (int i = first; i != last; i += direction)
-    {
+    for (int i = first; i != last; i += direction) {
         uint8_t r, g, b;
         float hue = (i * hueRange / nLEDs) + hueShift;
         HSBtoRGB(hue, sat, brite, &r, &g, &b);
@@ -128,8 +107,7 @@
 static void showSolidColor(MyWS2811 &strip, uint8_t r, uint8_t g, uint8_t b)
 {
     unsigned nLEDs = strip.numPixels();
-    for (unsigned i = 0; i < nLEDs; i++)
-    {
+    for (unsigned i = 0; i < nLEDs; i++) {
         strip.setPixelColor(i, r, g, b);
     }
     strip.show();
@@ -146,18 +124,22 @@
     if (pos < 0.0) {
         rled = 0;
         gled = 1;
-    }
-    else if (pos > 0.0) {
+    } else if (pos > 0.0) {
         rled = 1;
         gled = 0;
-    }
-    else {
+    } else {
         rled = gled = 1;
     }
 
     servo.pulsewidth_us((1.5 + (pos / 2.0)) * 1000.0);
 }
 
+void flap()
+{
+    positionServo(currentPosition);
+    currentPosition = -currentPosition;
+}
+
 static void selfTestServo()
 {
     pc.printf("Servo:\r\n");
@@ -208,8 +190,7 @@
     blankLightStrips();
     pc.printf("light strips");
     uint8_t rgb[4] = { (uint8_t)(255 * maxBrite), 0, 0, 0 };
-    for (int i = 0; i < 3; i++)
-    {
+    for (int i = 0; i < 3; i++) {
         showSolidColor(lightStrip1, rgb[0], rgb[1], rgb[2]);
         showSolidColor(lightStrip2, rgb[1], rgb[2], rgb[0]);
         refreshLightStrips();
@@ -231,6 +212,8 @@
     selfTestLightStrips();
     selfTestServo();
     selfTestLEDs();
+    
+    pc.printf("done\n");
 }
 
 // rainbow that wraps around entire frame
@@ -245,21 +228,11 @@
     skip %= 3;
 }
 
-static float currentPosition = 0.0;
-
-void setWingFlapTime(float desired)
+void updateEyes()
 {
-    static float lastWingFlapTime = 0.0;
-    if (desired < minFlapTime)
-        desired = minFlapTime;
-    else if (desired > maxFlapTime)
-        desired = maxFlapTime;
-    wingFlapTime = desired;
-
-    if (lastWingFlapTime != wingFlapTime)
-    {
-        lastWingFlapTime = wingFlapTime;
-    }
+    static bool eyesOn;
+    eyes = eyesOn ? 1 : 0;
+    eyesOn = !eyesOn;
 }
 
 int main(void)
@@ -272,67 +245,41 @@
 
     rled      = 1.0;
     gled      = 1.0;
-//    greenLED2 = 0.0;
     servo.period_ms(20);
 
     selfTest();
 
-    resetSpeedAndAcceleration();
-    speedUpdateTicker.attach(updateSpeedAndAcceleration, speedUpdateInterval);
+    Timer elapsedTime;
 
-    Timer elapsedTime;
+    Ticker flapper;
+    flapper.attach(flap, maxFlapTime);
+    
+    Ticker stripUpdater;
+    stripUpdater.attach(updateStripsRainbow, 0.3);
+
+    Ticker eyeUpdater;
+    eyeUpdater.attach(updateEyes, 0.2);
+    
     elapsedTime.start();
-    float nextWingUpdate = elapsedTime.read();
-    float nextStripUpdate = nextWingUpdate;
-    float nextEyeUpdate = nextWingUpdate;
-    currentPosition = -1.0;
 
-    float stripUpdateTime = 0.3;
-    float eyeUpdateTime = 0.3;
-    bool eyesOn = true;
+    bool lastButton = button1.read();
 
-    float lastCurrentSpeed = 0.0;
-    for (;; )
-    {
-        float relativeAccel = fabs(currentZAccel - restZAccel);
-        if ((relativeAccel < 1.0) || !button1.read())
-        {
-            resetSpeedAndAcceleration();
-            setWingFlapTime(maxFlapTime);
-            stripUpdateTime = 0.3;
-        }
-        else
-        {
-            setWingFlapTime(minFlapTime);
-            stripUpdateTime = 0.1;
+    for (;; ) {
+        bool buttonValue = button1.read();
+        if (buttonValue != lastButton) {
+            if (!buttonValue) {
+                flapper.detach();
+                flapper.attach(flap, maxFlapTime);
+                stripUpdater.detach();
+                stripUpdater.attach(updateStripsRainbow, 0.3);
+            } else {
+                flapper.detach();
+                flapper.attach(flap, minFlapTime);
+                stripUpdater.detach();
+                stripUpdater.attach(updateStripsRainbow, 0.1);
+            }
         }
 
-        if (lastCurrentSpeed != currentSpeed)
-        {
-            lastCurrentSpeed = currentSpeed;
-            pc.printf("%f %f %f\r\n", relativeAccel, currentSpeed, wingFlapTime);
-        }
-
-        float now = elapsedTime.read();
-
-        if (now >= nextWingUpdate) {
-            positionServo(currentPosition);
-            currentPosition = -currentPosition;
-            nextWingUpdate = now + wingFlapTime;
-        }
-
-        if (now >= nextStripUpdate) {
-            updateStripsRainbow();
-            nextStripUpdate = now + stripUpdateTime;
-        }
-
-        if (now >= nextEyeUpdate) {
-            if (eyesOn) eyes = 1;
-            else eyes = 0;
-            eyesOn = !eyesOn;
-            nextEyeUpdate = now + eyeUpdateTime;
-        }
-
-        wait(0.05);
+        wait(0.1);
     }
 }