Junichi Katsu / Mbed 2 deprecated wallbotLED_base

うおーるぼっとLEDのワークショップ用

Dependencies:   mbed

wallbotLED/wallbotLED.cpp@0:9fcc79b3f00e, 2017-02-03 (annotated)

Committer:
jksoft
Date:
Fri Feb 03 06:26:54 2017 +0000
Revision:
0:9fcc79b3f00e
Child:
1:b9cd4ab5ead7
??

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:9fcc79b3f00e 1 /* JKsoft Wallbot LED Library
jksoft 0:9fcc79b3f00e 2 *
jksoft 0:9fcc79b3f00e 3 * wallbotLED.cpp
jksoft 0:9fcc79b3f00e 4 *
jksoft 0:9fcc79b3f00e 5 * Copyright (c) 2010-2016 jksoft
jksoft 0:9fcc79b3f00e 6 *
jksoft 0:9fcc79b3f00e 7 * Permission is hereby granted, free of charge, to any person obtaining a copy
jksoft 0:9fcc79b3f00e 8 * of this software and associated documentation files (the "Software"), to deal
jksoft 0:9fcc79b3f00e 9 * in the Software without restriction, including without limitation the rights
jksoft 0:9fcc79b3f00e 10 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
jksoft 0:9fcc79b3f00e 11 * copies of the Software, and to permit persons to whom the Software is
jksoft 0:9fcc79b3f00e 12 * furnished to do so, subject to the following conditions:
jksoft 0:9fcc79b3f00e 13 *
jksoft 0:9fcc79b3f00e 14 * The above copyright notice and this permission notice shall be included in
jksoft 0:9fcc79b3f00e 15 * all copies or substantial portions of the Software.
jksoft 0:9fcc79b3f00e 16 *
jksoft 0:9fcc79b3f00e 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
jksoft 0:9fcc79b3f00e 18 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
jksoft 0:9fcc79b3f00e 19 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
jksoft 0:9fcc79b3f00e 20 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
jksoft 0:9fcc79b3f00e 21 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jksoft 0:9fcc79b3f00e 22 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
jksoft 0:9fcc79b3f00e 23 * THE SOFTWARE.
jksoft 0:9fcc79b3f00e 24 */
jksoft 0:9fcc79b3f00e 25
jksoft 0:9fcc79b3f00e 26 #include "mbed.h"
jksoft 0:9fcc79b3f00e 27 #include "wallbotLED.h"
jksoft 0:9fcc79b3f00e 28
jksoft 0:9fcc79b3f00e 29
jksoft 0:9fcc79b3f00e 30 wallbotLED::wallbotLED() : _right(P0_28,P0_30,P0_0) , _left(P0_29,P0_23,P0_24) ,
jksoft 0:9fcc79b3f00e 31 _i2c(P0_22,P0_21), _matrix1(&_i2c),_matrix2(&_i2c),
jksoft 0:9fcc79b3f00e 32 _sw(P0_16,P0_17),
jksoft 0:9fcc79b3f00e 33 _outlow(P0_20),_statusled(P0_18,P0_19),
jksoft 0:9fcc79b3f00e 34 _f_sensor1(P0_2),_f_sensor2(P0_3),
jksoft 0:9fcc79b3f00e 35 _f_sensor3(P0_4),_f_sensor4(P0_5) {
jksoft 0:9fcc79b3f00e 36 _right = 0.0;
jksoft 0:9fcc79b3f00e 37 _left = 0.0;
jksoft 0:9fcc79b3f00e 38 _outlow = 0;
jksoft 0:9fcc79b3f00e 39 _statusled = 0x3;
jksoft 0:9fcc79b3f00e 40 SetFloorSensorGain(SENSOR_VAL_GAIN_DEFAULT);
jksoft 0:9fcc79b3f00e 41 _mpu.initialize();
jksoft 0:9fcc79b3f00e 42 _sw.mode(PullUp);
jksoft 0:9fcc79b3f00e 43 //_matrix1.begin(0x71);
jksoft 0:9fcc79b3f00e 44 _matrix1.begin(0x74);
jksoft 0:9fcc79b3f00e 45 _matrix2.begin(0x70);
jksoft 0:9fcc79b3f00e 46 _matrix1.clear();
jksoft 0:9fcc79b3f00e 47 _matrix2.clear();
jksoft 0:9fcc79b3f00e 48 for(int i = 0 ; i < 4 ; i++)
jksoft 0:9fcc79b3f00e 49 {
jksoft 0:9fcc79b3f00e 50 _sensor_def[i] = SENSOR_VAL_DEFAULT;
jksoft 0:9fcc79b3f00e 51 }
jksoft 0:9fcc79b3f00e 52 }
jksoft 0:9fcc79b3f00e 53
jksoft 0:9fcc79b3f00e 54 void wallbotLED::driveLeftMotor(float speed) {
jksoft 0:9fcc79b3f00e 55 _left = speed;
jksoft 0:9fcc79b3f00e 56 }
jksoft 0:9fcc79b3f00e 57
jksoft 0:9fcc79b3f00e 58 void wallbotLED::driveRightMotor(float speed) {
jksoft 0:9fcc79b3f00e 59 _right = speed;
jksoft 0:9fcc79b3f00e 60 }
jksoft 0:9fcc79b3f00e 61
jksoft 0:9fcc79b3f00e 62 void wallbotLED::driveMotor(float r_speed,float l_speed) {
jksoft 0:9fcc79b3f00e 63 driveRightMotor(r_speed);
jksoft 0:9fcc79b3f00e 64 driveLeftMotor(l_speed);
jksoft 0:9fcc79b3f00e 65 }
jksoft 0:9fcc79b3f00e 66
jksoft 0:9fcc79b3f00e 67 void wallbotLED::driveMotor(int r_speed,int l_speed) {
jksoft 0:9fcc79b3f00e 68 driveRightMotor(r_speed/100.0);
jksoft 0:9fcc79b3f00e 69 driveLeftMotor(l_speed/100.0);
jksoft 0:9fcc79b3f00e 70 }
jksoft 0:9fcc79b3f00e 71
jksoft 0:9fcc79b3f00e 72 void wallbotLED::forward(float speed) {
jksoft 0:9fcc79b3f00e 73 driveLeftMotor(speed);
jksoft 0:9fcc79b3f00e 74 driveRightMotor(speed);
jksoft 0:9fcc79b3f00e 75 }
jksoft 0:9fcc79b3f00e 76
jksoft 0:9fcc79b3f00e 77 void wallbotLED::backward(float speed) {
jksoft 0:9fcc79b3f00e 78 driveLeftMotor(-speed);
jksoft 0:9fcc79b3f00e 79 driveRightMotor(-speed);
jksoft 0:9fcc79b3f00e 80 }
jksoft 0:9fcc79b3f00e 81
jksoft 0:9fcc79b3f00e 82 void wallbotLED::leftTurn(float speed) {
jksoft 0:9fcc79b3f00e 83 driveLeftMotor(-speed);
jksoft 0:9fcc79b3f00e 84 driveRightMotor(speed);
jksoft 0:9fcc79b3f00e 85 }
jksoft 0:9fcc79b3f00e 86
jksoft 0:9fcc79b3f00e 87 void wallbotLED::rightTurn(float speed) {
jksoft 0:9fcc79b3f00e 88 driveLeftMotor(speed);
jksoft 0:9fcc79b3f00e 89 driveRightMotor(-speed);
jksoft 0:9fcc79b3f00e 90 }
jksoft 0:9fcc79b3f00e 91
jksoft 0:9fcc79b3f00e 92 void wallbotLED::stop(void) {
jksoft 0:9fcc79b3f00e 93 driveLeftMotor(0.0);
jksoft 0:9fcc79b3f00e 94 driveRightMotor(0.0);
jksoft 0:9fcc79b3f00e 95 }
jksoft 0:9fcc79b3f00e 96
jksoft 0:9fcc79b3f00e 97 void wallbotLED::SetLed(int bit) {
jksoft 0:9fcc79b3f00e 98 bit |= bit >> 2;
jksoft 0:9fcc79b3f00e 99 _statusled = (bit ^ 0x03) & 0x03;
jksoft 0:9fcc79b3f00e 100 }
jksoft 0:9fcc79b3f00e 101
jksoft 0:9fcc79b3f00e 102 void wallbotLED::SetLed1(int bit) {
jksoft 0:9fcc79b3f00e 103 if( bit )
jksoft 0:9fcc79b3f00e 104 {
jksoft 0:9fcc79b3f00e 105 bit = _statusled ^ 0x03;
jksoft 0:9fcc79b3f00e 106 bit = bit | 0x1;
jksoft 0:9fcc79b3f00e 107 }
jksoft 0:9fcc79b3f00e 108 else
jksoft 0:9fcc79b3f00e 109 {
jksoft 0:9fcc79b3f00e 110 bit = _statusled ^ 0x03;
jksoft 0:9fcc79b3f00e 111 bit = bit & 0x2;
jksoft 0:9fcc79b3f00e 112 }
jksoft 0:9fcc79b3f00e 113 SetLed(bit);
jksoft 0:9fcc79b3f00e 114 }
jksoft 0:9fcc79b3f00e 115
jksoft 0:9fcc79b3f00e 116 void wallbotLED::SetLed2(int bit) {
jksoft 0:9fcc79b3f00e 117 if( bit )
jksoft 0:9fcc79b3f00e 118 {
jksoft 0:9fcc79b3f00e 119 bit = _statusled ^ 0x03;
jksoft 0:9fcc79b3f00e 120 bit = bit | 0x2;
jksoft 0:9fcc79b3f00e 121 }
jksoft 0:9fcc79b3f00e 122 else
jksoft 0:9fcc79b3f00e 123 {
jksoft 0:9fcc79b3f00e 124 bit = _statusled ^ 0x03;
jksoft 0:9fcc79b3f00e 125 bit = bit & 0x1;
jksoft 0:9fcc79b3f00e 126 }
jksoft 0:9fcc79b3f00e 127 SetLed(bit);
jksoft 0:9fcc79b3f00e 128 }
jksoft 0:9fcc79b3f00e 129
jksoft 0:9fcc79b3f00e 130 void wallbotLED::SetFloorSensorGain(int gain) {
jksoft 0:9fcc79b3f00e 131 _sensor_gain = gain;
jksoft 0:9fcc79b3f00e 132 }
jksoft 0:9fcc79b3f00e 133
jksoft 0:9fcc79b3f00e 134 void wallbotLED::FloorSensorCalibrate(void) {
jksoft 0:9fcc79b3f00e 135
jksoft 0:9fcc79b3f00e 136 for(int i = 0 ; i < 4 ; i++)
jksoft 0:9fcc79b3f00e 137 {
jksoft 0:9fcc79b3f00e 138 _sensor_def[i] = 0;
jksoft 0:9fcc79b3f00e 139 }
jksoft 0:9fcc79b3f00e 140
jksoft 0:9fcc79b3f00e 141 for(int j = 0 ; j < 12 ; j++)
jksoft 0:9fcc79b3f00e 142 {
jksoft 0:9fcc79b3f00e 143 int in[4] = { _f_sensor1.read_u16(),
jksoft 0:9fcc79b3f00e 144 _f_sensor2.read_u16(),
jksoft 0:9fcc79b3f00e 145 _f_sensor3.read_u16(),
jksoft 0:9fcc79b3f00e 146 _f_sensor4.read_u16()
jksoft 0:9fcc79b3f00e 147 };
jksoft 0:9fcc79b3f00e 148 SetLed(1<<(j%2));
jksoft 0:9fcc79b3f00e 149 for(int i = 0 ; i < 4 ; i++)
jksoft 0:9fcc79b3f00e 150 {
jksoft 0:9fcc79b3f00e 151 _sensor_def[i] += in[i];
jksoft 0:9fcc79b3f00e 152 }
jksoft 0:9fcc79b3f00e 153 wait_ms(200);
jksoft 0:9fcc79b3f00e 154 }
jksoft 0:9fcc79b3f00e 155 for(int i = 0 ; i < 4 ; i++)
jksoft 0:9fcc79b3f00e 156 {
jksoft 0:9fcc79b3f00e 157 _sensor_def[i] /= 12;
jksoft 0:9fcc79b3f00e 158 }
jksoft 0:9fcc79b3f00e 159 SetLed(0);
jksoft 0:9fcc79b3f00e 160 }
jksoft 0:9fcc79b3f00e 161
jksoft 0:9fcc79b3f00e 162 int wallbotLED::GetLinePosition(void) {
jksoft 0:9fcc79b3f00e 163 int in[4] = { _f_sensor1.read_u16(),
jksoft 0:9fcc79b3f00e 164 _f_sensor2.read_u16(),
jksoft 0:9fcc79b3f00e 165 _f_sensor3.read_u16(),
jksoft 0:9fcc79b3f00e 166 _f_sensor4.read_u16()
jksoft 0:9fcc79b3f00e 167 };
jksoft 0:9fcc79b3f00e 168 int stat = 0;
jksoft 0:9fcc79b3f00e 169
jksoft 0:9fcc79b3f00e 170 // printf("ad[0]:%05d ad[1]:%05d ad[2]:%05d ad[3]:%05d \n\r",in[0],in[1],in[2],in[3]);
jksoft 0:9fcc79b3f00e 171
jksoft 0:9fcc79b3f00e 172 for(int i = 0 ; i < 4 ; i++)
jksoft 0:9fcc79b3f00e 173 {
jksoft 0:9fcc79b3f00e 174 if( (in[i] > (_sensor_def[i] + _sensor_gain))
jksoft 0:9fcc79b3f00e 175 ||(in[i] < (_sensor_def[i] - _sensor_gain)) )
jksoft 0:9fcc79b3f00e 176 {
jksoft 0:9fcc79b3f00e 177 stat |= 1 << i;
jksoft 0:9fcc79b3f00e 178 }
jksoft 0:9fcc79b3f00e 179 }
jksoft 0:9fcc79b3f00e 180
jksoft 0:9fcc79b3f00e 181 return(stat);
jksoft 0:9fcc79b3f00e 182 }
jksoft 0:9fcc79b3f00e 183
jksoft 0:9fcc79b3f00e 184
jksoft 0:9fcc79b3f00e 185 int wallbotLED::GetSw(void) {
jksoft 0:9fcc79b3f00e 186 return(_sw ^ 0x3);
jksoft 0:9fcc79b3f00e 187 }
jksoft 0:9fcc79b3f00e 188
jksoft 0:9fcc79b3f00e 189 bool wallbotLED::GetSw1(void)
jksoft 0:9fcc79b3f00e 190 {
jksoft 0:9fcc79b3f00e 191 return(bool)(GetSw() & 0x01);
jksoft 0:9fcc79b3f00e 192 }
jksoft 0:9fcc79b3f00e 193
jksoft 0:9fcc79b3f00e 194 bool wallbotLED::GetSw2(void)
jksoft 0:9fcc79b3f00e 195 {
jksoft 0:9fcc79b3f00e 196 return(bool)(GetSw() & 0x02);
jksoft 0:9fcc79b3f00e 197 }
jksoft 0:9fcc79b3f00e 198
jksoft 0:9fcc79b3f00e 199 bool wallbotLED::GetFloorSensor1()
jksoft 0:9fcc79b3f00e 200 {
jksoft 0:9fcc79b3f00e 201 int in = _f_sensor1.read_u16();
jksoft 0:9fcc79b3f00e 202
jksoft 0:9fcc79b3f00e 203 if( (in > (_sensor_def[0] + _sensor_gain))
jksoft 0:9fcc79b3f00e 204 ||(in < (_sensor_def[0] - _sensor_gain)) )
jksoft 0:9fcc79b3f00e 205 {
jksoft 0:9fcc79b3f00e 206 return true;
jksoft 0:9fcc79b3f00e 207 }
jksoft 0:9fcc79b3f00e 208
jksoft 0:9fcc79b3f00e 209 return false;
jksoft 0:9fcc79b3f00e 210 }
jksoft 0:9fcc79b3f00e 211
jksoft 0:9fcc79b3f00e 212 bool wallbotLED::GetFloorSensor2()
jksoft 0:9fcc79b3f00e 213 {
jksoft 0:9fcc79b3f00e 214 int in = _f_sensor2.read_u16();
jksoft 0:9fcc79b3f00e 215
jksoft 0:9fcc79b3f00e 216 if( (in > (_sensor_def[1] + _sensor_gain))
jksoft 0:9fcc79b3f00e 217 ||(in < (_sensor_def[1] - _sensor_gain)) )
jksoft 0:9fcc79b3f00e 218 {
jksoft 0:9fcc79b3f00e 219 return true;
jksoft 0:9fcc79b3f00e 220 }
jksoft 0:9fcc79b3f00e 221
jksoft 0:9fcc79b3f00e 222 return false;
jksoft 0:9fcc79b3f00e 223 }
jksoft 0:9fcc79b3f00e 224
jksoft 0:9fcc79b3f00e 225 bool wallbotLED::GetFloorSensor3()
jksoft 0:9fcc79b3f00e 226 {
jksoft 0:9fcc79b3f00e 227 int in = _f_sensor3.read_u16();
jksoft 0:9fcc79b3f00e 228
jksoft 0:9fcc79b3f00e 229 if( (in > (_sensor_def[2] + _sensor_gain))
jksoft 0:9fcc79b3f00e 230 ||(in < (_sensor_def[2] - _sensor_gain)) )
jksoft 0:9fcc79b3f00e 231 {
jksoft 0:9fcc79b3f00e 232 return true;
jksoft 0:9fcc79b3f00e 233 }
jksoft 0:9fcc79b3f00e 234
jksoft 0:9fcc79b3f00e 235 return false;
jksoft 0:9fcc79b3f00e 236 }
jksoft 0:9fcc79b3f00e 237
jksoft 0:9fcc79b3f00e 238 bool wallbotLED::GetFloorSensor4()
jksoft 0:9fcc79b3f00e 239 {
jksoft 0:9fcc79b3f00e 240 int in = _f_sensor4.read_u16();
jksoft 0:9fcc79b3f00e 241
jksoft 0:9fcc79b3f00e 242 if( (in > (_sensor_def[3] + _sensor_gain))
jksoft 0:9fcc79b3f00e 243 ||(in < (_sensor_def[3] - _sensor_gain)) )
jksoft 0:9fcc79b3f00e 244 {
jksoft 0:9fcc79b3f00e 245 return true;
jksoft 0:9fcc79b3f00e 246 }
jksoft 0:9fcc79b3f00e 247
jksoft 0:9fcc79b3f00e 248 return false;
jksoft 0:9fcc79b3f00e 249 }
jksoft 0:9fcc79b3f00e 250
jksoft 0:9fcc79b3f00e 251 uint16_t wallbotLED::GetFloorSensorRaw1()
jksoft 0:9fcc79b3f00e 252 {
jksoft 0:9fcc79b3f00e 253 return _f_sensor1.read_u16();
jksoft 0:9fcc79b3f00e 254 }
jksoft 0:9fcc79b3f00e 255
jksoft 0:9fcc79b3f00e 256 uint16_t wallbotLED::GetFloorSensorRaw2()
jksoft 0:9fcc79b3f00e 257 {
jksoft 0:9fcc79b3f00e 258 return _f_sensor2.read_u16();
jksoft 0:9fcc79b3f00e 259 }
jksoft 0:9fcc79b3f00e 260
jksoft 0:9fcc79b3f00e 261 uint16_t wallbotLED::GetFloorSensorRaw3()
jksoft 0:9fcc79b3f00e 262 {
jksoft 0:9fcc79b3f00e 263 return _f_sensor3.read_u16();
jksoft 0:9fcc79b3f00e 264 }
jksoft 0:9fcc79b3f00e 265
jksoft 0:9fcc79b3f00e 266 uint16_t wallbotLED::GetFloorSensorRaw4()
jksoft 0:9fcc79b3f00e 267 {
jksoft 0:9fcc79b3f00e 268 return _f_sensor4.read_u16();
jksoft 0:9fcc79b3f00e 269 }
jksoft 0:9fcc79b3f00e 270
jksoft 0:9fcc79b3f00e 271 void wallbotLED::GetAcceleration(float *x,float *y,float *z)
jksoft 0:9fcc79b3f00e 272 {
jksoft 0:9fcc79b3f00e 273 int16_t _x,_y,_z;
jksoft 0:9fcc79b3f00e 274 _mpu.getAcceleration(&_x,&_y,&_z);
jksoft 0:9fcc79b3f00e 275
jksoft 0:9fcc79b3f00e 276 *x = (float)_x / 8192;
jksoft 0:9fcc79b3f00e 277 *y = (float)_y / 8192;
jksoft 0:9fcc79b3f00e 278 *z = (float)_z / 8192;
jksoft 0:9fcc79b3f00e 279 }
jksoft 0:9fcc79b3f00e 280
jksoft 0:9fcc79b3f00e 281 float wallbotLED::GetAccelerationX()
jksoft 0:9fcc79b3f00e 282 {
jksoft 0:9fcc79b3f00e 283 return (float)_mpu.getAccelerationX() / 8192;
jksoft 0:9fcc79b3f00e 284 }
jksoft 0:9fcc79b3f00e 285
jksoft 0:9fcc79b3f00e 286 float wallbotLED::GetAccelerationY()
jksoft 0:9fcc79b3f00e 287 {
jksoft 0:9fcc79b3f00e 288 return (float)_mpu.getAccelerationY() / 8192;
jksoft 0:9fcc79b3f00e 289 }
jksoft 0:9fcc79b3f00e 290
jksoft 0:9fcc79b3f00e 291 float wallbotLED::GetAccelerationZ()
jksoft 0:9fcc79b3f00e 292 {
jksoft 0:9fcc79b3f00e 293 return (float)_mpu.getAccelerationZ() / 8192;
jksoft 0:9fcc79b3f00e 294 }
jksoft 0:9fcc79b3f00e 295
jksoft 0:9fcc79b3f00e 296 void wallbotLED::GetGyro(float *x,float *y,float *z)
jksoft 0:9fcc79b3f00e 297 {
jksoft 0:9fcc79b3f00e 298 int16_t _x,_y,_z;
jksoft 0:9fcc79b3f00e 299 _mpu.getRotation(&_x,&_y,&_z);
jksoft 0:9fcc79b3f00e 300
jksoft 0:9fcc79b3f00e 301 *x = (float)_x / 131;
jksoft 0:9fcc79b3f00e 302 *y = (float)_y / 131;
jksoft 0:9fcc79b3f00e 303 *z = (float)_z / 131;
jksoft 0:9fcc79b3f00e 304 }
jksoft 0:9fcc79b3f00e 305
jksoft 0:9fcc79b3f00e 306 float wallbotLED::GetGyroX()
jksoft 0:9fcc79b3f00e 307 {
jksoft 0:9fcc79b3f00e 308 return (float)_mpu.getAccelerationX() / 131;
jksoft 0:9fcc79b3f00e 309 }
jksoft 0:9fcc79b3f00e 310
jksoft 0:9fcc79b3f00e 311 float wallbotLED::GetGyroY()
jksoft 0:9fcc79b3f00e 312 {
jksoft 0:9fcc79b3f00e 313 return (float)_mpu.getAccelerationY() / 131;
jksoft 0:9fcc79b3f00e 314 }
jksoft 0:9fcc79b3f00e 315
jksoft 0:9fcc79b3f00e 316 float wallbotLED::GetGyroZ()
jksoft 0:9fcc79b3f00e 317 {
jksoft 0:9fcc79b3f00e 318 return (float)_mpu.getAccelerationZ() / 131;
jksoft 0:9fcc79b3f00e 319 }
jksoft 0:9fcc79b3f00e 320
jksoft 0:9fcc79b3f00e 321 void wallbotLED::SetLedPanel(char data[][16])
jksoft 0:9fcc79b3f00e 322 {
jksoft 0:9fcc79b3f00e 323 for (int y = 0; y < 8; y++) {
jksoft 0:9fcc79b3f00e 324 for (int x = 0; x < 16; x++) {
jksoft 0:9fcc79b3f00e 325 if( data[x][y+8] == 1 )
jksoft 0:9fcc79b3f00e 326 {
jksoft 0:9fcc79b3f00e 327 _matrix1.drawPixel(x, y, LED_ON);
jksoft 0:9fcc79b3f00e 328 }
jksoft 0:9fcc79b3f00e 329 else
jksoft 0:9fcc79b3f00e 330 {
jksoft 0:9fcc79b3f00e 331 _matrix1.drawPixel(x, y, LED_OFF);
jksoft 0:9fcc79b3f00e 332 }
jksoft 0:9fcc79b3f00e 333 if( data[x][y] == 1 )
jksoft 0:9fcc79b3f00e 334 {
jksoft 0:9fcc79b3f00e 335 _matrix2.drawPixel(x, y, LED_ON);
jksoft 0:9fcc79b3f00e 336 }
jksoft 0:9fcc79b3f00e 337 else
jksoft 0:9fcc79b3f00e 338 {
jksoft 0:9fcc79b3f00e 339 _matrix2.drawPixel(x, y, LED_OFF);
jksoft 0:9fcc79b3f00e 340 }
jksoft 0:9fcc79b3f00e 341 }
jksoft 0:9fcc79b3f00e 342 }
jksoft 0:9fcc79b3f00e 343 _matrix1.writeDisplay();
jksoft 0:9fcc79b3f00e 344 _matrix2.writeDisplay();
jksoft 0:9fcc79b3f00e 345 }
jksoft 0:9fcc79b3f00e 346
jksoft 0:9fcc79b3f00e 347 void wallbotLED::SetLedPanel(int x, int y, int flag)
jksoft 0:9fcc79b3f00e 348 {
jksoft 0:9fcc79b3f00e 349 if(y < 8) {
jksoft 0:9fcc79b3f00e 350 _matrix1.drawPixel(x, y, flag);
jksoft 0:9fcc79b3f00e 351 _matrix1.writeDisplay();
jksoft 0:9fcc79b3f00e 352 }
jksoft 0:9fcc79b3f00e 353 else {
jksoft 0:9fcc79b3f00e 354 _matrix2.drawPixel(x, y-8, flag);
jksoft 0:9fcc79b3f00e 355 _matrix2.writeDisplay();
jksoft 0:9fcc79b3f00e 356 }
jksoft 0:9fcc79b3f00e 357 }
jksoft 0:9fcc79b3f00e 358