Alvaro Cassinelli / Mbed 2 deprecated skinGames_forktest

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Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

simpleLaserRenderer.h@30:d8af03f01cd4, 2012-09-21 (annotated)

Committer:
mbedalvaro
Date:
Fri Sep 21 10:02:35 2012 +0000
Revision:
30:d8af03f01cd4
Parent:
25:74cb85b85fd2
Child:
31:5f039cbddee8
first commit. Not yet functional. Added ghost and pacman game modes, but the behaviour of these "rigid spots" is not implemented yet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 30:d8af03f01cd4 1 #ifndef simpleLaserSensingRenderer_h
mbedalvaro 30:d8af03f01cd4 2 #define simpleLaserSensingRenderer_h
mbedalvaro 30:d8af03f01cd4 3
mbedalvaro 30:d8af03f01cd4 4 #include "blobConfig.h"
mbedalvaro 30:d8af03f01cd4 5 // Include hardware interface for display and sensing:
mbedalvaro 30:d8af03f01cd4 6 #include "hardwareIO.h"
mbedalvaro 30:d8af03f01cd4 7
mbedalvaro 30:d8af03f01cd4 8 //extern DigitalOut myled3; // for tests...
mbedalvaro 30:d8af03f01cd4 9
mbedalvaro 30:d8af03f01cd4 10 #define debugDelayMirrors // this is to check visually the mirror delay (but it is also beautiful)
mbedalvaro 30:d8af03f01cd4 11
mbedalvaro 30:d8af03f01cd4 12 #define RED_BLANKING // note: RED blanking introduces problems because the Lock-in looses signal, but we can add more points to compensate when there
mbedalvaro 30:d8af03f01cd4 13 // are many blobs, see "DEFAULT_OVERLAP_POINTS" (but will slow down...)
mbedalvaro 30:d8af03f01cd4 14
mbedalvaro 30:d8af03f01cd4 15 #define RENDER_INTERVAL 0.00011 // good value in previous version (monaco) was 0.00011 // in seconds (Ticker)
mbedalvaro 30:d8af03f01cd4 16
mbedalvaro 30:d8af03f01cd4 17 #define WAIT_NORMAL 0 // good :0 // (minimum is 0) waiting time for setting mirror position MINUS waiting laser time (note that this total waiting time may be equal to 0 if we set a good sampling freq for the renderer, but
mbedalvaro 30:d8af03f01cd4 18 // and if the shape is regular so that this time does not change significatively - this is not the case for multiple blobs or highly deformed blobs).
mbedalvaro 30:d8af03f01cd4 19 #define WAIT_LASER 0 // (minimum is 0) waiting time for activating the laser (if there are color changes IN BETWEEN points). Maybe needed for the green laser
mbedalvaro 30:d8af03f01cd4 20 // WHEN THERE IS MORE THAN ONE SPOT:
mbedalvaro 30:d8af03f01cd4 21 #define WAIT_FIRST 12 // special waiting time for mirror positioning to first point on next blob BEFORE re-activating laser
mbedalvaro 30:d8af03f01cd4 22 #define WAIT_FIRST_LASER 0 // IMPORTANT waiting time for the activation of the RED laser and LOCK-IN (also waiting time for the mirrors)
mbedalvaro 30:d8af03f01cd4 23 #define WAIT_LAST 0 // special waiting time for last point
mbedalvaro 30:d8af03f01cd4 24
mbedalvaro 30:d8af03f01cd4 25 // Redundant drawing for avoiding deformed saccade (note: this could be active when there is more than one blob, instead of using a #define...)
mbedalvaro 30:d8af03f01cd4 26 #define DEFAULT_OVERLAP_POINTS 10
mbedalvaro 30:d8af03f01cd4 27
mbedalvaro 30:d8af03f01cd4 28 enum lsdStateType {NORMAL_POINT, LAST_POINT, MOVE_NEXT_BLOB, START_POINT};
mbedalvaro 30:d8af03f01cd4 29
mbedalvaro 30:d8af03f01cd4 30 class simpleLaserSensingRenderer {
mbedalvaro 30:d8af03f01cd4 31 public:
mbedalvaro 30:d8af03f01cd4 32
mbedalvaro 30:d8af03f01cd4 33 void setConfigToRender(blobConfig*);
mbedalvaro 30:d8af03f01cd4 34 //void startRenderer(); // pb: I cannot use the ticker function inside the class!
mbedalvaro 30:d8af03f01cd4 35 void laserRenderThread();
mbedalvaro 30:d8af03f01cd4 36 void laserRenderThreadONEBLOBONLY();
mbedalvaro 30:d8af03f01cd4 37 // void laserRender(blobConfig*);
mbedalvaro 30:d8af03f01cd4 38
mbedalvaro 30:d8af03f01cd4 39 blobConfig* ptBlobCfToRender;
mbedalvaro 30:d8af03f01cd4 40
mbedalvaro 30:d8af03f01cd4 41 lsdStateType stateLsd;
mbedalvaro 30:d8af03f01cd4 42 int totalBlobs;
mbedalvaro 30:d8af03f01cd4 43 int currentBlob;
mbedalvaro 30:d8af03f01cd4 44 int currentPoint;
mbedalvaro 30:d8af03f01cd4 45 int currentMirrorDelay;
mbedalvaro 30:d8af03f01cd4 46 int currentTotalPoints;
mbedalvaro 30:d8af03f01cd4 47 int currentColor;
mbedalvaro 30:d8af03f01cd4 48 unsigned short x,y; // auxiliary variables storing mirror position(0-4096)
mbedalvaro 30:d8af03f01cd4 49
mbedalvaro 30:d8af03f01cd4 50 // New method to check complete display of one loop:
mbedalvaro 30:d8af03f01cd4 51 unsigned char configTotalPoints;
mbedalvaro 30:d8af03f01cd4 52 unsigned char pointDisplayCounter;
mbedalvaro 30:d8af03f01cd4 53 unsigned char numOverlapPoints;
mbedalvaro 30:d8af03f01cd4 54 bool endedFullDisplay();
mbedalvaro 30:d8af03f01cd4 55 void startFullDisplay();
mbedalvaro 30:d8af03f01cd4 56
mbedalvaro 30:d8af03f01cd4 57 int waitNormal, waitLaser, waitFirst, waitFirstLaser, waitLast;
mbedalvaro 30:d8af03f01cd4 58 };
mbedalvaro 30:d8af03f01cd4 59
mbedalvaro 30:d8af03f01cd4 60 #endif
mbedalvaro 30:d8af03f01cd4 61
mbedalvaro 30:d8af03f01cd4 62
mbedalvaro 30:d8af03f01cd4 63