Revision 12:097b52548f0b, committed 2017-12-14

Comitter:

4180Team

Date:

Thu Dec 14 04:56:17 2017 +0000

Parent:

11:0309bef74ba8

Commit message:

Final 4180 Project

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motordriver.lib	Thu Dec 14 04:56:17 2017 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/littlexc/code/Motordriver/#3110b9209d3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/NeoStrip.lib	Thu Dec 14 04:56:17 2017 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/4180Team/code/NeoStrip/#bcd2cc14bd34

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gt.h	Thu Dec 14 04:56:17 2017 +0000
@@ -0,0 +1,12 @@
+/**** gt.h ****/
+
+const int gt_img[] = {
+	0x122446, 0xffff00, 0xffff00, 0xffff00, 0xffff00, 0x122446, 0x122446, 0x122446, 
+	0xffff00, 0xffff00, 0x122446, 0x122446, 0x122446, 0x122446, 0x122446, 0x122446, 
+	0xffff00, 0x122446, 0x122446, 0x122446, 0x122446, 0x122446, 0x122446, 0x122446, 
+	0xffff00, 0x122446, 0x122446, 0xffff00, 0xffff00, 0xffff00, 0xffff00, 0xffff00, 
+	0xffff00, 0xffff00, 0x122446, 0x122446, 0xffff00, 0x122446, 0xffff00, 0x122446, 
+	0x122446, 0xffff00, 0xffff00, 0xffff00, 0xffff00, 0x122446, 0xffff00, 0x122446, 
+	0x122446, 0x122446, 0x122446, 0x122446, 0x122446, 0x122446, 0xffff00, 0x122446, 
+	0x122446, 0x122446, 0x122446, 0x122446, 0x122446, 0x122446, 0xffff00, 0x122446};
+

--- a/main.cpp	Wed Feb 15 14:04:02 2017 -0600
+++ b/main.cpp	Thu Dec 14 04:56:17 2017 +0000
@@ -1,22 +1,222 @@
 #include "mbed.h"
 #include "rtos.h"
- 
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-Thread thread;
- 
-void led2_thread() {
+#include <stdint.h>
+#include "NeoStrip.h"
+#include "gt.h"
+#include <iomanip> // setprecision
+#include <sstream> // stringstream
+#include "motordriver.h"
+#define N 64
+#define PATTERNS 3
+
+RawSerial  pi(USBTX, USBRX);
+
+NeoStrip strip(p18, N);
+DigitalIn b1(p20); // brightness up
+DigitalIn b2(p19); // brightness down
+DigitalIn b3(p21); // next pattern
+
+Thread t1;
+Thread t2;
+Mutex ulcd_mutex;
+Motor A(p24, p23, p22, 1); // pwm, fwd, rev, can brake
+PwmOut led1(LED1); //indicates when mbed is ready
+PwmOut led2(LED2);
+PwmOut led4(LED4);
+AnalogIn photocell(p16);
+float volatile x = 0; //global variable to change motor speed
+bool test = false;
+int hueToRGB(float h);
+void pattern0();
+void pattern1();
+void pattern2();
+// array of function pointers to the various patterns
+void (*patterns[])(void) = {&pattern0, &pattern1, &pattern2};
+
+//
+void motor() {
+    while(true) {
+        led1 = 1;
+        if (test) {
+            x = .30;
+            A.speed(x);
+            Thread::wait(1200);
+            test = false;
+            A.speed(0);
+        }
+    }
+}
+double volatile bright = 0.05; 
+bool test2 = false;  
+float value = 0;
+void ambient() {
+    led2 = 1;
     while (true) {
-        led2 = !led2;
-        Thread::wait(1000);
+        if (test2) {
+            value = photocell;
+            if (value < .10) value = .10;
+            if (value > .3) value = .30;
+            bright = abs(value - .10 - .20);
+            if (bright > .25) bright = .25;
+            strip.setBrightness(bright);
+        }
+    } 
+}
+int pattern = 0;
+void dev_recv()
+{
+    char temp = 0;
+    while(pi.readable()) {
+        temp = pi.getc();
+        pi.putc(temp);
+        if (temp=='1') {
+            bright = .15;
+            strip.setBrightness(bright);
+        }
+        if (temp=='0' && bright > 0){
+            bright = 0;
+            strip.setBrightness(bright);
+        }
+        if (temp=='=') test = true; // run motor
+        if (temp=='a') test2 = true; // ambient mode on
+        if (temp=='m') test2 = false; // manual mode on
+        if (temp=='+') {
+            bright = bright + .083;
+            if (bright > .25) bright = .25;
+            strip.setBrightness(bright);    
+        }
+        if (temp=='-') {
+            bright = bright - .083;
+            if (bright < 0) bright = 0;
+            strip.setBrightness(bright);    
+        }
+        if (temp=='p') pattern = (pattern + 1) % 3;
     }
 }
- 
 int main() {
-    thread.start(led2_thread);
+    pi.baud(9600);
+    pi.attach(&dev_recv, Serial::RxIrq);
+    b1.mode(PullUp);
+    b2.mode(PullUp);
+    b3.mode(PullUp);
+    bool b3o = b3;      // old copy of button 3 to poll for changes
+    bright = .05;
+    strip.setBrightness(bright);    // set default brightness
+    t1.start(ambient);
+    t2.start(motor);
     
-    while (true) {
-        led1 = !led1;
-        Thread::wait(500);
+    while (1) {
+         //button 1 increases brightness
+        if (b1 && bright < .25)
+        {
+            bright += 0.005;
+            if (bright > .25)
+                bright = .25;
+            strip.setBrightness(bright);
+        }
+
+        // button 2 decreases brightness
+        if (b2 && bright > 0)
+        {
+            bright -= 0.005;
+            if (bright < 0)
+                bright = 0;
+            strip.setBrightness(bright);
+        }
+        
+        // button 3 changes the pattern, only do stuff when its state has changed
+        if (b3 != b3o)
+        {
+            if (b3 && ++pattern == PATTERNS)
+                pattern = 0;
+            b3o = b3;
+        }
+        // run the pattern update function which sets the strip's pixels
+        patterns[pattern]();
+        strip.write();
+        wait_ms(10);
     }
 }
+
+//// pattern0 displays a static image
+void pattern0()
+{
+    strip.setPixels(0, N, gt_img);
+}
+
+// display a shifting rainbow, all colors have maximum
+// saturation and value, with evenly spaced hue
+void pattern1()
+{
+    static float dh = 360.0 / N;
+    static float x = 0;
+    for (int i = 0; i < N; i++)
+        strip.setPixel(i, hueToRGB((dh * i) - x));
+    x += 1;
+    if (x > 360)
+        x = 0;
+}
+// display a shifting gradient between red and blue
+void pattern2()
+{
+    // offset for each pixel to allow the pattern to move
+    static float x = 0;
+    float r, b, y;
+    for (int i = 0; i < N; i++)
+    {
+        // y is a scaled position between 0 (red) and 1.0 (blue)
+        y = 1.0 * i / (N - 1) + x;
+        if (y > 1)
+            y -= 1;
+        // if on the left half, red is decreasing and blue is increasng
+        if (y < 0.5)
+        {
+            b = 2 * y;
+            r = 1 - b;
+        }
+        // else red is increasing and blue is decreasing
+        else
+        {
+            r = 2 * (y - 0.5);
+            b = 1 - r;
+        }
+        // scale to integers and set the pixel
+        strip.setPixel(i, (uint8_t)(r * 255), 0, (uint8_t)(b * 200));
+    }
+    x += 0.003;
+    if (x > 1)
+        x = 0;
+}
+
+// Converts HSV to RGB with the given hue, assuming
+// maximum saturation and value
+int hueToRGB(float h)
+{
+    // lots of floating point magic from the internet and scratching my head
+    float r, g, b;
+    if (h > 360)
+        h -= 360;
+    if (h < 0)
+        h += 360;
+    int i = (int)(h / 60.0);
+    float f = (h / 60.0) - i;
+    float q = 1 - f;
+    switch (i % 6)
+    {
+        case 0: r = 1; g = f; b = 0; break;
+        case 1: r = q; g = 1; b = 0; break;
+        case 2: r = 0; g = 1; b = f; break;
+        case 3: r = 0; g = q; b = 1; break;
+        case 4: r = f; g = 0; b = 1; break;
+        case 5: r = 1; g = 0; b = q; break;
+        default: r = 0; g = 0; b = 0; break;
+    }
+    // scale to integers and return the packed value
+    uint8_t R = (uint8_t)(r * 255);
+    uint8_t G = (uint8_t)(g * 255);
+    uint8_t B = (uint8_t)(b * 255);
+    return (R << 16) | (G << 8) | B;
+}
+// test code, this demonstrates working motor drivers. 
+// full reverse to full stop, dynamicaly brake and switch off.
+