Robert Bui / Mbed 2 deprecated CubicHand

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Dependencies:   MMA8451Q Multi_WS2811 NVIC_set_all_priorities TSI cc3000_hostdriver_mbedsocket mbed

Fork of CubicHand by Model-Based Team

ledCube.cpp@24:554ea084eddf, 2014-12-11 (annotated)

Committer:
joseoyola
Date:
Thu Dec 11 04:23:31 2014 +0000
Revision:
24:554ea084eddf
Parent:
20:c2bc970bbff8
Child:
26:0933d7f2fe78
Child:
31:bf5f545621aa
Added LED code for 3D effect by lighting all panels with different brightness.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joseoyola 2:45b90e8d7d82 1 /*
joseoyola 16:a3de0c0dbe33 2 * Neopixel LED Cube library
joseoyola 5:41f28ce7f5a9 3 * by Robert Bui and Jose Oyola
joseoyola 2:45b90e8d7d82 4 * UC Berkeley 2014
joseoyola 2:45b90e8d7d82 5 */
joseoyola 2:45b90e8d7d82 6
joseoyola 2:45b90e8d7d82 7 #include "main.h"
joseoyola 2:45b90e8d7d82 8 #include "mbed.h"
joseoyola 5:41f28ce7f5a9 9 #include "WS2811.h"
joseoyola 5:41f28ce7f5a9 10 #include "Colors.h"
joseoyola 5:41f28ce7f5a9 11 #include "TSISensor.h"
joseoyola 5:41f28ce7f5a9 12 #include "MMA8451Q.h"
joseoyola 16:a3de0c0dbe33 13 #include "ledCube.h"
joseoyola 5:41f28ce7f5a9 14
joseoyola 5:41f28ce7f5a9 15
joseoyola 5:41f28ce7f5a9 16 #define MMA8451_I2C_ADDRESS (0x1d<<1)
joseoyola 5:41f28ce7f5a9 17
joseoyola 5:41f28ce7f5a9 18 #define PANEL1 0
joseoyola 5:41f28ce7f5a9 19 #define PANEL2 1
joseoyola 5:41f28ce7f5a9 20 #define PANEL3 2
joseoyola 20:c2bc970bbff8 21 #define nLEDs 200//MAX_LEDS_PER_STRIP;
joseoyola 16:a3de0c0dbe33 22 #define nROWs 10
joseoyola 16:a3de0c0dbe33 23 #define nCOLs 10
joseoyola 16:a3de0c0dbe33 24 #define DATA_OUT_PIN1 2 // PTD2
joseoyola 20:c2bc970bbff8 25 #define DATA_OUT_PIN2 3 // PTD3
joseoyola 5:41f28ce7f5a9 26
joseoyola 5:41f28ce7f5a9 27
joseoyola 20:c2bc970bbff8 28 LedCube::LedCube():X(0),Y(1),Z(2),ledStrip1(nLEDs, DATA_OUT_PIN1),ledStrip2(nLEDs, DATA_OUT_PIN2)
joseoyola 16:a3de0c0dbe33 29 {
joseoyola 16:a3de0c0dbe33 30 }
joseoyola 5:41f28ce7f5a9 31
joseoyola 16:a3de0c0dbe33 32 LedCube::~LedCube()
joseoyola 16:a3de0c0dbe33 33 {
joseoyola 16:a3de0c0dbe33 34 }
joseoyola 5:41f28ce7f5a9 35
joseoyola 16:a3de0c0dbe33 36 void LedCube::Init(int x, int y, int z)
joseoyola 16:a3de0c0dbe33 37 {
joseoyola 16:a3de0c0dbe33 38 size = 2;
joseoyola 16:a3de0c0dbe33 39 prevSize = size;
joseoyola 16:a3de0c0dbe33 40 pos[X] = prevPos[X] = x;
joseoyola 16:a3de0c0dbe33 41 pos[Y] = prevPos[Y] = y;
joseoyola 16:a3de0c0dbe33 42 pos[Z] = prevPos[Z] = z;
joseoyola 16:a3de0c0dbe33 43 r = 255*0.1;
joseoyola 16:a3de0c0dbe33 44 g = 255*0.1;
joseoyola 16:a3de0c0dbe33 45 b = 255*0.1;
joseoyola 5:41f28ce7f5a9 46
joseoyola 24:554ea084eddf 47 brightness = 0.5;
joseoyola 16:a3de0c0dbe33 48 saturation = 1.0;
joseoyola 16:a3de0c0dbe33 49
joseoyola 16:a3de0c0dbe33 50 ledStrip1.begin();
joseoyola 16:a3de0c0dbe33 51 ledStrip2.begin();
joseoyola 16:a3de0c0dbe33 52 }
joseoyola 5:41f28ce7f5a9 53
joseoyola 16:a3de0c0dbe33 54 int LedCube::getLedIndex(int panel, int x, int y) {
joseoyola 8:c06f5046c9f7 55 if (panel == PANEL1) {
joseoyola 8:c06f5046c9f7 56 if (y % 2 == 0) {
joseoyola 8:c06f5046c9f7 57 return nCOLs*2 * y + x;
joseoyola 8:c06f5046c9f7 58 }
joseoyola 8:c06f5046c9f7 59 else {
joseoyola 8:c06f5046c9f7 60 return nCOLs*2 * y + nCOLs + ((nCOLs - 1) - x);
joseoyola 8:c06f5046c9f7 61 }
joseoyola 5:41f28ce7f5a9 62 }
joseoyola 8:c06f5046c9f7 63
joseoyola 8:c06f5046c9f7 64 if (panel == PANEL2) {
joseoyola 8:c06f5046c9f7 65 if (y % 2 == 0) {
joseoyola 8:c06f5046c9f7 66 return nCOLs*2 * y + nCOLs + x;
joseoyola 8:c06f5046c9f7 67 }
joseoyola 8:c06f5046c9f7 68 else {
joseoyola 8:c06f5046c9f7 69 return nCOLs*2 * y + ((nCOLs - 1) - x);
joseoyola 8:c06f5046c9f7 70 }
joseoyola 5:41f28ce7f5a9 71 }
joseoyola 8:c06f5046c9f7 72
joseoyola 8:c06f5046c9f7 73 if (panel == PANEL3) {
joseoyola 8:c06f5046c9f7 74 if (y % 2 == 0) {
joseoyola 8:c06f5046c9f7 75 return nCOLs * y + x;
joseoyola 8:c06f5046c9f7 76 }
joseoyola 8:c06f5046c9f7 77 else {
joseoyola 8:c06f5046c9f7 78 return nCOLs * y + ((nCOLs - 1) - x);
joseoyola 8:c06f5046c9f7 79 }
joseoyola 8:c06f5046c9f7 80 }
joseoyola 8:c06f5046c9f7 81
joseoyola 8:c06f5046c9f7 82 else return -1;
joseoyola 5:41f28ce7f5a9 83 }
joseoyola 5:41f28ce7f5a9 84
joseoyola 16:a3de0c0dbe33 85 void LedCube::updateLEDs(bool on, int size, int x, int y, int z) {
joseoyola 10:9d87a886f066 86 //Panel 1
joseoyola 24:554ea084eddf 87 double bright;
joseoyola 24:554ea084eddf 88 bright = 1.0 / ((y + 1) * (y + 1));
joseoyola 24:554ea084eddf 89 printf("Panel 1 Brightness: %f\r\n", bright);
joseoyola 24:554ea084eddf 90 for(int i = x; i < x + size; i++) {
joseoyola 24:554ea084eddf 91 for(int j = z; j < z + size; j++) {
joseoyola 24:554ea084eddf 92 int led = getLedIndex(PANEL1, i, j);
joseoyola 24:554ea084eddf 93 if(on) {
joseoyola 24:554ea084eddf 94 ledStrip1.setPixelColor(led, r*bright, g*bright, b*bright);
joseoyola 24:554ea084eddf 95 } else {
joseoyola 24:554ea084eddf 96 ledStrip1.setPixelColor(led, 0, 0, 0);
joseoyola 24:554ea084eddf 97 }
joseoyola 24:554ea084eddf 98 }
joseoyola 24:554ea084eddf 99 }
joseoyola 24:554ea084eddf 100
joseoyola 24:554ea084eddf 101 //Panel 2
joseoyola 24:554ea084eddf 102 bright = 1.0 / (((nCOLs-1) - x - (size-1) + 1) * ((nCOLs-1) - x - (size-1) + 1));
joseoyola 24:554ea084eddf 103 printf("Panel 2 Brightness: %f\r\n", bright);
joseoyola 24:554ea084eddf 104 for(int i = y; i < y + size; i++) {
joseoyola 24:554ea084eddf 105 for(int j = z; j < z + size; j++) {
joseoyola 24:554ea084eddf 106 int led = getLedIndex(PANEL2, i, j);
joseoyola 24:554ea084eddf 107 if(on) {
joseoyola 24:554ea084eddf 108 ledStrip1.setPixelColor(led, r*bright, g*bright, b*bright);
joseoyola 24:554ea084eddf 109 } else {
joseoyola 24:554ea084eddf 110 ledStrip1.setPixelColor(led, 0, 0, 0);
joseoyola 24:554ea084eddf 111 }
joseoyola 24:554ea084eddf 112 }
joseoyola 24:554ea084eddf 113 }
joseoyola 24:554ea084eddf 114
joseoyola 24:554ea084eddf 115 //Panel 3
joseoyola 24:554ea084eddf 116 bright = 1.0 / (((nCOLs-1) - z - (size-1) + 1) * ((nCOLs-1) - z - (size-1) + 1));
joseoyola 24:554ea084eddf 117 printf("Panel 3 Brightness: %f\r\n", bright);
joseoyola 24:554ea084eddf 118 for(int i = x; i < x + size; i++) {
joseoyola 24:554ea084eddf 119 for(int j = y; j < y + size; j++) {
joseoyola 24:554ea084eddf 120 int led = getLedIndex(PANEL3, i, j);
joseoyola 24:554ea084eddf 121 if(on) {
joseoyola 24:554ea084eddf 122 ledStrip2.setPixelColor(led, r*bright, g*bright, b*bright);
joseoyola 24:554ea084eddf 123 } else {
joseoyola 24:554ea084eddf 124 ledStrip2.setPixelColor(led, 0, 0, 0);
joseoyola 24:554ea084eddf 125 }
joseoyola 24:554ea084eddf 126 }
joseoyola 24:554ea084eddf 127 }
joseoyola 24:554ea084eddf 128 }
joseoyola 24:554ea084eddf 129
joseoyola 24:554ea084eddf 130 void LedCube::updateLEDsOld(bool on, int size, int x, int y, int z) {
joseoyola 24:554ea084eddf 131 //Panel 1
joseoyola 16:a3de0c0dbe33 132 if(y == 0) {
joseoyola 16:a3de0c0dbe33 133 for(int i = x; i < x + size; i++) {
joseoyola 16:a3de0c0dbe33 134 for(int j = z; j < z + size; j++) {
joseoyola 10:9d87a886f066 135 int led = getLedIndex(PANEL1, i, j);
joseoyola 10:9d87a886f066 136 if(on) {
joseoyola 10:9d87a886f066 137 ledStrip1.setPixelColor(led, r, g, b);
joseoyola 10:9d87a886f066 138 } else {
joseoyola 10:9d87a886f066 139 ledStrip1.setPixelColor(led, 0, 0, 0);
joseoyola 10:9d87a886f066 140 }
joseoyola 10:9d87a886f066 141 }
joseoyola 10:9d87a886f066 142 }
joseoyola 10:9d87a886f066 143 }
joseoyola 10:9d87a886f066 144
joseoyola 10:9d87a886f066 145 //Panel 2
joseoyola 16:a3de0c0dbe33 146 if(x + size - 1 == (nCOLs - 1)) {
joseoyola 16:a3de0c0dbe33 147 for(int i = y; i < y + size; i++) {
joseoyola 16:a3de0c0dbe33 148 for(int j = z; j < z + size; j++) {
joseoyola 10:9d87a886f066 149 int led = getLedIndex(PANEL2, i, j);
joseoyola 10:9d87a886f066 150 if(on) {
joseoyola 20:c2bc970bbff8 151 ledStrip1.setPixelColor(led, r, g, b);
joseoyola 10:9d87a886f066 152 } else {
joseoyola 20:c2bc970bbff8 153 ledStrip1.setPixelColor(led, 0, 0, 0);
joseoyola 10:9d87a886f066 154 }
joseoyola 10:9d87a886f066 155 }
joseoyola 10:9d87a886f066 156 }
joseoyola 10:9d87a886f066 157 }
joseoyola 10:9d87a886f066 158
joseoyola 10:9d87a886f066 159 //Panel 3
joseoyola 16:a3de0c0dbe33 160 if(z + size - 1 == (nCOLs - 1)) {
joseoyola 16:a3de0c0dbe33 161 for(int i = x; i < x + size; i++) {
joseoyola 16:a3de0c0dbe33 162 for(int j = y; j < y + size; j++) {
joseoyola 10:9d87a886f066 163 int led = getLedIndex(PANEL3, i, j);
joseoyola 10:9d87a886f066 164 if(on) {
joseoyola 20:c2bc970bbff8 165 ledStrip2.setPixelColor(led, r, g, b);
joseoyola 10:9d87a886f066 166 } else {
joseoyola 20:c2bc970bbff8 167 ledStrip2.setPixelColor(led, 0, 0, 0);
joseoyola 10:9d87a886f066 168 }
joseoyola 10:9d87a886f066 169 }
joseoyola 10:9d87a886f066 170 }
joseoyola 10:9d87a886f066 171 }
joseoyola 10:9d87a886f066 172 }
joseoyola 10:9d87a886f066 173
joseoyola 10:9d87a886f066 174
joseoyola 16:a3de0c0dbe33 175 void LedCube::cubeUpdate() {
joseoyola 16:a3de0c0dbe33 176 updateLEDs(false, prevSize, prevPos[X], prevPos[Y], prevPos[Z]); //Turn off LEDs from previous state
joseoyola 16:a3de0c0dbe33 177 updateLEDs(true, size, pos[X], pos[Y], pos[Z]); //Turn on new LEDs for new state
joseoyola 16:a3de0c0dbe33 178 prevSize = size;
joseoyola 16:a3de0c0dbe33 179 prevPos[X] = pos[X];
joseoyola 16:a3de0c0dbe33 180 prevPos[Y] = pos[Y];
joseoyola 16:a3de0c0dbe33 181 prevPos[Z] = pos[Z];
joseoyola 16:a3de0c0dbe33 182 ledStrip1.show();
joseoyola 16:a3de0c0dbe33 183 ledStrip2.show();
joseoyola 16:a3de0c0dbe33 184 ledStrip1.startDMA();
joseoyola 16:a3de0c0dbe33 185 ledStrip2.startDMA();
joseoyola 16:a3de0c0dbe33 186 printf("Position: %d, %d, %d \t Size: %d\r\n", pos[X], pos[Y], pos[Z], size);
joseoyola 10:9d87a886f066 187 }
joseoyola 10:9d87a886f066 188
joseoyola 16:a3de0c0dbe33 189 int LedCube::move(int deltaX, int deltaY, int deltaZ) {
joseoyola 16:a3de0c0dbe33 190 int retVal = -1;
joseoyola 10:9d87a886f066 191 //Moving in X direction
joseoyola 16:a3de0c0dbe33 192 if(pos[Y] == 0 || pos[Z] + size - 1 == (nCOLs - 1)) { //Making sure square is "stuck" to panel 1 or 3
joseoyola 16:a3de0c0dbe33 193 if((pos[X] + size + deltaX - 1) < nCOLs && (pos[X] + deltaX) >= 0) {
joseoyola 10:9d87a886f066 194 pos[X] += deltaX;
joseoyola 16:a3de0c0dbe33 195 if (deltaX != 0) retVal = 1;
joseoyola 10:9d87a886f066 196 }
joseoyola 10:9d87a886f066 197 }
joseoyola 10:9d87a886f066 198
joseoyola 10:9d87a886f066 199 //Moving in Y direction
joseoyola 16:a3de0c0dbe33 200 if(pos[X] + size - 1 == (nCOLs - 1) || pos[Z] + size - 1 == (nCOLs - 1)) {//Making sure square is "stuck" to panel 2 or 3
joseoyola 16:a3de0c0dbe33 201 if((pos[Y] + size + deltaY - 1) < nCOLs && (pos[Y] + deltaY) >= 0) {
joseoyola 10:9d87a886f066 202 pos[Y] += deltaY;
joseoyola 16:a3de0c0dbe33 203 if (deltaY != 0) retVal = 1;
joseoyola 10:9d87a886f066 204 }
joseoyola 10:9d87a886f066 205 }
joseoyola 10:9d87a886f066 206
joseoyola 10:9d87a886f066 207 //Moving in Z direction
joseoyola 16:a3de0c0dbe33 208 if(pos[X] + size - 1 == (nCOLs - 1) || pos[Y] == 0) {//Making sure square is "stuck" to panel 1 or 2
joseoyola 16:a3de0c0dbe33 209 if((pos[Z] + size + deltaZ - 1) < nCOLs && (pos[Z] + deltaZ) >= 0) {
joseoyola 10:9d87a886f066 210 pos[Z] += deltaZ;
joseoyola 16:a3de0c0dbe33 211 if (deltaZ != 0) retVal = 1;
joseoyola 10:9d87a886f066 212 }
joseoyola 10:9d87a886f066 213 }
joseoyola 16:a3de0c0dbe33 214 return retVal;
joseoyola 16:a3de0c0dbe33 215 }
joseoyola 16:a3de0c0dbe33 216
joseoyola 16:a3de0c0dbe33 217 void LedCube::changeColor(float hue){
joseoyola 20:c2bc970bbff8 218 Colors::HSBtoRGB(hue, saturation, brightness, &r, &g, &b);
joseoyola 16:a3de0c0dbe33 219 }
joseoyola 16:a3de0c0dbe33 220
joseoyola 16:a3de0c0dbe33 221 void LedCube::changeSize(int newSize) {
joseoyola 16:a3de0c0dbe33 222 if((pos[X] + newSize) < nCOLs && (pos[Y] + newSize) < nCOLs && (pos[Z] + newSize) < nCOLs) {
joseoyola 16:a3de0c0dbe33 223 size = newSize;
joseoyola 16:a3de0c0dbe33 224 }
joseoyola 20:c2bc970bbff8 225 }