Shuhei Tsuchida
/
dotstar_old_style_6volleyball
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Dependencies: RotationMat_ SDFileSystem math mbed trigonometric_fanc
Diff: main.cpp
- Revision:
- 2:b09caaa3de96
- Parent:
- 1:64ca0218709d
--- a/main.cpp Wed Feb 03 11:07:45 2016 +0000
+++ b/main.cpp Mon Feb 08 11:20:19 2016 +0000
@@ -2,17 +2,81 @@
#include "mbed.h"
#include "SDFileSystem.h"
#include "Adafruit_DotStar.h"
-#include "LedData.h"
#include "Vector3D.h"
#include "RotationMat.h"
-#include <math.h>
+//#include "trigonometric_fanc.h"
+#include "mymath.h"
+
+const float v_leds[6][9][22][3]={{{{0.585398, 0.636783, 0.501813},{0.519512, 0.691586, 0.501813},{0.448526, 0.7396, 0.501813},{0.373138, 0.780354, 0.501813},{0.294086, 0.813448, 0.501813},{0.212148, 0.838557, 0.501813},{0.128128, 0.855434, 0.501813},{0.0428495, 0.863914, 0.501813},{-0.0428495, 0.863914, 0.501813},{-0.128128, 0.855434, 0.501813},{-0.212148, 0.838557, 0.501813},{-0.294086, 0.813448, 0.501813},{-0.373138, 0.780354, 0.501813},{-0.448526, 0.7396, 0.501813},{-0.519512, 0.691586, 0.501813},{-0.585398, 0.636783, 0.501813},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}},
+{{-0.684874, 0.619184, 0.384134},{-0.624509, 0.680021, 0.384134},{-0.558764, 0.735, 0.384134},{-0.488203, 0.783644, 0.384134},{-0.413436, 0.825537, 0.384134},{-0.335106, 0.860317, 0.384134},{-0.25389, 0.887683, 0.384134},{-0.170485, 0.907401, 0.384134},{-0.0856113, 0.9193, 0.384134},{0, 0.923277, 0.384134},{0.0856113, 0.9193, 0.384134},{0.170485, 0.907401, 0.384134},{0.253889, 0.887683, 0.384134},{0.335106, 0.860317, 0.384134},{0.413436, 0.825537, 0.384134},{0.488203, 0.783645, 0.384134},{0.558763, 0.735, 0.384134},{0.624509, 0.680021, 0.384134},{0.684874, 0.619184, 0.384134},{0,0,0},{0,0,0},{0,0,0}},
+{{0.721281, 0.64206, 0.25983},{0.661511, 0.703485, 0.25983},{0.59653, 0.759368, 0.25983},{0.52685, 0.80927, 0.25983},{0.453019, 0.852796, 0.25983},{0.375621, 0.889605, 0.25983},{0.295263, 0.919406, 0.25983},{0.212579, 0.941965, 0.25983},{0.128221, 0.957104, 0.25983},{0.0428528, 0.964703, 0.25983},{-0.0428529, 0.964703, 0.25983},{-0.128221, 0.957104, 0.25983},{-0.212579, 0.941965, 0.25983},{-0.295263, 0.919406, 0.25983},{-0.375621, 0.889605, 0.25983},{-0.453019, 0.852796, 0.25983},{-0.52685, 0.80927, 0.25983},{-0.59653, 0.759368, 0.25983},{-0.661511, 0.703485, 0.25983},{-0.721281, 0.64206, 0.25983},{0,0,0},{0,0,0}},
+{{-0.781503, 0.609984, 0.131045},{-0.725896, 0.675205, 0.131045},{-0.664864, 0.735379, 0.131045},{-0.598863, 0.790057, 0.131045},{-0.528386, 0.83883, 0.131045},{-0.45396, 0.881333, 0.131045},{-0.37614, 0.917249, 0.131045},{-0.295509, 0.946309, 0.131045},{-0.21267, 0.968297, 0.131045},{-0.128241, 0.983047, 0.131045},{-0.0428538, 0.99045, 0.131045},{0.0428539, 0.99045, 0.131045},{0.128241, 0.983047, 0.131045},{0.21267, 0.968297, 0.131045},{0.29551, 0.946309, 0.131045},{0.37614, 0.917249, 0.131045},{0.45396, 0.881333, 0.131045},{0.528386, 0.83883, 0.131045},{0.598863, 0.790057, 0.131045},{0.664864, 0.735379, 0.131045},{0.725896, 0.675205, 0.131045},{0.781503, 0.609984, 0.131045}},
+{{0.783455, 0.621449, 0},{0.727363, 0.686253, 0},{0.665929, 0.746015, 0},{0.599602, 0.800298, 0},{0.528871, 0.848702, 0},{0.454256, 0.890871, 0},{0.376303, 0.926497, 0},{0.295586, 0.955316, 0},{0.212697, 0.977118, 0},{0.128247, 0.991742, 0},{0.0428538, 0.999081, 0},{-0.0428538, 0.999081, 0},{-0.128247, 0.991742, 0},{-0.212697, 0.977118, 0},{-0.295586, 0.955316, 0},{-0.376303, 0.926497, 0},{-0.454256, 0.890871, 0},{-0.528872, 0.848702, 0},{-0.599602, 0.800298, 0},{-0.665929, 0.746015, 0},{-0.727363, 0.686253, 0},{-0.783455, 0.621449, 0}},
+{{-0.781503, 0.609984, -0.131045},{-0.725896, 0.675205, -0.131045},{-0.664864, 0.735379, -0.131045},{-0.598863, 0.790057, -0.131045},{-0.528386, 0.83883, -0.131045},{-0.45396, 0.881333, -0.131045},{-0.37614, 0.917249, -0.131045},{-0.295509, 0.946309, -0.131045},{-0.21267, 0.968297, -0.131045},{-0.128241, 0.983047, -0.131045},{-0.0428538, 0.99045, -0.131045},{0.0428539, 0.99045, -0.131045},{0.128241, 0.983047, -0.131045},{0.21267, 0.968297, -0.131045},{0.29551, 0.946309, -0.131045},{0.37614, 0.917249, -0.131045},{0.45396, 0.881333, -0.131045},{0.528386, 0.83883, -0.131045},{0.598863, 0.790057, -0.131045},{0.664864, 0.735379, -0.131045},{0.725896, 0.675205, -0.131045},{0.781503, 0.609984, -0.131045}},
+{{0.721281, 0.64206, -0.25983},{0.661511, 0.703485, -0.25983},{0.59653, 0.759368, -0.25983},{0.52685, 0.80927, -0.25983},{0.453019, 0.852796, -0.25983},{0.375621, 0.889605, -0.25983},{0.295263, 0.919406, -0.25983},{0.212579, 0.941965, -0.25983},{0.128221, 0.957104, -0.25983},{0.0428528, 0.964703, -0.25983},{-0.0428529, 0.964703, -0.25983},{-0.128221, 0.957104, -0.25983},{-0.212579, 0.941965, -0.25983},{-0.295263, 0.919406, -0.25983},{-0.375621, 0.889605, -0.25983},{-0.453019, 0.852796, -0.25983},{-0.52685, 0.80927, -0.25983},{-0.59653, 0.759368, -0.25983},{-0.661511, 0.703485, -0.25983},{-0.721281, 0.64206, -0.25983},{0,0,0},{0,0,0}},
+{{-0.684874, 0.619184, -0.384134},{-0.624509, 0.680021, -0.384134},{-0.558764, 0.735, -0.384134},{-0.488203, 0.783644, -0.384134},{-0.413436, 0.825537, -0.384134},{-0.335106, 0.860317, -0.384134},{-0.25389, 0.887683, -0.384134},{-0.170485, 0.907401, -0.384134},{-0.0856113, 0.9193, -0.384134},{0, 0.923277, -0.384134},{0.0856113, 0.9193, -0.384134},{0.170485, 0.907401, -0.384134},{0.253889, 0.887683, -0.384134},{0.335106, 0.860317, -0.384134},{0.413436, 0.825537, -0.384134},{0.488203, 0.783645, -0.384134},{0.558763, 0.735, -0.384134},{0.624509, 0.680021, -0.384134},{0.684874, 0.619184, -0.384134},{0,0,0},{0,0,0},{0,0,0}},
+{{0.585398, 0.636783, -0.501813},{0.519512, 0.691586, -0.501813},{0.448526, 0.7396, -0.501813},{0.373138, 0.780354, -0.501813},{0.294086, 0.813448, -0.501813},{0.212148, 0.838557, -0.501813},{0.128128, 0.855434, -0.501813},{0.0428495, 0.863914, -0.501813},{-0.0428495, 0.863914, -0.501813},{-0.128128, 0.855434, -0.501813},{-0.212148, 0.838557, -0.501813},{-0.294086, 0.813448, -0.501813},{-0.373138, 0.780354, -0.501813},{-0.448526, 0.7396, -0.501813},{-0.519512, 0.691586, -0.501813},{-0.585398, 0.636783, -0.501813},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}}
+},{{{0.501813, 0.585398, 0.636783},{0.501813, 0.519512, 0.691586},{0.501813, 0.448526, 0.7396},{0.501813, 0.373138, 0.780354},{0.501813, 0.294086, 0.813448},{0.501813, 0.212148, 0.838557},{0.501813, 0.128128, 0.855434},{0.501813, 0.0428495, 0.863914},{0.501813, -0.0428495, 0.863914},{0.501813, -0.128128, 0.855434},{0.501813, -0.212148, 0.838557},{0.501813, -0.294086, 0.813448},{0.501813, -0.373138, 0.780354},{0.501813, -0.448526, 0.7396},{0.501813, -0.519512, 0.691586},{0.501813, -0.585398, 0.636783},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}},
+{{0.384134, -0.684874, 0.619184},{0.384134, -0.624509, 0.680021},{0.384134, -0.558763, 0.735},{0.384134, -0.488203, 0.783645},{0.384134, -0.413436, 0.825537},{0.384134, -0.335106, 0.860317},{0.384134, -0.253889, 0.887683},{0.384134, -0.170485, 0.907401},{0.384134, -0.0856113, 0.919299},{0.384134, 1.6791e-08, 0.923277},{0.384134, 0.0856113, 0.919299},{0.384134, 0.170485, 0.907401},{0.384134, 0.253889, 0.887683},{0.384134, 0.335106, 0.860317},{0.384134, 0.413436, 0.825537},{0.384134, 0.488203, 0.783645},{0.384134, 0.558763, 0.735},{0.384134, 0.624509, 0.680021},{0.384134, 0.684874, 0.619184},{0,0,0},{0,0,0},{0,0,0}},
+{{0.25983, 0.721281, 0.64206},{0.25983, 0.661511, 0.703485},{0.25983, 0.59653, 0.759368},{0.25983, 0.52685, 0.80927},{0.25983, 0.453019, 0.852796},{0.25983, 0.375621, 0.889605},{0.25983, 0.295263, 0.919406},{0.25983, 0.212579, 0.941965},{0.25983, 0.128221, 0.957104},{0.25983, 0.0428529, 0.964703},{0.25983, -0.0428529, 0.964703},{0.25983, -0.128221, 0.957104},{0.25983, -0.212579, 0.941965},{0.259831, -0.295263, 0.919406},{0.25983, -0.375621, 0.889605},{0.259831, -0.453019, 0.852796},{0.259831, -0.52685, 0.80927},{0.25983, -0.59653, 0.759368},{0.25983, -0.661511, 0.703485},{0.25983, -0.721281, 0.64206},{0,0,0},{0,0,0}},
+{{0.131045, -0.781502, 0.609984},{0.131045, -0.725896, 0.675205},{0.131045, -0.664864, 0.735379},{0.131045, -0.598863, 0.790057},{0.131045, -0.528386, 0.83883},{0.131045, -0.45396, 0.881333},{0.131045, -0.37614, 0.917249},{0.131045, -0.295509, 0.946309},{0.131045, -0.21267, 0.968297},{0.131045, -0.128241, 0.983047},{0.131045, -0.0428538, 0.99045},{0.131045, 0.0428539, 0.99045},{0.131045, 0.128241, 0.983047},{0.131045, 0.21267, 0.968297},{0.131045, 0.29551, 0.946309},{0.131045, 0.37614, 0.917249},{0.131045, 0.45396, 0.881333},{0.131045, 0.528386, 0.83883},{0.131045, 0.598863, 0.790057},{0.131045, 0.664864, 0.735379},{0.131045, 0.725896, 0.675205},{0.131045, 0.781503, 0.609984}},
+{{-7.08151e-09, 0.783455, 0.621449},{-1.797e-09, 0.727363, 0.686253},{3.5007e-09, 0.665929, 0.746015},{8.77269e-09, 0.599602, 0.800298},{1.39802e-08, 0.528871, 0.848702},{1.90851e-08, 0.454256, 0.890871},{2.40497e-08, 0.376303, 0.926497},{2.88377e-08, 0.295586, 0.955316},{3.34139e-08, 0.212697, 0.977118},{3.77446e-08, 0.128247, 0.991742},{4.1798e-08, 0.0428538, 0.999081},{4.55444e-08, -0.0428538, 0.999081},{4.89563e-08, -0.128247, 0.991742},{5.20085e-08, -0.212697, 0.977118},{5.46787e-08, -0.295586, 0.955316},{5.69472e-08, -0.376303, 0.926497},{5.87974e-08, -0.454256, 0.890871},{6.02157e-08, -0.528872, 0.848702},{6.11916e-08, -0.599602, 0.800298},{6.1718e-08, -0.665929, 0.746015},{6.17911e-08, -0.727363, 0.686253},{6.14103e-08, -0.783455, 0.621449}},
+{{-0.131045, -0.781502, 0.609984},{-0.131045, -0.725896, 0.675205},{-0.131045, -0.664864, 0.735379},{-0.131045, -0.598863, 0.790057},{-0.131045, -0.528386, 0.83883},{-0.131045, -0.45396, 0.881333},{-0.131045, -0.37614, 0.917249},{-0.131045, -0.295509, 0.946309},{-0.131045, -0.21267, 0.968297},{-0.131045, -0.128241, 0.983047},{-0.131045, -0.0428538, 0.99045},{-0.131045, 0.0428539, 0.99045},{-0.131045, 0.128241, 0.983047},{-0.131045, 0.21267, 0.968297},{-0.131045, 0.29551, 0.946309},{-0.131045, 0.37614, 0.917249},{-0.131045, 0.45396, 0.881333},{-0.131045, 0.528386, 0.83883},{-0.131045, 0.598863, 0.790057},{-0.131045, 0.664864, 0.735379},{-0.131045, 0.725896, 0.675205},{-0.131045, 0.781503, 0.609984}},
+{{-0.25983, 0.721281, 0.64206},{-0.25983, 0.661511, 0.703485},{-0.25983, 0.59653, 0.759368},{-0.25983, 0.52685, 0.80927},{-0.25983, 0.453019, 0.852796},{-0.25983, 0.375621, 0.889605},{-0.25983, 0.295263, 0.919406},{-0.25983, 0.212579, 0.941965},{-0.25983, 0.128221, 0.957104},{-0.25983, 0.0428528, 0.964703},{-0.25983, -0.0428529, 0.964703},{-0.25983, -0.128221, 0.957104},{-0.25983, -0.212579, 0.941965},{-0.25983, -0.295263, 0.919406},{-0.25983, -0.375621, 0.889605},{-0.25983, -0.453019, 0.852796},{-0.25983, -0.52685, 0.80927},{-0.25983, -0.59653, 0.759368},{-0.25983, -0.661511, 0.703485},{-0.25983, -0.721281, 0.64206},{0,0,0},{0,0,0}},
+{{-0.384134, -0.684874, 0.619184},{-0.384134, -0.624509, 0.680021},{-0.384134, -0.558763, 0.735},{-0.384134, -0.488203, 0.783645},{-0.384134, -0.413436, 0.825537},{-0.384134, -0.335106, 0.860317},{-0.384134, -0.25389, 0.887683},{-0.384134, -0.170485, 0.907401},{-0.384134, -0.0856113, 0.9193},{-0.384134, -1.6791e-08, 0.923277},{-0.384134, 0.0856113, 0.9193},{-0.384134, 0.170485, 0.907401},{-0.384134, 0.253889, 0.887683},{-0.384134, 0.335106, 0.860317},{-0.384134, 0.413436, 0.825537},{-0.384134, 0.488203, 0.783645},{-0.384134, 0.558763, 0.735},{-0.384134, 0.624509, 0.680021},{-0.384134, 0.684874, 0.619184},{0,0,0},{0,0,0},{0,0,0}},
+{{-0.501813, 0.585398, 0.636783},{-0.501813, 0.519512, 0.691586},{-0.501813, 0.448526, 0.7396},{-0.501813, 0.373138, 0.780354},{-0.501813, 0.294086, 0.813448},{-0.501813, 0.212148, 0.838557},{-0.501813, 0.128128, 0.855434},{-0.501813, 0.0428494, 0.863914},{-0.501813, -0.0428495, 0.863914},{-0.501813, -0.128128, 0.855434},{-0.501813, -0.212148, 0.838557},{-0.501813, -0.294087, 0.813448},{-0.501813, -0.373138, 0.780354},{-0.501813, -0.448526, 0.7396},{-0.501813, -0.519512, 0.691586},{-0.501813, -0.585398, 0.636784},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}}
+},{{{-0.501813, 0.585398, -0.636783},{-0.501813, 0.519512, -0.691586},{-0.501813, 0.448526, -0.7396},{-0.501813, 0.373138, -0.780354},{-0.501813, 0.294086, -0.813448},{-0.501813, 0.212148, -0.838557},{-0.501813, 0.128128, -0.855434},{-0.501813, 0.0428494, -0.863914},{-0.501813, -0.0428495, -0.863914},{-0.501813, -0.128128, -0.855434},{-0.501813, -0.212148, -0.838557},{-0.501813, -0.294087, -0.813448},{-0.501813, -0.373138, -0.780354},{-0.501813, -0.448526, -0.7396},{-0.501813, -0.519512, -0.691586},{-0.501813, -0.585398, -0.636784},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}},
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+{{0.621449, 3.42459e-08, 0.783455},{0.686253, 3.17941e-08, 0.727363},{0.746015, 2.91087e-08, 0.665929},{0.800298, 2.62095e-08, 0.599602},{0.848702, 2.31177e-08, 0.528872},{0.890871, 1.98561e-08, 0.454256},{0.926497, 1.64487e-08, 0.376303},{0.955316, 1.29205e-08, 0.295586},{0.977118, 9.2973e-09, 0.212697},{0.991742, 5.60584e-09, 0.128247},{0.999081, 1.8732e-09, 0.0428539},{0.999081, -1.8732e-09, -0.0428538},{0.991742, -5.60584e-09, -0.128247},{0.977118, -9.2973e-09, -0.212697},{0.955316, -1.29205e-08, -0.295586},{0.926497, -1.64487e-08, -0.376303},{0.890871, -1.98561e-08, -0.454256},{0.848702, -2.31177e-08, -0.528872},{0.800298, -2.62095e-08, -0.599602},{0.746015, -2.91087e-08, -0.665929},{0.686253, -3.17941e-08, -0.727363},{0.621449, -3.42459e-08, -0.783455}},
+{{0.609984, -0.131045, -0.781502},{0.675205, -0.131045, -0.725896},{0.735379, -0.131045, -0.664864},{0.790057, -0.131045, -0.598863},{0.83883, -0.131045, -0.528386},{0.881333, -0.131045, -0.45396},{0.917249, -0.131045, -0.37614},{0.946309, -0.131045, -0.295509},{0.968297, -0.131045, -0.21267},{0.983047, -0.131045, -0.128241},{0.99045, -0.131045, -0.0428538},{0.99045, -0.131045, 0.042854},{0.983047, -0.131045, 0.128241},{0.968297, -0.131045, 0.21267},{0.946309, -0.131045, 0.29551},{0.917249, -0.131045, 0.37614},{0.881333, -0.131045, 0.45396},{0.83883, -0.131045, 0.528386},{0.790057, -0.131045, 0.598863},{0.735379, -0.131045, 0.664864},{0.675205, -0.131045, 0.725896},{0.609984, -0.131045, 0.781503}},
+{{0.64206, -0.25983, 0.721281},{0.703485, -0.25983, 0.661511},{0.759368, -0.25983, 0.59653},{0.80927, -0.25983, 0.52685},{0.852796, -0.25983, 0.453019},{0.889605, -0.25983, 0.375621},{0.919406, -0.25983, 0.295263},{0.941965, -0.25983, 0.212579},{0.957104, -0.25983, 0.128221},{0.964703, -0.25983, 0.0428529},{0.964703, -0.25983, -0.0428528},{0.957104, -0.25983, -0.128221},{0.941965, -0.25983, -0.212579},{0.919406, -0.25983, -0.295263},{0.889605, -0.25983, -0.375621},{0.852796, -0.25983, -0.453019},{0.80927, -0.25983, -0.52685},{0.759368, -0.25983, -0.59653},{0.703485, -0.25983, -0.661511},{0.64206, -0.25983, -0.721281},{0,0,0},{0,0,0}},
+{{0.619184, -0.384134, -0.684874},{0.680021, -0.384134, -0.624509},{0.735, -0.384134, -0.558763},{0.783645, -0.384134, -0.488203},{0.825537, -0.384134, -0.413436},{0.860317, -0.384134, -0.335106},{0.887683, -0.384134, -0.253889},{0.907401, -0.384134, -0.170485},{0.919299, -0.384134, -0.0856113},{0.923277, -0.384134, 5.71488e-08},{0.9193, -0.384134, 0.0856114},{0.907401, -0.384134, 0.170485},{0.887683, -0.384134, 0.25389},{0.860317, -0.384134, 0.335106},{0.825537, -0.384134, 0.413436},{0.783645, -0.384134, 0.488203},{0.735, -0.384134, 0.558763},{0.680021, -0.384134, 0.624509},{0.619184, -0.384134, 0.684874},{0,0,0},{0,0,0},{0,0,0}},
+{{0.636783, -0.501813, 0.585398},{0.691586, -0.501813, 0.519512},{0.7396, -0.501813, 0.448526},{0.780354, -0.501813, 0.373138},{0.813448, -0.501813, 0.294087},{0.838557, -0.501813, 0.212148},{0.855434, -0.501813, 0.128128},{0.863914, -0.501813, 0.0428495},{0.863914, -0.501813, -0.0428495},{0.855434, -0.501813, -0.128128},{0.838557, -0.501813, -0.212148},{0.813448, -0.501813, -0.294086},{0.780354, -0.501813, -0.373138},{0.7396, -0.501813, -0.448526},{0.691586, -0.501813, -0.519512},{0.636784, -0.501813, -0.585398},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}}
+},{{{0.585398, -0.636783, -0.501813},{0.519512, -0.691586, -0.501813},{0.448526, -0.7396, -0.501813},{0.373138, -0.780354, -0.501813},{0.294086, -0.813448, -0.501813},{0.212148, -0.838557, -0.501813},{0.128128, -0.855434, -0.501813},{0.0428495, -0.863914, -0.501813},{-0.0428495, -0.863914, -0.501813},{-0.128128, -0.855434, -0.501813},{-0.212148, -0.838557, -0.501813},{-0.294086, -0.813448, -0.501813},{-0.373138, -0.780354, -0.501813},{-0.448526, -0.7396, -0.501813},{-0.519512, -0.691586, -0.501813},{-0.585398, -0.636783, -0.501813},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}},
+{{-0.684874, -0.619184, -0.384134},{-0.624509, -0.680021, -0.384134},{-0.558763, -0.734999, -0.384134},{-0.488203, -0.783644, -0.384134},{-0.413436, -0.825537, -0.384134},{-0.335106, -0.860317, -0.384134},{-0.253889, -0.887683, -0.384134},{-0.170485, -0.907401, -0.384134},{-0.0856113, -0.919299, -0.384134},{0, -0.923277, -0.384134},{0.0856113, -0.919299, -0.384134},{0.170485, -0.907401, -0.384134},{0.253889, -0.887683, -0.384134},{0.335106, -0.860317, -0.384134},{0.413436, -0.825537, -0.384134},{0.488203, -0.783644, -0.384134},{0.558763, -0.735, -0.384134},{0.624509, -0.680021, -0.384134},{0.684874, -0.619184, -0.384134},{0,0,0},{0,0,0},{0,0,0}},
+{{0.721281, -0.64206, -0.25983},{0.661511, -0.703485, -0.25983},{0.59653, -0.759368, -0.25983},{0.52685, -0.80927, -0.25983},{0.453019, -0.852796, -0.25983},{0.375621, -0.889605, -0.25983},{0.295263, -0.919406, -0.25983},{0.212579, -0.941965, -0.25983},{0.128221, -0.957104, -0.25983},{0.0428528, -0.964703, -0.259831},{-0.0428529, -0.964703, -0.259831},{-0.128221, -0.957104, -0.259831},{-0.212579, -0.941965, -0.25983},{-0.295263, -0.919406, -0.25983},{-0.375621, -0.889605, -0.25983},{-0.453019, -0.852796, -0.25983},{-0.52685, -0.80927, -0.25983},{-0.59653, -0.759368, -0.25983},{-0.661511, -0.703485, -0.25983},{-0.721281, -0.64206, -0.25983},{0,0,0},{0,0,0}},
+{{-0.781503, -0.609984, -0.131045},{-0.725896, -0.675205, -0.131045},{-0.664864, -0.735379, -0.131045},{-0.598863, -0.790057, -0.131045},{-0.528386, -0.83883, -0.131045},{-0.45396, -0.881333, -0.131045},{-0.37614, -0.917249, -0.131045},{-0.295509, -0.946309, -0.131045},{-0.21267, -0.968297, -0.131045},{-0.128241, -0.983047, -0.131045},{-0.0428538, -0.99045, -0.131045},{0.0428539, -0.99045, -0.131045},{0.128241, -0.983047, -0.131045},{0.21267, -0.968297, -0.131045},{0.29551, -0.946309, -0.131045},{0.37614, -0.917249, -0.131045},{0.45396, -0.881333, -0.131045},{0.528386, -0.83883, -0.131045},{0.598863, -0.790057, -0.131045},{0.664864, -0.735379, -0.131045},{0.725896, -0.675205, -0.131045},{0.781503, -0.609984, -0.131045}},
+{{0.783455, -0.621449, -5.43288e-08},{0.727363, -0.686253, -5.99941e-08},{0.665929, -0.746015, -6.52187e-08},{0.599602, -0.800298, -6.99643e-08},{0.528871, -0.848702, -7.41959e-08},{0.454256, -0.890871, -7.78825e-08},{0.376303, -0.926497, -8.09969e-08},{0.295586, -0.955316, -8.35164e-08},{0.212697, -0.977118, -8.54224e-08},{0.128247, -0.991742, -8.67009e-08},{0.0428538, -0.999081, -8.73425e-08},{-0.0428538, -0.999081, -8.73425e-08},{-0.128247, -0.991742, -8.67009e-08},{-0.212697, -0.977118, -8.54224e-08},{-0.295586, -0.955316, -8.35164e-08},{-0.376303, -0.926497, -8.09969e-08},{-0.454256, -0.890871, -7.78825e-08},{-0.528872, -0.848702, -7.41959e-08},{-0.599602, -0.800298, -6.99643e-08},{-0.665929, -0.746015, -6.52187e-08},{-0.727363, -0.686253, -5.99941e-08},{-0.783455, -0.621449, -5.43288e-08}},
+{{-0.781503, -0.609984, 0.131045},{-0.725896, -0.675205, 0.131045},{-0.664864, -0.735379, 0.131045},{-0.598863, -0.790057, 0.131045},{-0.528386, -0.83883, 0.131045},{-0.45396, -0.881333, 0.131045},{-0.37614, -0.917249, 0.131045},{-0.295509, -0.946309, 0.131045},{-0.21267, -0.968297, 0.131045},{-0.128241, -0.983047, 0.131045},{-0.0428538, -0.99045, 0.131045},{0.0428539, -0.99045, 0.131045},{0.128241, -0.983047, 0.131045},{0.21267, -0.968297, 0.131045},{0.29551, -0.946309, 0.131045},{0.37614, -0.917249, 0.131045},{0.45396, -0.881333, 0.131045},{0.528386, -0.83883, 0.131045},{0.598863, -0.790057, 0.131045},{0.664864, -0.735379, 0.131045},{0.725896, -0.675205, 0.131045},{0.781503, -0.609984, 0.131045}},
+{{0.721281, -0.64206, 0.25983},{0.661511, -0.703485, 0.25983},{0.59653, -0.759368, 0.25983},{0.52685, -0.80927, 0.25983},{0.453019, -0.852796, 0.25983},{0.375621, -0.889605, 0.25983},{0.295263, -0.919406, 0.25983},{0.212579, -0.941965, 0.25983},{0.128221, -0.957104, 0.25983},{0.0428528, -0.964703, 0.25983},{-0.0428529, -0.964703, 0.25983},{-0.128221, -0.957104, 0.25983},{-0.212579, -0.941965, 0.25983},{-0.295263, -0.919406, 0.25983},{-0.375621, -0.889605, 0.25983},{-0.453019, -0.852796, 0.25983},{-0.52685, -0.80927, 0.25983},{-0.59653, -0.759368, 0.25983},{-0.661511, -0.703485, 0.25983},{-0.721281, -0.64206, 0.25983},{0,0,0},{0,0,0}},
+{{-0.684874, -0.619184, 0.384134},{-0.624509, -0.680021, 0.384134},{-0.558763, -0.735, 0.384134},{-0.488203, -0.783645, 0.384134},{-0.413436, -0.825537, 0.384134},{-0.335106, -0.860317, 0.384134},{-0.25389, -0.887683, 0.384134},{-0.170485, -0.907401, 0.384134},{-0.0856113, -0.9193, 0.384134},{0, -0.923277, 0.384134},{0.0856113, -0.9193, 0.384134},{0.170485, -0.907401, 0.384134},{0.253889, -0.887683, 0.384134},{0.335106, -0.860317, 0.384134},{0.413436, -0.825537, 0.384134},{0.488203, -0.783645, 0.384134},{0.558763, -0.735, 0.384134},{0.624509, -0.680021, 0.384134},{0.684874, -0.619184, 0.384134},{0,0,0},{0,0,0},{0,0,0}},
+{{0.585398, -0.636784, 0.501813},{0.519512, -0.691586, 0.501813},{0.448526, -0.7396, 0.501813},{0.373138, -0.780354, 0.501813},{0.294086, -0.813448, 0.501813},{0.212148, -0.838557, 0.501813},{0.128128, -0.855434, 0.501813},{0.0428495, -0.863914, 0.501813},{-0.0428495, -0.863914, 0.501813},{-0.128128, -0.855434, 0.501813},{-0.212148, -0.838557, 0.501813},{-0.294086, -0.813448, 0.501813},{-0.373138, -0.780354, 0.501813},{-0.448526, -0.7396, 0.501813},{-0.519512, -0.691586, 0.501813},{-0.585398, -0.636784, 0.501813},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}}}};
SDFileSystem sd(p11, p12, p13, p14, "sd"); // the pinout on the mbed Cool Components workshop board
Serial pc(USBTX, USBRX); // tx, rx
FILE *fp;
+float z_ganma=0;
+float z_kijun_ganma=0;
-LocalFileSystem local("local"); // Create the local filesystem under the name "local"
+RawSerial device(p28, p27); // serial communication between robot and mbed: speed,angle,led status received
+struct robotData {
+ float speed;
+ float angle;
+ uint8_t led; // receive-data: 0,33=1,34=2,35=3
+ uint8_t status;
+} robotData = { 0,0,33,0 };
+//LocalFileSystem local("local"); // Create the local filesystem under the name "local"
//const int byte_num = 114;//3*19 *2上下 // CSVから一度に読み込むバイト数 // 改行２バイト分読み込みをどこかで考える（アスキーコード １３と１０）
@@ -23,143 +87,7 @@
//unsigned long diff_time = 0;//時間調整用
//unsigned long start_time = 0;//時間調整用
Timer timer;
-
-float v_leds[6][9][22][3]=
-{{{{94.8345, 103.159, 81.2937},{84.1609, 112.037, 81.2937},{72.6612, 119.815, 81.2937},{60.4483, 126.417, 81.2937},{47.642, 131.779, 81.2937},{34.368, 135.846, 81.2937},{20.7567, 138.58, 81.2937},{6.94161, 139.954, 81.2937},{-6.94162, 139.954, 81.2937},
-{-20.7567, 138.58, 81.2937},{-34.368, 135.846, 81.2937},{-47.642, 131.779, 81.2937},{-60.4483, 126.417, 81.2937},{-72.6612, 119.815, 81.2937},{-84.1609, 112.037, 81.2937},{-94.8345, 103.159, 81.2937},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}},
-{{-110.95, 100.308, 62.2297},{-101.171, 110.163, 62.2297},{-90.5197, 119.07, 62.2297},{-79.0889, 126.95, 62.2297},{-66.9766, 133.737, 62.2297},{-54.2872, 139.371, 62.2297},{-41.1301, 143.805, 62.2297},{-27.6185, 146.999, 62.2297},{-13.869, 148.927, 62.2297},
-{0, 149.571, 62.2297},{13.869, 148.927, 62.2297},{27.6185, 146.999, 62.2297},{41.1301, 143.805, 62.2297},{54.2872, 139.371, 62.2297},{66.9766, 133.737, 62.2297},{79.0889, 126.95, 62.2297},{90.5197, 119.07, 62.2297},{101.171, 110.163, 62.2297},{110.95, 100.308, 62.2297},
-{0,0,0},{0,0,0},{0,0,0}},
-{{116.848, 104.014, 42.0925},{107.165, 113.965, 42.0925},{96.6378, 123.018, 42.0925},{85.3497, 131.102, 42.0925},{73.3891, 138.153, 42.0925},{60.8505, 144.116, 42.0925},{47.8326, 148.944, 42.0925},{34.4378, 152.598, 42.0925},{20.7718, 155.051, 42.0925},{6.94216, 156.282, 42.0925},
-{-6.94217, 156.282, 42.0925},{-20.7718, 155.051, 42.0925},{-34.4378, 152.598, 42.0925},{-47.8326, 148.944, 42.0925},{-60.8505, 144.116, 42.0925},{-73.3891, 138.153, 42.0925},{-85.3497, 131.102, 42.0925},{-96.6378, 123.018, 42.0925},{-107.165, 113.965, 42.0925},{-116.848, 104.014, 42.0925},{0,0,0},{0,0,0}},
-{{-126.603, 98.8175, 21.2293},{-117.595, 109.383, 21.2293},{-107.708, 119.131, 21.2293},{-97.0158, 127.989, 21.2293},{-85.5985, 135.89, 21.2293},{-73.5415, 142.776, 21.2293},{-60.9347, 148.594, 21.2293},{-47.8725, 153.302, 21.2293},{-34.4526, 156.864, 21.2293},{-20.7751, 159.254, 21.2293},{-6.94232, 160.453, 21.2293},
-{6.94234, 160.453, 21.2293},{20.7751, 159.254, 21.2293},{34.4526, 156.864, 21.2293},{47.8726, 153.302, 21.2293},{60.9347, 148.594, 21.2293},{73.5415, 142.776, 21.2293},{85.5986, 135.89, 21.2293},{97.0158, 127.989, 21.2293},{107.708, 119.131, 21.2293},{117.595, 109.383, 21.2293},{126.603, 98.8175, 21.2293}},
-{{126.92, 100.675, 0},{117.833, 111.173, 0},{107.88, 120.854, 0},{97.1356, 129.648, 0},{85.6772, 137.49, 0},{73.5894, 144.321, 0},{60.961, 150.092, 0},{47.8849, 154.761, 0},{34.457, 158.293, 0},{20.7759, 160.662, 0},{6.94232, 161.851, 0},{-6.94231, 161.851, 0},{-20.776, 160.662, 0},{-34.457, 158.293, 0},
-{-47.8849, 154.761, 0},{-60.9611, 150.092, 0},{-73.5894, 144.321, 0},{-85.6772, 137.49, 0},{-97.1356, 129.648, 0},{-107.88, 120.854, 0},{-117.833, 111.173, 0},{-126.92, 100.675, 0}},
-{{-126.603, 98.8175, -21.2293},{-117.595, 109.383, -21.2293},{-107.708, 119.131, -21.2293},{-97.0158, 127.989, -21.2293},{-85.5985, 135.89, -21.2293},{-73.5415, 142.776, -21.2293},{-60.9347, 148.594, -21.2293},{-47.8725, 153.302, -21.2293},{-34.4526, 156.864, -21.2293},{-20.7751, 159.254, -21.2293},
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-{{-110.95, -100.308, 62.2297},{-101.171, -110.163, 62.2297},{-90.5197, -119.07, 62.2297},{-79.0889, -126.95, 62.2297},{-66.9766, -133.737, 62.2297},{-54.2872, -139.371, 62.2297},{-41.1301, -143.805, 62.2297},{-27.6185, -146.999, 62.2297},
-{-13.869, -148.927, 62.2297},{0, -149.571, 62.2297},{13.869, -148.927, 62.2297},{27.6185, -146.999, 62.2297},{41.1301, -143.805, 62.2297},{54.2872, -139.371, 62.2297},{66.9766, -133.737, 62.2297},{79.0889, -126.95, 62.2297},
-{90.5197, -119.07, 62.2297},{101.171, -110.163, 62.2297},{110.95, -100.308, 62.2297},{0,0,0},{0,0,0},{0,0,0}},
-{{94.8345, -103.159, 81.2936},{84.1609, -112.037, 81.2936},{72.6612, -119.815, 81.2936},{60.4483, -126.417, 81.2936},{47.642, -131.779, 81.2936},{34.368, -135.846, 81.2936},{20.7567, -138.58, 81.2936},{6.94161, -139.954, 81.2936},
-{-6.94162, -139.954, 81.2936},{-20.7567, -138.58, 81.2936},{-34.368, -135.846, 81.2936},{-47.642, -131.779, 81.2936},{-60.4483, -126.417, 81.2936},{-72.6612, -119.815, 81.2936},{-84.1609, -112.037, 81.2936},{-94.8345, -103.159, 81.2936},
-{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}}}};
-
+float cos_theta;
RotationMat rMat;
@@ -170,18 +98,22 @@
const Vector3D yAxis(0,1,0);
const Vector3D zAxis(0,0,1);
-unsigned int angular_velocity;
-float rotation;
+float angular_velocity=10;
+float kaiten;
+float pretime=0;
float x_=0;
float y_=0;
float z_=0;
-float diff_rotation=2;
short longtitude;
short latitude;
float angles;
+#define LED_0_8_NUM 16
+#define LED_1_7_NUM 19
+#define LED_2_6_NUM 20
+#define LED_3_4_5_NUM 22
#define NUMPIXELS 178
#define NUM_LINE 9
#define NUM_TAPE 6
@@ -191,13 +123,71 @@
DigitalOut decoder_in_b(p25);
DigitalOut decoder_in_c(p26);
-struct LedColor
+
+void pc_rx () {
+ /*
+ pc.putc(pc.getc());
+ if(i<TOPNUMPIXELS-2)
+ i++;
+ else
+ i=0;
+
+ if(j<BOTTOMNUMPIXELS-2)
+ j++;
+ else
+ j=0;
+ */
+}
+
+void rx()
{
- unsigned char r;
- unsigned char g;
- unsigned char b;
-};
-struct LedColor ledcolor;
+ uint8_t val = device.getc(), buf = 0;
+ // pc.putc(val);
+ // pc.putc(val);
+ //robotはPCから受けたものをそのまま渡してきてる
+ //上位2bitは10 つまり4bytes目
+
+ //上位2bitを確認 mode確認
+ robotData.status = (val >> 6) & 0x03;
+
+ //上位2bitは00の時，speed
+ if ((robotData.status == 0x00)) {
+ buf = val & 0x3f;
+ // robotData.angle = (float)buf * 5.625;
+ robotData.speed=(float)buf*0.03125f;
+ // pc.printf("speed=%f\n", (float)buf*0.03125f);
+ // pc.putc(robotData.angle);
+ }
+ //上位2bitは01の時，angle
+ if ((robotData.status == 0x01)) {
+ buf = val & 0x3f;//1<<6
+ if((float)buf==0)
+ {
+
+ }
+ else
+ {
+ z_ganma=(float)buf*0.09817f;//2*PI/64
+ // pc.printf("angle=%f\n", (float)buf*0.09817f);
+ }
+
+ //pc.printf("angle=%f\n", (float)buf*360.0f/64.0f);
+ }
+
+ //とりあえず上のbit は10らしい ロボット側のせってい
+ if ((robotData.status == 0x02)) {
+ //回転決めるために速度送る．
+ //上位3bit,4bit目を割り当てる．
+ if( ((val>>4) & 0x03) == 0x03)
+ {
+ buf = (val & 0x0f);
+ z_kijun_ganma+= (int)buf;
+ //pc.printf("buf=%d\n", (int)buf);
+ if(z_kijun_ganma>360)z_kijun_ganma = z_kijun_ganma-360;
+ }
+ }
+}
+
void selectDecoderCh(unsigned int num_ch)
{
@@ -215,9 +205,9 @@
x_ = target_vec.x;//x
y_ = target_vec.y;//y
z_ = target_vec.z;//z
- target_vec.x = rMat.r1*x_+rMat.r2*y_+rMat.r3*z_;
- target_vec.y = rMat.r4*x_+rMat.r5*y_+rMat.r6*z_;
- target_vec.z = rMat.r7*x_+rMat.r8*y_+rMat.r9*z_;
+ target_vec.x = rMat.r[0][0]*x_+rMat.r[0][1]*y_+rMat.r[0][2]*z_;
+ target_vec.y = rMat.r[1][0]*x_+rMat.r[1][1]*y_+rMat.r[1][2]*z_;
+ target_vec.z = rMat.r[2][0]*x_+rMat.r[2][1]*y_+rMat.r[2][2]*z_;
}
void set_strip_color(int i_tape, int i_line, int i_pixel, int i_lednum)
@@ -226,11 +216,10 @@
position_vec.y = v_leds[i_tape][i_line][i_pixel][1];
position_vec.z = v_leds[i_tape][i_line][i_pixel][2];
- angles = angle(target_vec , position_vec);
-
- if(angles<40)
- {
- strip.setPixelColor(i_lednum,100,0,0);
+ //angles = angle(target_vec , position_vec);
+ cos_theta = MyMath::cos(MyMath::Degrees(40));
+ if((position_vec)*(target_vec) < cos_theta) {
+ strip.setPixelColor(i_lednum,100,0,0);
}
else
{
@@ -241,10 +230,10 @@
void init()
{
- angular_velocity=10;
-
- pc.baud(9600);
- pc.printf("Hello World!\n");
+ pc.baud(115200);
+ pc.attach(pc_rx, Serial::RxIrq);
+ device.attach(rx, Serial::RxIrq);
+ //pc.printf("Hello World!\n");
/*
mkdir("/sd/001.txt", 0777);
fp = fopen("/sd/001.txt","r");
@@ -269,7 +258,39 @@
while(1)
{
- //回転エフェクト更新
+ //進行方向を回転させる用
+ //シリアルで受け取る．
+ /*これいる？ワープしちゃう原因？
+ x_ = targetvec.x*MyMath::cos(MyMath::Degrees(z_kijun_ganma)) - targetvec.y * MyMath::sin(MyMath::Degrees(z_kijun_ganma));
+ y_ = targetvec.x*MyMath::sin(MyMath::Degrees(z_kijun_ganma)) + targetvec.y * MyMath::cos(MyMath::Degrees(z_kijun_ganma));
+
+ targetvec.x=x_;
+ targetvec.y=y_;
+ */
+ //回転軸回転させる．
+ x_ = rAxis.x*MyMath::cos(MyMath::Degrees(z_kijun_ganma)) - rAxis.y * MyMath::sin(MyMath::Degrees(z_kijun_ganma));
+ y_ = rAxis.x*MyMath::sin(MyMath::Degrees(z_kijun_ganma)) + rAxis.y * MyMath::cos(MyMath::Degrees(z_kijun_ganma));
+
+ rAxis.x=x_;
+ rAxis.y=y_;
+
+ //向きに対して
+ x_= rAxis.x*MyMath::cos(MyMath::Degrees(z_ganma))-rAxis.y*MyMath::sin(MyMath::Degrees(z_ganma));
+ y_= rAxis.x*MyMath::sin(MyMath::Degrees(z_ganma))+rAxis.y*MyMath::cos(MyMath::Degrees(z_ganma));
+
+ rAxis.x=x_;
+ rAxis.y=y_;
+
+ //速度＊時間差＝直径xPIxθ/360
+ //kaiten=(v(t'-t)*360)/(2*PI*R)
+ if(timer.read_ms()-pretime>=30)
+ {
+ kaiten+=(robotData.speed *( (timer.read_ms()-pretime)/1000.0f )* PI_180 ) / 0.09f ;
+ if(kaiten>360)kaiten=kaiten-360;
+ pretime=timer.read_ms();
+ }
+
+ //回転行列生成
updateRotation();
for(int i_tape=0; i_tape<NUM_TAPE; i_tape++)
@@ -400,115 +421,4 @@
}
}
*/
-
- /*
- //バレーボール６枚
- for(int i_tape =0; i_tape < NUM_TAPE ; i_tape++)
- {
- //バレーボール1枚あたりのLEDの本数
- for(int i_line=0; i_line< NUM_LINE; i_line++)
- {
- switch(i_line)
- {
- case 0:
- for(int i_pixel =0; i_pixel < LED_0_8_NUM ; i_pixel++)
- {
- x_ = v_leds[i_tape][i_line][i_pixel][0];//x
- y_ = v_leds[i_tape][i_line][i_pixel][1];//y
- z_ = v_leds[i_tape][i_line][i_pixel][2];//z
- v_leds[i_tape][i_line][i_pixel][0] = rMat.r1*x_+rMat.r2*y_+rMat.r3*z_;
- v_leds[i_tape][i_line][i_pixel][1] = rMat.r4*x_+rMat.r5*y_+rMat.r6*z_;
- v_leds[i_tape][i_line][i_pixel][2] = rMat.r7*x_+rMat.r8*y_+rMat.r9*z_;
- }
- break;
- case 1:
- for(int i_pixel =0; i_pixel < LED_1_7_NUM ; i_pixel++)
- {
- x_ = v_leds[i_tape][i_line][i_pixel][0];//x
- y_ = v_leds[i_tape][i_line][i_pixel][1];//y
- z_ = v_leds[i_tape][i_line][i_pixel][2];//z
- v_leds[i_tape][i_line][i_pixel][0] = rMat.r1*x_+rMat.r2*y_+rMat.r3*z_;
- v_leds[i_tape][i_line][i_pixel][1] = rMat.r4*x_+rMat.r5*y_+rMat.r6*z_;
- v_leds[i_tape][i_line][i_pixel][2] = rMat.r7*x_+rMat.r8*y_+rMat.r9*z_;
- }
- break;
- case 2:
- for(int i_pixel =0; i_pixel < LED_2_6_NUM ; i_pixel++)
- {
- x_ = v_leds[i_tape][i_line][i_pixel][0];//x
- y_ = v_leds[i_tape][i_line][i_pixel][1];//y
- z_ = v_leds[i_tape][i_line][i_pixel][2];//z
- v_leds[i_tape][i_line][i_pixel][0] = rMat.r1*x_+rMat.r2*y_+rMat.r3*z_;
- v_leds[i_tape][i_line][i_pixel][1] = rMat.r4*x_+rMat.r5*y_+rMat.r6*z_;
- v_leds[i_tape][i_line][i_pixel][2] = rMat.r7*x_+rMat.r8*y_+rMat.r9*z_;
- }
- break;
- case 3:
- for(int i_pixel =0; i_pixel < LED_3_4_5_NUM ; i_pixel++)
- {
- x_ = v_leds[i_tape][i_line][i_pixel][0];//x
- y_ = v_leds[i_tape][i_line][i_pixel][1];//y
- z_ = v_leds[i_tape][i_line][i_pixel][2];//z
- v_leds[i_tape][i_line][i_pixel][0] = rMat.r1*x_+rMat.r2*y_+rMat.r3*z_;
- v_leds[i_tape][i_line][i_pixel][1] = rMat.r4*x_+rMat.r5*y_+rMat.r6*z_;
- v_leds[i_tape][i_line][i_pixel][2] = rMat.r7*x_+rMat.r8*y_+rMat.r9*z_;
- }
- break;
- case 4:
- for(int i_pixel =0; i_pixel < LED_3_4_5_NUM ; i_pixel++)
- {
- x_ = v_leds[i_tape][i_line][i_pixel][0];//x
- y_ = v_leds[i_tape][i_line][i_pixel][1];//y
- z_ = v_leds[i_tape][i_line][i_pixel][2];//z
- v_leds[i_tape][i_line][i_pixel][0] = rMat.r1*x_+rMat.r2*y_+rMat.r3*z_;
- v_leds[i_tape][i_line][i_pixel][1] = rMat.r4*x_+rMat.r5*y_+rMat.r6*z_;
- v_leds[i_tape][i_line][i_pixel][2] = rMat.r7*x_+rMat.r8*y_+rMat.r9*z_;
- }
- break;
- case 5:
- for(int i_pixel =0; i_pixel < LED_3_4_5_NUM ; i_pixel++)
- {
- x_ = v_leds[i_tape][i_line][i_pixel][0];//x
- y_ = v_leds[i_tape][i_line][i_pixel][1];//y
- z_ = v_leds[i_tape][i_line][i_pixel][2];//z
- v_leds[i_tape][i_line][i_pixel][0] = rMat.r1*x_+rMat.r2*y_+rMat.r3*z_;
- v_leds[i_tape][i_line][i_pixel][1] = rMat.r4*x_+rMat.r5*y_+rMat.r6*z_;
- v_leds[i_tape][i_line][i_pixel][2] = rMat.r7*x_+rMat.r8*y_+rMat.r9*z_;
- }
- break;
- case 6:
- for(int i_pixel =0; i_pixel < LED_2_6_NUM ; i_pixel++)
- {
- x_ = v_leds[i_tape][i_line][i_pixel][0];//x
- y_ = v_leds[i_tape][i_line][i_pixel][1];//y
- z_ = v_leds[i_tape][i_line][i_pixel][2];//z
- v_leds[i_tape][i_line][i_pixel][0] = rMat.r1*x_+rMat.r2*y_+rMat.r3*z_;
- v_leds[i_tape][i_line][i_pixel][1] = rMat.r4*x_+rMat.r5*y_+rMat.r6*z_;
- v_leds[i_tape][i_line][i_pixel][2] = rMat.r7*x_+rMat.r8*y_+rMat.r9*z_;
- }
- break;
- case 7:
- for(int i_pixel =0; i_pixel < LED_1_7_NUM ; i_pixel++)
- {
- x_ = v_leds[i_tape][i_line][i_pixel][0];//x
- y_ = v_leds[i_tape][i_line][i_pixel][1];//y
- z_ = v_leds[i_tape][i_line][i_pixel][2];//z
- v_leds[i_tape][i_line][i_pixel][0] = rMat.r1*x_+rMat.r2*y_+rMat.r3*z_;
- v_leds[i_tape][i_line][i_pixel][1] = rMat.r4*x_+rMat.r5*y_+rMat.r6*z_;
- v_leds[i_tape][i_line][i_pixel][2] = rMat.r7*x_+rMat.r8*y_+rMat.r9*z_;
- }
- break;
- case 8:
- for(int i_pixel =0; i_pixel < LED_0_8_NUM ; i_pixel++)
- {
- x_ = v_leds[i_tape][i_line][i_pixel][0];//x
- y_ = v_leds[i_tape][i_line][i_pixel][1];//y
- z_ = v_leds[i_tape][i_line][i_pixel][2];//z
- v_leds[i_tape][i_line][i_pixel][0] = rMat.r1*x_+rMat.r2*y_+rMat.r3*z_;
- v_leds[i_tape][i_line][i_pixel][1] = rMat.r4*x_+rMat.r5*y_+rMat.r6*z_;
- v_leds[i_tape][i_line][i_pixel][2] = rMat.r7*x_+rMat.r8*y_+rMat.r9*z_;
- }
- break;
- }
- }
- } */
\ No newline at end of file
+
\ No newline at end of file