Shuhei Tsuchida
share
Dependencies: RotationMat_ SDFileSystem mbed
Diff: main.cpp
- Revision:
- 0:cbd607fc4caa
- Child:
- 1:28cfbd0cc92e
diff -r 000000000000 -r cbd607fc4caa main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Feb 03 11:39:23 2016 +0000
@@ -0,0 +1,506 @@
+
+#include "mbed.h"
+#include "SDFileSystem.h"
+#include "Adafruit_DotStar.h"
+#include "LedData.h"
+
+#include "Vector3D.h"
+#include "RotationMat.h"
+#include <math.h>
+
+SDFileSystem sd(p11, p12, p13, p14, "sd"); // the pinout on the mbed Cool Components workshop board
+Serial pc(USBTX, USBRX); // tx, rx
+FILE *fp;
+
+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）
+
+//int rState = 3; // シリアル値によって変化
+bool ontime = false;
+unsigned char compareT_b[3];
+unsigned long compareT = 0;//比較する数値
+//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},
+{-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}},
+{{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}},
+{{-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, -81.2937},{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}}
+},{{{81.2937, 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, 6.94162, 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},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}},
+{{62.2297, -110.95, 100.308},{62.2297, -101.171, 110.163},{62.2297, -90.5197, 119.07},{62.2297, -79.0889, 126.95},{62.2298, -66.9766, 133.737},{62.2298, -54.2872, 139.371},{62.2297, -41.1301, 143.805},{62.2297, -27.6185, 146.999},{62.2297, -13.869, 148.927},{62.2297, 2.72015e-06, 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},{0,0,0},{0,0,0},{0,0,0}},
+{{42.0925, 116.848, 104.014},{42.0925, 107.165, 113.965},{42.0925, 96.6378, 123.018},{42.0925, 85.3496, 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, -85.3496, 131.102},{42.0925, -96.6378, 123.018},{42.0925, -107.165, 113.965},{42.0925, -116.848, 104.014},{0,0,0},{0,0,0}},
+{{21.2293, -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, 85.5985, 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}},
+{{-1.1472e-06, 126.92, 100.675},{-2.91114e-07, 117.833, 111.173},{5.67114e-07, 107.88, 120.854},{1.42118e-06, 97.1356, 129.648},{2.2648e-06, 85.6772, 137.49},{3.09178e-06, 73.5894, 144.321},{3.89606e-06, 60.961, 150.092},{4.67171e-06, 47.8849, 154.761},{5.41305e-06, 34.457, 158.293},{6.11463e-06, 20.7759, 160.662},
+{6.77128e-06, 6.94232, 161.851},{7.3782e-06, -6.94231, 161.851},{7.93092e-06, -20.776, 160.662},{8.42537e-06, -34.457, 158.293},{8.85794e-06, -47.8849, 154.761},{9.22544e-06, -60.9611, 150.092},{9.52517e-06, -73.5894, 144.321},{9.75493e-06, -85.6772, 137.49},{9.91304e-06, -97.1356, 129.648},{9.99832e-06, -107.88, 120.854},{1.00102e-05, -117.833, 111.173},{9.94847e-06, -126.92, 100.675}},
+{{-21.2293, -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, 85.5985, 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}},
+{{-42.0925, 116.848, 104.014},{-42.0925, 107.165, 113.965},{-42.0925, 96.6378, 123.018},{-42.0925, 85.3496, 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, -85.3496, 131.102},{-42.0925, -96.6378, 123.018},{-42.0925, -107.165, 113.965},{-42.0925, -116.848, 104.014},{0,0,0},{0,0,0}},
+{{-62.2297, -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, -2.72015e-06, 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},{0,0,0},{0,0,0},{0,0,0}},
+{{-81.2937, 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},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}}
+},{{{-81.2937, 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},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}},
+{{-62.2297, -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, -2.72015e-06, -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},{0,0,0},{0,0,0},{0,0,0}},
+{{-42.0925, 116.848, -104.014},{-42.0925, 107.165, -113.965},{-42.0925, 96.6378, -123.018},{-42.0925, 85.3496, -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, -85.3496, -131.102},{-42.0925, -96.6378, -123.018},{-42.0925, -107.165, -113.965},{-42.0925, -116.848, -104.014},{0,0,0},{0,0,0}},
+{{-21.2293, -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, 85.5985, -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}},
+{{-1.1472e-06, 126.92, -100.675},{-2.91114e-07, 117.833, -111.173},{5.67114e-07, 107.88, -120.854},{1.42118e-06, 97.1356, -129.648},{2.2648e-06, 85.6772, -137.49},{3.09178e-06, 73.5894, -144.321},{3.89606e-06, 60.961, -150.092},{4.67171e-06, 47.8849, -154.761},{5.41305e-06, 34.457, -158.293},{6.11463e-06, 20.7759, -160.662},{6.77128e-06, 6.94232, -161.851},
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+{-13.869, -148.927, -62.2298},{0, -149.571, -62.2298},{13.869, -148.927, -62.2298},{27.6185, -146.999, -62.2298},{41.1301, -143.805, -62.2298},{54.2872, -139.371, -62.2298},{66.9766, -133.737, -62.2298},{79.0889, -126.95, -62.2298},
+{90.5197, -119.07, -62.2298},{101.171, -110.163, -62.2298},{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, -21.2294},{-60.9347, -148.594, -21.2294},{-47.8725, -153.302, -21.2294},
+{-34.4526, -156.864, -21.2294},{-20.7751, -159.254, -21.2294},{-6.94232, -160.453, -21.2294},{6.94234, -160.453, -21.2294},{20.7751, -159.254, -21.2294},{34.4526, -156.864, -21.2294},{47.8726, -153.302, -21.2294},{60.9347, -148.594, -21.2294},
+{73.5415, -142.776, -21.2294},{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, -8.80126e-06},{117.833, -111.173, -9.71905e-06},{107.88, -120.854, -1.05654e-05},{97.1356, -129.648, -1.13342e-05},{85.6772, -137.49, -1.20197e-05},{73.5894, -144.321, -1.2617e-05},{60.961, -150.092, -1.31215e-05},
+{47.8849, -154.761, -1.35297e-05},{34.457, -158.293, -1.38384e-05},{20.7759, -160.662, -1.40455e-05},{6.94232, -161.851, -1.41495e-05},{-6.94231, -161.851, -1.41495e-05},{-20.776, -160.662, -1.40455e-05},{-34.457, -158.293, -1.38384e-05},
+{-47.8849, -154.761, -1.35297e-05},{-60.9611, -150.092, -1.31215e-05},{-73.5894, -144.321, -1.2617e-05},{-85.6772, -137.49, -1.20197e-05},{-97.1356, -129.648, -1.13342e-05},{-107.88, -120.854, -1.05654e-05},{-117.833, -111.173, -9.71905e-06},
+{-126.92, -100.675, -8.80126e-06}},
+{{-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}},
+{{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}},
+{{-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}}}};
+
+
+RotationMat rMat;
+
+Vector3D position_vec;
+Vector3D rAxis(1,0,0);
+const Vector3D xAxis(1,0,0);
+const Vector3D yAxis(0,1,0);
+const Vector3D zAxis(0,0,1);
+
+unsigned int angular_velocity;
+float rotation;
+float x_=0;
+float y_=0;
+float z_=0;
+float diff_rotation=2;
+
+short longtitude;
+short latitude;
+
+#define NUMPIXELS 178
+#define NUM_LINE 9
+#define NUM_TAPE 1
+Adafruit_DotStar strip(NUMPIXELS, DOTSTAR_RGB);
+
+DigitalOut decoder_in_a(p24);
+DigitalOut decoder_in_b(p25);
+DigitalOut decoder_in_c(p26);
+
+struct LedColor
+{
+ unsigned char r;
+ unsigned char g;
+ unsigned char b;
+};
+struct LedColor ledcolor;
+
+void selectDecoderCh(unsigned int num_ch)
+{
+ decoder_in_a = num_ch & 0b1;
+ decoder_in_b = (num_ch>>1) & 0b1;
+ decoder_in_c = (num_ch>>2) & 0b1;
+}
+
+
+//回転
+void updateRotation(int i_tape, int i_line, int 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_;
+}
+
+
+void setPixelcolor(int i_lednum)
+{
+ // pc.printf("i_lednum:%d \n", i_lednum);
+ if(i_lednum >= 176 ) //最後の白色消す用
+ {
+ strip.setPixelColor(i_lednum,
+ 0, //r
+ 0, //g
+ 0);//b
+ }
+ else if(longtitude>=0&&longtitude<45)
+ {
+ strip.setPixelColor(i_lednum,
+ pixels0_45[longtitude][latitude][0], //r
+ pixels0_45[longtitude][latitude][1], //g
+ pixels0_45[longtitude][latitude][2]);//b
+ /*
+ pc.printf("pixels0_45[0]:%d \n", pixels0_45[longtitude][latitude][0]);
+ pc.printf("pixels0_45[1]:%d \n", pixels0_45[longtitude][latitude][1]);
+ pc.printf("pixels0_45[2]:%d \n", pixels0_45[longtitude][latitude][2]);
+ */
+
+ }
+ else if(longtitude>=45&&longtitude<90)
+ {
+ strip.setPixelColor(i_lednum,
+ (uint8_t)pixels45_90[longtitude-45][latitude][0], //r
+ (uint8_t)pixels45_90[longtitude-45][latitude][1], //g
+ (uint8_t)pixels45_90[longtitude-45][latitude][2]);//b
+ /*
+ pc.printf("pixels45_90[0]:%d \n", pixels45_90[longtitude-45][latitude][0]);
+ pc.printf("pixels45_90[1]:%d \n", pixels45_90[longtitude-45][latitude][1]);
+ pc.printf("pixels45_90[2]:%d \n", pixels45_90[longtitude-45][latitude][2]);
+ */
+ }
+ else if(longtitude>=90&&longtitude<135)
+ {
+ strip.setPixelColor(i_lednum,
+ pixels90_135[longtitude-90][latitude][0], //r
+ pixels90_135[longtitude-90][latitude][1], //g
+ pixels90_135[longtitude-90][latitude][2]);//b
+ /*
+ pc.printf("pixels90_135[0]:%d \n", pixels90_135[longtitude-90][latitude][0]);
+ pc.printf("pixels90_135[1]:%d \n", pixels90_135[longtitude-90][latitude][1]);
+ pc.printf("pixels90_135[2]:%d \n", pixels90_135[longtitude-90][latitude][2]);
+ */
+ }
+ else if(longtitude>=135&&longtitude<180)
+ {
+ strip.setPixelColor(i_lednum,
+ pixels135_180[longtitude-135][latitude][0], //r
+ pixels135_180[longtitude-135][latitude][1], //g
+ pixels135_180[longtitude-135][latitude][2]);//b
+ /*
+ pc.printf("pixels135_180[0]:%d \n", pixels135_180[longtitude-135][latitude][0]);
+ pc.printf("pixels135_180[1]:%d \n", pixels135_180[longtitude-135][latitude][1]);
+ pc.printf("pixels135_180[2]:%d \n", pixels135_180[longtitude-135][latitude][2]);
+ */
+ }
+ else if(longtitude>=180&&longtitude<225)
+ {
+ strip.setPixelColor(i_lednum,
+ pixels180_225[longtitude-135][latitude][0], //r
+ pixels180_225[longtitude-135][latitude][1], //g
+ pixels180_225[longtitude-135][latitude][2]);//b
+ }
+ else if(longtitude>=225&&longtitude<270)
+ {
+ strip.setPixelColor(i_lednum,
+ pixels225_270[longtitude-225][latitude][0], //r
+ pixels225_270[longtitude-225][latitude][1], //g
+ pixels225_270[longtitude-225][latitude][2]);//b
+ }
+ else if(longtitude>=270&&longtitude<315)
+ {
+ strip.setPixelColor(i_lednum,
+ pixels270_315[longtitude-270][latitude][0], //r
+ pixels270_315[longtitude-270][latitude][1], //g
+ pixels270_315[longtitude-270][latitude][2]);//b
+ }
+ else if(longtitude>=315&&longtitude<=360)
+ {
+ strip.setPixelColor(i_lednum,
+ pixels315_361[longtitude-315][latitude][0], //r
+ pixels315_361[longtitude-315][latitude][1], //g
+ pixels315_361[longtitude-315][latitude][2]);//b
+ }
+}
+
+void set_strip_color(int i_tape, int i_line, int i_pixel, int i_lednum)
+{
+ //calc longtitude
+ position_vec.x = v_leds[i_tape][i_line][i_pixel][0];
+ position_vec.y = v_leds[i_tape][i_line][i_pixel][1];
+ position_vec.z = v_leds[i_tape][i_line][i_pixel][2];
+
+ if(position_vec.x > 0)
+ {
+ longtitude = (short)floor( angle(zAxis, position_vec) );
+ }
+ else
+ {
+ longtitude = (short)floor( 360.0f - angle(zAxis, position_vec));
+ }
+
+ //calc latitude
+ position_vec.x = v_leds[i_tape][i_line][i_pixel][0];
+ position_vec.y = v_leds[i_tape][i_line][i_pixel][1];
+ position_vec.z = v_leds[i_tape][i_line][i_pixel][2];
+
+ latitude = (short)floor( angle(yAxis, position_vec) );
+
+
+
+ setPixelcolor(i_lednum);
+}
+
+void init()
+{
+ angular_velocity=10;
+
+ pc.baud(9600);
+ pc.printf("Hello World!\n");
+ /*
+ mkdir("/sd/001.txt", 0777);
+ fp = fopen("/sd/001.txt","r");
+
+ if(fp == NULL)
+ {
+ error("Could not open file for read\n");
+ }
+ */
+ timer.start();
+
+ strip.begin(); //Initialize
+ for(int i_tape=0; i_tape<NUM_TAPE; i_tape++)
+ {
+ selectDecoderCh(i_tape);
+ strip.show(); //Turn all LEDs off ASAP
+ }
+}
+
+int main() {
+ init();
+
+ while(1)
+ {
+ //回転ベクトル更新
+ rMat.calMat(angular_velocity, rAxis.x, rAxis.y, rAxis.z);
+
+ //バレーボール６枚
+ for(int i_tape=0; i_tape<NUM_TAPE; i_tape++)
+ {
+ selectDecoderCh(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++)
+ {
+ updateRotation(i_tape, i_line, i_pixel);
+ set_strip_color(i_tape, i_line, i_pixel, i_pixel);
+ }
+ break;
+ case 1:
+ for(int i_pixel =0; i_pixel < LED_1_7_NUM ; i_pixel++)
+ {
+ updateRotation(i_tape, i_line, i_pixel);
+ set_strip_color(i_tape, i_line, i_pixel, i_pixel+16);
+ }
+ break;
+ case 2:
+ for(int i_pixel =0; i_pixel < LED_2_6_NUM ; i_pixel++)
+ {
+ updateRotation(i_tape, i_line, i_pixel);
+ set_strip_color(i_tape, i_line, i_pixel, i_pixel+35);
+ }
+ break;
+ case 3:
+ for(int i_pixel =0; i_pixel < LED_3_4_5_NUM ; i_pixel++)
+ {
+ updateRotation(i_tape, i_line, i_pixel);
+ set_strip_color(i_tape, i_line, i_pixel, i_pixel+55);
+ }
+ break;
+ case 4:
+ for(int i_pixel =0; i_pixel < LED_3_4_5_NUM ; i_pixel++)
+ {
+ set_strip_color(i_tape, i_line, i_pixel, i_pixel+77);
+ }
+ break;
+ case 5:
+ for(int i_pixel =0; i_pixel < LED_3_4_5_NUM ; i_pixel++)
+ {
+ updateRotation(i_tape, i_line, i_pixel);
+ set_strip_color(i_tape, i_line, i_pixel, i_pixel+99);
+ }
+ break;
+ case 6:
+ for(int i_pixel =0; i_pixel < LED_2_6_NUM ; i_pixel++)
+ {
+ updateRotation(i_tape, i_line, i_pixel);
+ set_strip_color(i_tape, i_line, i_pixel, i_pixel+121);
+ }
+ break;
+ case 7:
+ for(int i_pixel =0; i_pixel < LED_1_7_NUM ; i_pixel++)
+ {
+ updateRotation(i_tape, i_line, i_pixel);
+ set_strip_color(i_tape, i_line, i_pixel, i_pixel+141);
+ }
+ break;
+ case 8:
+ for(int i_pixel =0; i_pixel < LED_0_8_NUM ; i_pixel++)
+ {
+ updateRotation(i_tape, i_line, i_pixel);
+ set_strip_color(i_tape, i_line, i_pixel, i_pixel+160);
+ }
+ break;
+ }
+ }
+ //白色点灯回避用
+ strip.setPixelColor(176,0,0,0);
+ strip.setPixelColor(177,0,0,0);
+
+ strip.show();
+ }
+ }
+}
+ /* for(int i_tape=0; i_tape<NUM_TAPE; i_tape++)
+ {
+ selectDecoderCh(i_tape);
+ for(int i_pixel=0; i_pixel<NUMPIXELS; i_pixel++)
+ {
+ strip.setPixelColor(i_pixel, 100*i_pixel/NUMPIXELS, 100*(NUMPIXELS-i_pixel)/NUMPIXELS, 0);
+ }
+ strip.show();
+ }
+
+ for(int i_tape=0; i_tape<NUM_TAPE; i_tape++)
+ {
+ selectDecoderCh(i_tape);
+ for(int i_pixel=0; i_pixel<NUMPIXELS; i_pixel++)
+ {
+ strip.setPixelColor(i_pixel, 0, 100*i_pixel/NUMPIXELS, 100*(NUMPIXELS-i_pixel)/NUMPIXELS);
+ }
+ strip.show();
+ }
+ */
+
+ /*
+ while(1) {
+ // testes=fgetc(fp);
+ // pc.printf("%d\n", (int)testes - 48);
+ wait(0.01);
+
+ // pc.printf("sdData[9]: %d\n", (int)(sdData[9]));
+
+ if(ontime == false)
+ {
+ fread(compareT_b, 1,3, fp);
+
+ //fgets(compareT_b, 3+1, fp);//取ってくる個数＋１
+ pc.printf("Compare0: %d\n", (int)( compareT_b[0]));
+ pc.printf("Compare1: %d\n", (int)( compareT_b[1]));
+ pc.printf("Compare2: %d\n", (int)( compareT_b[2]));
+ compareT = (unsigned long)(compareT_b[0]) * 256 * 256 + (unsigned long)(compareT_b[1]) * 256 + (unsigned long)compareT_b[2];//符号拡張阻止
+ //pc.putc(compareT);
+ pc.printf("Compare: %d\n", compareT);
+
+ ontime = true;
+ }
+
+ if( timer.read()*1000 > compareT)//compareTが現在の時間がcomparetTを超えたら
+ {
+ ontime = false;
+
+ // SDカードをbyte_num分、読み取る (57Byte)
+ //fgets(sdData, byte_num+1+2, fp);//取ってくる個数＋１
+ fread(sdData, 1,byte_num, fp);
+ pc.printf("sdData[0]: %d\n", (int)(sdData[0]));
+ pc.printf("sdData[1]: %d\n", (int)(sdData[1]));
+ pc.printf("sdData[2]: %d\n", (int)(sdData[2]));
+ }
+ }
+ */
\ No newline at end of file