Blinker.cpp

00001 #include "stdafx.h"
00002 
00003 #include "mbed.h"
00004 #include "Blinker.h"
00005 
00006 #define EYE_CLOSED 0.25
00007 #define EYE_OPEN 0.85
00008 
00009 extern Logger pcSerial;
00010 
00011 Blinker::Blinker( ServoMinder *servoMinder )
00012 {
00013     m_servoMinder = servoMinder;
00014     m_servoMinder->moveTo( EYE_CLOSED );
00015     
00016     m_sleepiness = 0;
00017     m_boredom = 0;
00018     
00019     m_tickTime = 0.1;
00020     m_blinkTimer = 0;
00021     
00022     m_nextMove = -1;
00023 
00024 
00025     m_ticker.attach( this, &Blinker::tick, m_tickTime );
00026 }
00027 
00028 void Blinker::setBoredom( float boredom )
00029 {
00030     m_boredom = boredom;
00031 }
00032 
00033 void Blinker::setSleepiness( float sleepiness )
00034 {
00035     float diff = fabs( m_sleepiness - sleepiness );
00036     m_sleepiness = sleepiness;
00037     
00038     if( diff > 0.01 )
00039         open();
00040    
00041 }
00042     
00043 float  Blinker::speedForSleepiness()
00044 {
00045     // for sleepiness 0->1, return speed 2->0.5
00046     return 2 - (1.5 * m_sleepiness);
00047 }
00048 
00049 float  Blinker::openPosForSleepiness()
00050 {
00051     // for sleepiness 0->1, return EYE_OPEN ->( )/2
00052     return  EYE_OPEN +  ( (EYE_CLOSED-EYE_OPEN) * 0.8 * m_sleepiness);
00053 }
00054 
00055 void Blinker::close()
00056 {
00057     m_servoMinder->setSpeed( speedForSleepiness() );
00058     m_servoMinder->moveTo( EYE_CLOSED );
00059 
00060 }
00061    
00062  void Blinker::open()
00063 {
00064     m_servoMinder->setSpeed( speedForSleepiness() );
00065     m_servoMinder->moveTo(  openPosForSleepiness() );
00066 } 
00067 
00068 void Blinker::blink()
00069 {
00070     m_servoMinder->setSpeed( speedForSleepiness() );
00071     m_servoMinder->moveTo( EYE_CLOSED );
00072     m_nextMove = openPosForSleepiness();
00073 }
00074 
00075 void Blinker::tick()
00076 {
00077 
00078     if( ! m_servoMinder->isMoving())
00079         if( m_nextMove >= 0 )
00080         {
00081              m_servoMinder->moveTo( m_nextMove );
00082              m_nextMove = -1;
00083         }
00084         
00085     m_blinkTimer ++;
00086     if( m_blinkTimer > 100 ) // 10 secs
00087     {
00088         m_blinkTimer = 0;
00089         blink();
00090     }
00091     
00092     if( m_boredom < m_sleepiness )
00093         setSleepiness(  m_boredom ); // wake up quickly
00094     else    
00095         setSleepiness( m_sleepiness + (m_boredom - m_sleepiness) / 200 ); // fall asleep slowly
00096 }
00097