Skip to content

Commit

Permalink
Trying to get LEDs to work with holding to rotate
Browse files Browse the repository at this point in the history
  • Loading branch information
@Mateo-S
Mateo-S committed Mar 29, 2019
1 parent 4d61abd commit a92fbb7
Showing 1 changed file with 80 additions and 61 deletions.
141 changes: 80 additions & 61 deletions chairmans2019.ino
View file
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
Pin A2 - INT (Trellis)
Pin A7 - Seat motor encoder
Power ┌──>Trellis 5V
Power ┌──>Trellis 5V
┌─>5V──>Breadboard 5V Rail┼──>LED Strip 5V
Robot Battery─>Breaker─>PDP─┤ └──>Arduino Vin
└─>40A─>Victor─>CIM
Expand Down Expand Up @@ -55,7 +55,7 @@ bool isSpinning = false;
// Trellis
const int TRELLIS_INT_PIN = A2;
const int TRELLIS_NUM_KEYS = 16;
Adafruit_Trellis matrix0= Adafruit_Trellis();
Adafruit_Trellis matrix0 = Adafruit_Trellis();
Adafruit_TrellisSet trellis = Adafruit_TrellisSet(&matrix0);

// Motor
Expand Down Expand Up @@ -128,16 +128,16 @@ void loop() {
trellis.readSwitches();

// Turn a pressable button off then on when pressed
for (int i = 0; i < TRELLIS_NUM_KEYS; i++) {
if (trellis.isKeyPressed(i) && (i < 7 || i == 12 || i == 15)){
button = i;
trellis.clrLED(i);
delay(200);
trellis.setLED(i);
Serial.print("Button pressed - ");
Serial.println(i);
}
for (int i = 0; i < TRELLIS_NUM_KEYS; i++) {
if (trellis.isKeyPressed(i) && (i < 7 || i == 12 || i == 15)) {
button = i;
trellis.clrLED(i);
delay(200);
trellis.setLED(i);
Serial.print("Button pressed - ");
Serial.println(i);
}
}

if (button != -1)
{
Expand All @@ -147,8 +147,21 @@ void loop() {
{
cim.write(90);
}
for (uint8_t i = 0; i < numKeys; i++) {
// if it was pressed, turn it on
if (trellis.justPressed(i)) {
Serial.print("v"); Serial.println(i);
// trellis.setLED(i);
increment(1);
}
// if it was released, turn it off
if (trellis.justReleased(i)) {
Serial.print("^"); Serial.println(i);
// trellis.clrLED(i);
}
}



// Reset the state of the trellis. Am i doing trellis right? -Egan
// readSwitches() returns a boolean depending on if there's been a change in
// the state of the trellis since the last call
Expand All @@ -173,47 +186,47 @@ void increment(int i) {
for (int seg = 0; seg < nSegments; seg++) {
originalValues[seg] = getSegment(seg);
if (seg < stage) {
endValues[nSegments-1-seg] = past;
endValues[nSegments - 1 - seg] = past;
} else if (seg == stage) {
endValues[nSegments-1-seg] = current;
endValues[nSegments - 1 - seg] = current;
} else {
endValues[nSegments-1-seg] = future;
endValues[nSegments - 1 - seg] = future;
}
}
Serial.println("LED Destinations calculated");
unsigned long startTime = millis();
double speed = 0.1;
/*
if (i > 0) {
if (i > 0) {
speed = topMotorSpeed;
} else {
} else {
speed = -topMotorSpeed;
}
}
*/
//Serial.print("Speed: ");
//Serial.println(speed);
//setMotor(speed);
unsigned long duration = sumRange(stepDurations, stage-i, stage);
unsigned long duration = sumRange(stepDurations, stage - i, stage);
Serial.print("Duration: ");
Serial.println(duration);
Serial.print("Start time: ");
Serial.println(startTime);
Serial.print("End time: ");
Serial.println(startTime + duration);
while (millis() < startTime + duration) {
unsigned long mills=min(millis(),startTime+duration);
// int t = millis(); // Initialize time for uniform brighness
Serial.print("Averaging LEDS. millis:");
Serial.println(millis());
for (int seg = 0; seg < nSegments; seg++) {
// set each to the blend of its original and end values with the more time
// giving more weight to the end color. The abs() is there to ensure that
// the delay in the two millis() calls above does not cause a negative
// value.
setSegment(seg, blendColors(originalValues[seg],endValues[seg],startTime+duration-mills,mills-startTime));
//setSegment(seg, endValues[seg]);
}
FastLED.show();
unsigned long mills = min(millis(), startTime + duration);
// int t = millis(); // Initialize time for uniform brighness
Serial.print("Averaging LEDS. millis:");
Serial.println(millis());
for (int seg = 0; seg < nSegments; seg++) {
// set each to the blend of its original and end values with the more time
// giving more weight to the end color. The abs() is there to ensure that
// the delay in the two millis() calls above does not cause a negative
// value.
setSegment(seg, blendColors(originalValues[seg], endValues[seg], startTime + duration - mills, mills - startTime));
//setSegment(seg, endValues[seg]);
}
FastLED.show();
}
Serial.println("Duration Done");
//setMotor(-speed);
Expand All @@ -222,7 +235,7 @@ void increment(int i) {
// delay(-(millis()-(startTime + duration)));//backtrack ammount duration
// overshot by
//setMotor(0);
for (int seg = 0; seg < nSegments; seg++) {
for (int seg = 0; seg < nSegments; seg++) {
// set each to the blend of its original and end values with the more time
// giving more weight to the end color. The abs() is there to ensure that
// the delay in the two millis() calls above does not cause a negative
Expand All @@ -240,7 +253,9 @@ CRGB WHITE = CRGB(255, 255, 255); // white
Sets a segment of leds to the crgb. A block is the LED's behind a given gear
or location. DOES NOT update live leds
*/
void setSegment(int i, CRGB c) { setSegment(i, c, leds); }
void setSegment(int i, CRGB c) {
setSegment(i, c, leds);
}
void setSegment(int i, CRGB c, CRGB destination[]) {
for (int ind = i * segmentSize; ind < i * segmentSize + segmentSize; ind++) {
destination[ind] = c;
Expand All @@ -249,25 +264,29 @@ void setSegment(int i, CRGB c, CRGB destination[]) {
/**
Gets the value for a segment
*/
CRGB getSegment(int i) { return leds[i * segmentSize]; }
CRGB getSegment(int i, CRGB source[]) { return source[i * segmentSize]; }
CRGB getSegment(int i) {
return leds[i * segmentSize];
}
CRGB getSegment(int i, CRGB source[]) {
return source[i * segmentSize];
}
/**
Finds the blend of colors c1 and c2. The ratio of c1 to c2 is determined by
alpha1 to alpha2. Alpha 1 and Alpha2 must be positive, but do not have to
have a certain sum.
*/
CRGB blendColors(CRGB c1, CRGB c2, unsigned long alpha1, unsigned long alpha2) {
unsigned long sum = alpha1 + alpha2;
double prop1 = (0.0+alpha1) / sum;
double prop2 = (0.0+alpha2) / sum;
double prop1 = (0.0 + alpha1) / sum;
double prop2 = (0.0 + alpha2) / sum;
Serial.println("_________________________________");
Serial.print(sum);
Serial.print(" , ");
Serial.println(prop2);
Serial.println("_________________________________");
CRGB combined = CRGB(0, 0, 0);
for (int i = 0; i < 3; i++) {
combined[i] = max(0,min(255,(c1[i] * prop1 + c2[i] * prop2)));
combined[i] = max(0, min(255, (c1[i] * prop1 + c2[i] * prop2)));
}
return combined;
}
Expand All @@ -291,8 +310,8 @@ void trellisBootLEDs() {

// CIM Utilities
/**
* Rotates CIM x number of time segments
*/
Rotates CIM x number of time segments
*/
void rotateMotorFinite(int direction, int steps) {
Serial.print("rotating motor for duration");
if (direction == 1) {
Expand All @@ -312,11 +331,11 @@ void rotateMotorFinite(int direction, int steps) {
}
}
/**
* Sets the motor to the direction indicated by the parameter.
* Lack of blocking 'delay' calls enables synchronization with leds
* float value of 1 sets to full forward, and float value of -1 sets to full
* backward. hi
*/
Sets the motor to the direction indicated by the parameter.
Lack of blocking 'delay' calls enables synchronization with leds
float value of 1 sets to full forward, and float value of -1 sets to full
backward. hi
*/
void setMotor(float value) {
Serial.print("Setting Motor to ");
int val = 90 + (int)(90 * value);
Expand All @@ -325,10 +344,10 @@ void setMotor(float value) {
}

/**
* Finds the sum of the array values in parameter1 between paramater2 and
* paramter3. param 2 and 3 represent array indicies, but their order does not
* matter.
*/
Finds the sum of the array values in parameter1 between paramater2 and
paramter3. param 2 and 3 represent array indicies, but their order does not
matter.
*/
unsigned long sumRange(const unsigned long arr[], int ind1, int ind2) {
int lower = min(ind1, ind2);
int upper = max(ind1, ind2);
Expand All @@ -346,7 +365,7 @@ void rotate(double r) {
m = 0;
Serial.println("Enter rotate");
cim.write(180);
while (m/2 <= endCount) {
while (m / 2 <= endCount) {
//cim.write(180);
currPositive = analogRead(ANALOG_PIN_POSITIVE);
currNegative = analogRead(ANALOG_PIN_NEGATIVE);
Expand All @@ -373,17 +392,17 @@ void rotate(double r) {
cim.write(90);
completedRotation = true;
Serial.println("Stop");
// delay(4000);
// delay(4000);

}

void spin(bool &isSpinning){
if(isSpinning){
cim.write(45);
isSpinning = !isSpinning;
}
else if(!isSpinning){
cim.write(90);
isSpinning = !isSpinning;
}
void spin(bool &isSpinning) {
if (isSpinning) {
cim.write(45);
isSpinning = !isSpinning;
}
else if (!isSpinning) {
cim.write(90);
isSpinning = !isSpinning;
}
}

0 comments on commit a92fbb7

Please sign in to comment.