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pizzabox-teensy
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added Bounce library 

implemented + tested:
- user interaction
- recording
- updated light-fading to use elapsed_millis
This commit is contained in:
jpunkt 2022-01-12 20:34:11 +01:00
parent eeb7df97f7
commit eb35e2edce
2 changed files with 140 additions and 28 deletions
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1
platformio.ini
View File

@ -17,4 +17,5 @@ lib_deps =
adafruit/Adafruit NeoPixel@^1.10.1
gitlab-simple-serial-protocol/SimpleSerialProtocol@^2.4.0
ivanseidel/LinkedList@0.0.0-alpha+sha.dac3874d28
thomasfredericks/Bounce2@^2.70
src_filter = +<*> -<.git/> -<.svn/> -<example/> -<examples/> -<test/> -<tests/> -<scratch*>

167
src/main.cpp
View File

@ -1,4 +1,5 @@
#include <Arduino.h>
#include <Bounce2.h>
#include <Adafruit_NeoPixel.h>
#include <SimpleSerialProtocol.h>
#include <StateMachine.h>
@ -9,19 +10,19 @@
/*-------- Pin definitions --------*/
// Vertical motor top
#define VERT_UP_PWM 3
#define VERT_UP_AIN2 4
#define VERT_UP_AIN1 5
#define VERT_UP_PWM 3
#define VERT_UP_AIN2 4
#define VERT_UP_AIN1 5
// Vertical motor bottom
#define VERT_DOWN_PWM 9
#define VERT_DOWN_AIN2 7
#define VERT_DOWN_AIN1 8
#define VERT_DOWN_PWM 9
#define VERT_DOWN_AIN2 7
#define VERT_DOWN_AIN1 8
// Horizontal motor left
#define HORZ_LEFT_PWM 24
#define HORZ_LEFT_AIN2 25
#define HORZ_LEFT_AIN1 26
#define HORZ_LEFT_PWM 24
#define HORZ_LEFT_AIN2 25
#define HORZ_LEFT_AIN1 26
// Horizontal motor right
#define HORZ_RIGHT_PWM 29
@ -41,11 +42,21 @@
#define HORZ_CNT_OUTER 35
// Lights
#define LED_FRONT 41
#define LED_FRONT 41
#define LED_COUNT_FRONT 26
#define LED_BACK 14
#define LED_COUNT_BACK 72
#define LED_BACK 14
#define LED_COUNT_BACK 72
// Buttons
#define BTN_LED_BLUE 21
#define BTN_BLUE 20
#define BTN_LED_RED 17
#define BTN_RED 16
#define BTN_LED_GREEN 23
#define BTN_GREEN 22
#define BTN_LED_YELLOW 19
#define BTN_YELLOW 18
/*-------- Constants --------*/
@ -79,15 +90,16 @@ State* S40 = sm.addState(&state_serial_com);
State* SER = sm.addState(&state_error);
// Heartbeat blink interval constants
#define WAIT_ON_MS 200 // Blink when waiting for Serial
#define WAIT_OFF_MS 1800
#define WAIT_ON_MS 200 // Blink when waiting for Serial
#define WAIT_OFF_MS 1800
#define ERROR_ON_MS 1000 // Blink when in error state
#define ERROR_OFF_MS 500
#define ERROR_ON_MS 1000 // Blink when in error state
#define ERROR_OFF_MS 500
/*-------- Variables --------*/
// Heartbeat blinker timer
elapsedMillis blink_time;
bool blink_status; // boolean to hold led status (needed to let more than one led blink)
// Statemachine booleans
bool handshake_complete;
@ -111,6 +123,12 @@ Motor horz_right(HORZ_RIGHT_PWM, HORZ_RIGHT_AIN1, HORZ_RIGHT_AIN2);
Adafruit_NeoPixel led_front(LED_COUNT_FRONT, LED_FRONT, NEO_GBRW + NEO_KHZ800);
Adafruit_NeoPixel led_back(LED_COUNT_BACK, LED_BACK, NEO_GBRW + NEO_KHZ800);
// Buttons
Bounce2::Button btn_blue = Bounce2::Button();
Bounce2::Button btn_red = Bounce2::Button();
Bounce2::Button btn_yellow = Bounce2::Button();
Bounce2::Button btn_green = Bounce2::Button();
/*-------- Serial Communication --------*/
// Error handler
void serial_on_error(uint8_t errorNum);
@ -169,15 +187,20 @@ void vert_count() {
* @param on_interval time LED stays on in millis
* @param off_interval time LED is off in millis
*/
void blink_builtin(uint32_t on_interval, uint32_t off_interval) {
if (digitalRead(LED_BUILTIN)) {
template <size_t N>
void blink(int (&led_pin)[N], uint32_t on_interval, uint32_t off_interval) {
if (blink_status) {
if (blink_time >= on_interval) {
digitalWrite(LED_BUILTIN, LOW);
blink_status = false;
for (const int &led : led_pin)
digitalWrite(led, LOW);
blink_time = blink_time - on_interval;
}
} else {
if (blink_time >= off_interval) {
digitalWrite(LED_BUILTIN, HIGH);
blink_status = true;
for (const int &led : led_pin)
digitalWrite(led, HIGH);
blink_time = blink_time - off_interval;
}
}
@ -249,6 +272,12 @@ void serial_received() {
ssp.writeEot();
}
void serial_received(uint8_t response) {
ssp.writeCommand(RECEIVED);
ssp.writeUnsignedInt8(response);
ssp.writeEot();
}
/**
* @brief Helper function to calculate transition between two colors
*
@ -290,11 +319,10 @@ void serial_led_fade(Adafruit_NeoPixel &led) {
Serial.printf("r = %i, g = %i, b = %i, w = %i \n", from_R, from_G, from_B, from_W);
uint32_t start_time = millis();
uint32_t end_time = start_time + time_ms;
elapsedMillis t = 0;
while (millis() < end_time) {
float_t perc = (float) (millis() - start_time) / (float) time_ms;
while (t < time_ms) {
float_t perc = (float) t / (float) time_ms;
uint32_t color = led.Color(color_value(from_R, to_R, perc),
color_value(from_G, to_G, perc),
color_value(from_B, to_B, perc),
@ -435,8 +463,30 @@ void serial_motor_h() {
*
*/
void serial_record() {
uint32_t timeout = ssp.readUnsignedInt32();
ssp.readEot();
Serial.println("Received RECORD");
Serial.printf("Received RECORD, timeout %d\n", timeout);
elapsedMillis time = 0;
// TODO reset leds
digitalWrite(LED_BUILTIN, HIGH);
blink_status = true;
while (time < timeout) {
// do nothing until t - 5s
btn_red.update();
if (btn_red.isPressed())
break;
if ((timeout - time) < 5000) {
int leds[] = { LED_BUILTIN };
blink(leds, 500, 500);
}
}
digitalWrite(LED_BUILTIN, LOW);
serial_received();
}
@ -448,6 +498,7 @@ void serial_rewind() {
ssp.readEot();
Serial.println("Received REWIND");
zero_motor(vert_up, vert_down, VERT_END_INNER, VERT_END_OUTER);
// TODO enable zero_motor(hor_left, hor_right, HOR_END_OUTER, HOR_END_INTER);
serial_received();
}
@ -456,9 +507,49 @@ void serial_rewind() {
*
*/
void serial_userinteract() {
char bt = ssp.readByte();
uint32_t timeout = ssp.readUnsignedInt32();
ssp.readEot();
Serial.println("Received USER_INTERACT");
serial_received();
u_int8_t blue = (bt & 0x1);
u_int8_t red = (bt & 0x2) >> 1;
u_int8_t yellow = (bt & 0x4) >> 2;
u_int8_t green = (bt & 0x8) >> 3;
Serial.printf("Blink byte: B=%d, R=%d, Y=%d, G=%d; Timeout=%d\n", blue, red, yellow, green, timeout);
elapsedMillis t = 0;
const u_int8_t n_leds = blue + red + yellow + green;
int leds[n_leds];
// TODO add leds
// for (int i = 0; i < n_leds; i++) {
// leds[i] =
// }
// {LED_BUILTIN, BTN_LED_BLUE, BTN_LED_RED, BTN_LED_YELLOW, BTN_LED_GREEN};
// for (const int &led : leds) {
// digitalWrite(led, LOW);
// }
uint8_t btn_pressed = 0;
while (t < timeout)
{
// blink(leds, 500, 500);
// TODO use bitmask
btn_blue.update();
btn_red.update();
btn_yellow.update();
btn_green.update();
btn_pressed = (blue && btn_blue.pressed() ? 0x1 : 0) |
(red && btn_red.pressed() ? 0x2 : 0) |
(yellow && btn_yellow.pressed() ? 0x4 : 0) |
(green && btn_green.pressed() ? 0x8 : 0);
if (btn_pressed > 0) break;
}
serial_received(btn_pressed);
}
/**
@ -498,12 +589,28 @@ void setup() {
pinMode(LED_BUILTIN, OUTPUT);
digitalWrite(LED_BUILTIN, LOW);
btn_blue.attach(BTN_BLUE, INPUT_PULLUP);
btn_red.attach(BTN_RED, INPUT_PULLUP);
btn_yellow.attach(BTN_YELLOW, INPUT_PULLUP);
btn_green.attach(BTN_GREEN, INPUT_PULLUP);
btn_blue.interval(5);
btn_red.interval(5);
btn_yellow.interval(5);
btn_green.interval(5);
btn_blue.setPressedState(LOW);
btn_red.setPressedState(LOW);
btn_yellow.setPressedState(LOW);
btn_green.setPressedState(LOW);
hor_pos = 0;
vert_pos = 0;
hor_lastchange = 0;
vert_lastchange = 0;
blink_time = 0;
blink_status = false;
vert_up.setup();
vert_down.setup();
@ -606,9 +713,11 @@ void state_wait_serial() {
Serial.println("State Waiting for Serial Handshake.");
digitalWrite(LED_BUILTIN, LOW);
blink_status = false;
}
blink_builtin(WAIT_ON_MS, WAIT_OFF_MS);
int leds[] = {LED_BUILTIN};
blink(leds, WAIT_ON_MS, WAIT_OFF_MS);
ssp.loop();
}
@ -632,9 +741,11 @@ void state_serial_com() {
void state_error() {
if (sm.executeOnce) {
Serial.println("State Error.");
blink_status = digitalRead(LED_BUILTIN);
}
blink_builtin(ERROR_ON_MS, ERROR_OFF_MS);
int leds[] = { LED_BUILTIN };
blink(leds, ERROR_ON_MS, ERROR_OFF_MS);
}
/**