added Bounce library
implemented + tested: - user interaction - recording - updated light-fading to use elapsed_millis
This commit is contained in:
jpunkt
parent
eeb7df97f7
commit
eb35e2edce
2 changed files with 140 additions and 28 deletions
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@ -17,4 +17,5 @@ lib_deps =
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adafruit/Adafruit NeoPixel@^1.10.1
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gitlab-simple-serial-protocol/SimpleSerialProtocol@^2.4.0
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ivanseidel/LinkedList@0.0.0-alpha+sha.dac3874d28
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thomasfredericks/Bounce2@^2.70
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src_filter = +<*> -<.git/> -<.svn/> -<example/> -<examples/> -<test/> -<tests/> -<scratch*>
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135
src/main.cpp
135
src/main.cpp
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@ -1,4 +1,5 @@
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#include <Arduino.h>
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#include <Bounce2.h>
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#include <Adafruit_NeoPixel.h>
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#include <SimpleSerialProtocol.h>
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#include <StateMachine.h>
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@ -47,6 +48,16 @@
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#define LED_BACK 14
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#define LED_COUNT_BACK 72
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// Buttons
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#define BTN_LED_BLUE 21
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#define BTN_BLUE 20
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#define BTN_LED_RED 17
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#define BTN_RED 16
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#define BTN_LED_GREEN 23
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#define BTN_GREEN 22
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#define BTN_LED_YELLOW 19
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#define BTN_YELLOW 18
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/*-------- Constants --------*/
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const int ENDSTOP_OVERRIDE = 8500; // time to ignore endstop when motor starts (x 10 us)
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@ -88,6 +99,7 @@ State* SER = sm.addState(&state_error);
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/*-------- Variables --------*/
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// Heartbeat blinker timer
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elapsedMillis blink_time;
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bool blink_status; // boolean to hold led status (needed to let more than one led blink)
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// Statemachine booleans
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bool handshake_complete;
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@ -111,6 +123,12 @@ Motor horz_right(HORZ_RIGHT_PWM, HORZ_RIGHT_AIN1, HORZ_RIGHT_AIN2);
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Adafruit_NeoPixel led_front(LED_COUNT_FRONT, LED_FRONT, NEO_GBRW + NEO_KHZ800);
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Adafruit_NeoPixel led_back(LED_COUNT_BACK, LED_BACK, NEO_GBRW + NEO_KHZ800);
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// Buttons
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Bounce2::Button btn_blue = Bounce2::Button();
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Bounce2::Button btn_red = Bounce2::Button();
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Bounce2::Button btn_yellow = Bounce2::Button();
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Bounce2::Button btn_green = Bounce2::Button();
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/*-------- Serial Communication --------*/
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// Error handler
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void serial_on_error(uint8_t errorNum);
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@ -169,15 +187,20 @@ void vert_count() {
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* @param on_interval time LED stays on in millis
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* @param off_interval time LED is off in millis
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*/
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void blink_builtin(uint32_t on_interval, uint32_t off_interval) {
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if (digitalRead(LED_BUILTIN)) {
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template <size_t N>
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void blink(int (&led_pin)[N], uint32_t on_interval, uint32_t off_interval) {
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if (blink_status) {
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if (blink_time >= on_interval) {
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digitalWrite(LED_BUILTIN, LOW);
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blink_status = false;
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for (const int &led : led_pin)
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digitalWrite(led, LOW);
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blink_time = blink_time - on_interval;
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}
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} else {
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if (blink_time >= off_interval) {
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digitalWrite(LED_BUILTIN, HIGH);
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blink_status = true;
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for (const int &led : led_pin)
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digitalWrite(led, HIGH);
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blink_time = blink_time - off_interval;
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}
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}
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@ -249,6 +272,12 @@ void serial_received() {
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ssp.writeEot();
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}
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void serial_received(uint8_t response) {
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ssp.writeCommand(RECEIVED);
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ssp.writeUnsignedInt8(response);
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ssp.writeEot();
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}
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/**
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* @brief Helper function to calculate transition between two colors
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*
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@ -290,11 +319,10 @@ void serial_led_fade(Adafruit_NeoPixel &led) {
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Serial.printf("r = %i, g = %i, b = %i, w = %i \n", from_R, from_G, from_B, from_W);
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uint32_t start_time = millis();
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uint32_t end_time = start_time + time_ms;
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elapsedMillis t = 0;
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while (millis() < end_time) {
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float_t perc = (float) (millis() - start_time) / (float) time_ms;
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while (t < time_ms) {
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float_t perc = (float) t / (float) time_ms;
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uint32_t color = led.Color(color_value(from_R, to_R, perc),
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color_value(from_G, to_G, perc),
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color_value(from_B, to_B, perc),
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@ -435,8 +463,30 @@ void serial_motor_h() {
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*
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*/
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void serial_record() {
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uint32_t timeout = ssp.readUnsignedInt32();
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ssp.readEot();
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Serial.println("Received RECORD");
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Serial.printf("Received RECORD, timeout %d\n", timeout);
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elapsedMillis time = 0;
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// TODO reset leds
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digitalWrite(LED_BUILTIN, HIGH);
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blink_status = true;
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while (time < timeout) {
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// do nothing until t - 5s
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btn_red.update();
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if (btn_red.isPressed())
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break;
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if ((timeout - time) < 5000) {
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int leds[] = { LED_BUILTIN };
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blink(leds, 500, 500);
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}
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}
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digitalWrite(LED_BUILTIN, LOW);
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serial_received();
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}
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@ -448,6 +498,7 @@ void serial_rewind() {
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ssp.readEot();
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Serial.println("Received REWIND");
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zero_motor(vert_up, vert_down, VERT_END_INNER, VERT_END_OUTER);
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// TODO enable zero_motor(hor_left, hor_right, HOR_END_OUTER, HOR_END_INTER);
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serial_received();
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}
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@ -456,9 +507,49 @@ void serial_rewind() {
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*
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*/
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void serial_userinteract() {
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char bt = ssp.readByte();
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uint32_t timeout = ssp.readUnsignedInt32();
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ssp.readEot();
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Serial.println("Received USER_INTERACT");
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serial_received();
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u_int8_t blue = (bt & 0x1);
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u_int8_t red = (bt & 0x2) >> 1;
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u_int8_t yellow = (bt & 0x4) >> 2;
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u_int8_t green = (bt & 0x8) >> 3;
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Serial.printf("Blink byte: B=%d, R=%d, Y=%d, G=%d; Timeout=%d\n", blue, red, yellow, green, timeout);
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elapsedMillis t = 0;
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const u_int8_t n_leds = blue + red + yellow + green;
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int leds[n_leds];
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// TODO add leds
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// for (int i = 0; i < n_leds; i++) {
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// leds[i] =
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// }
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// {LED_BUILTIN, BTN_LED_BLUE, BTN_LED_RED, BTN_LED_YELLOW, BTN_LED_GREEN};
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// for (const int &led : leds) {
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// digitalWrite(led, LOW);
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// }
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uint8_t btn_pressed = 0;
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while (t < timeout)
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{
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// blink(leds, 500, 500);
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// TODO use bitmask
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btn_blue.update();
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btn_red.update();
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btn_yellow.update();
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btn_green.update();
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btn_pressed = (blue && btn_blue.pressed() ? 0x1 : 0) |
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(red && btn_red.pressed() ? 0x2 : 0) |
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(yellow && btn_yellow.pressed() ? 0x4 : 0) |
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(green && btn_green.pressed() ? 0x8 : 0);
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if (btn_pressed > 0) break;
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}
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serial_received(btn_pressed);
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}
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/**
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@ -498,12 +589,28 @@ void setup() {
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pinMode(LED_BUILTIN, OUTPUT);
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digitalWrite(LED_BUILTIN, LOW);
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btn_blue.attach(BTN_BLUE, INPUT_PULLUP);
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btn_red.attach(BTN_RED, INPUT_PULLUP);
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btn_yellow.attach(BTN_YELLOW, INPUT_PULLUP);
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btn_green.attach(BTN_GREEN, INPUT_PULLUP);
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btn_blue.interval(5);
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btn_red.interval(5);
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btn_yellow.interval(5);
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btn_green.interval(5);
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btn_blue.setPressedState(LOW);
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btn_red.setPressedState(LOW);
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btn_yellow.setPressedState(LOW);
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btn_green.setPressedState(LOW);
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hor_pos = 0;
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vert_pos = 0;
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hor_lastchange = 0;
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vert_lastchange = 0;
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blink_time = 0;
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blink_status = false;
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vert_up.setup();
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vert_down.setup();
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@ -606,9 +713,11 @@ void state_wait_serial() {
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Serial.println("State Waiting for Serial Handshake.");
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digitalWrite(LED_BUILTIN, LOW);
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blink_status = false;
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}
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blink_builtin(WAIT_ON_MS, WAIT_OFF_MS);
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int leds[] = {LED_BUILTIN};
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blink(leds, WAIT_ON_MS, WAIT_OFF_MS);
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ssp.loop();
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}
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@ -632,9 +741,11 @@ void state_serial_com() {
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void state_error() {
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if (sm.executeOnce) {
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Serial.println("State Error.");
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blink_status = digitalRead(LED_BUILTIN);
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}
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blink_builtin(ERROR_ON_MS, ERROR_OFF_MS);
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int leds[] = { LED_BUILTIN };
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blink(leds, ERROR_ON_MS, ERROR_OFF_MS);
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}
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/**
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