Diff: Blinker.cpp

Revision:

2:01115080f6da

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Blinker.cpp	Mon Dec 14 08:28:21 2009 +0000
@@ -0,0 +1,97 @@
+#include "stdafx.h"
+
+#include "mbed.h"
+#include "Blinker.h"
+
+#define EYE_CLOSED 0.25
+#define EYE_OPEN 0.85
+
+extern Logger pcSerial;
+
+Blinker::Blinker( ServoMinder *servoMinder )
+{
+    m_servoMinder = servoMinder;
+    m_servoMinder->moveTo( EYE_CLOSED );
+    
+    m_sleepiness = 0;
+    m_boredom = 0;
+    
+    m_tickTime = 0.1;
+    m_blinkTimer = 0;
+    
+    m_nextMove = -1;
+
+
+    m_ticker.attach( this, &Blinker::tick, m_tickTime );
+}
+
+void Blinker::setBoredom( float boredom )
+{
+    m_boredom = boredom;
+}
+
+void Blinker::setSleepiness( float sleepiness )
+{
+    float diff = fabs( m_sleepiness - sleepiness );
+    m_sleepiness = sleepiness;
+    
+    if( diff > 0.01 )
+        open();
+   
+}
+    
+float  Blinker::speedForSleepiness()
+{
+    // for sleepiness 0->1, return speed 2->0.5
+    return 2 - (1.5 * m_sleepiness);
+}
+
+float  Blinker::openPosForSleepiness()
+{
+    // for sleepiness 0->1, return EYE_OPEN ->( )/2
+    return  EYE_OPEN +  ( (EYE_CLOSED-EYE_OPEN) * 0.8 * m_sleepiness);
+}
+
+void Blinker::close()
+{
+    m_servoMinder->setSpeed( speedForSleepiness() );
+    m_servoMinder->moveTo( EYE_CLOSED );
+
+}
+   
+ void Blinker::open()
+{
+    m_servoMinder->setSpeed( speedForSleepiness() );
+    m_servoMinder->moveTo(  openPosForSleepiness() );
+} 
+
+void Blinker::blink()
+{
+    m_servoMinder->setSpeed( speedForSleepiness() );
+    m_servoMinder->moveTo( EYE_CLOSED );
+    m_nextMove = openPosForSleepiness();
+}
+
+void Blinker::tick()
+{
+
+    if( ! m_servoMinder->isMoving())
+        if( m_nextMove >= 0 )
+        {
+             m_servoMinder->moveTo( m_nextMove );
+             m_nextMove = -1;
+        }
+        
+    m_blinkTimer ++;
+    if( m_blinkTimer > 100 ) // 10 secs
+    {
+        m_blinkTimer = 0;
+        blink();
+    }
+    
+    if( m_boredom < m_sleepiness )
+        setSleepiness(  m_boredom ); // wake up quickly
+    else    
+        setSleepiness( m_sleepiness + (m_boredom - m_sleepiness) / 200 ); // fall asleep slowly
+}
+