Suga koubou
K.I.T.T. Scanner (Knight Rider) http://mbed.org/users/okini3939/programs/KittScanner_sample/latest
KITTScanner.cpp@1:bb116abfe905, 2011-07-16 (annotated)
- Committer:
- okini3939
- Date:
- Sat Jul 16 16:17:57 2011 +0000
- Revision:
- 1:bb116abfe905
- Parent:
- 0:9d29ea3f1886
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| okini3939 | 0:9d29ea3f1886 | 1 | /* |
| okini3939 | 0:9d29ea3f1886 | 2 | * mbed library for K.I.T.T. Scanner |
| okini3939 | 0:9d29ea3f1886 | 3 | * Copyright (c) 2010 Hiroshi Suga |
| okini3939 | 0:9d29ea3f1886 | 4 | * Released under the MIT License: http://mbed.org/license/mit |
| okini3939 | 0:9d29ea3f1886 | 5 | */ |
| okini3939 | 0:9d29ea3f1886 | 6 | |
| okini3939 | 0:9d29ea3f1886 | 7 | #include "mbed.h" |
| okini3939 | 0:9d29ea3f1886 | 8 | #include "KITTScanner.h" |
| okini3939 | 0:9d29ea3f1886 | 9 | |
| okini3939 | 1:bb116abfe905 | 10 | KITTScanner::KITTScanner () { |
| okini3939 | 1:bb116abfe905 | 11 | led[0] = new PwmOut(LED1); |
| okini3939 | 1:bb116abfe905 | 12 | led[1] = new PwmOut(LED2); |
| okini3939 | 1:bb116abfe905 | 13 | led[2] = new PwmOut(LED3); |
| okini3939 | 1:bb116abfe905 | 14 | led[3] = new PwmOut(LED4); |
| okini3939 | 1:bb116abfe905 | 15 | newflg = 1; |
| okini3939 | 1:bb116abfe905 | 16 | } |
| okini3939 | 0:9d29ea3f1886 | 17 | |
| okini3939 | 1:bb116abfe905 | 18 | KITTScanner::KITTScanner (PwmOut &led1, PwmOut &led2, PwmOut &led3, PwmOut &led4) { |
| okini3939 | 1:bb116abfe905 | 19 | led[0] = &led1; |
| okini3939 | 1:bb116abfe905 | 20 | led[1] = &led2; |
| okini3939 | 1:bb116abfe905 | 21 | led[2] = &led3; |
| okini3939 | 1:bb116abfe905 | 22 | led[3] = &led4; |
| okini3939 | 1:bb116abfe905 | 23 | newflg = 0; |
| okini3939 | 1:bb116abfe905 | 24 | } |
| okini3939 | 1:bb116abfe905 | 25 | |
| okini3939 | 1:bb116abfe905 | 26 | KITTScanner::~KITTScanner () { |
| okini3939 | 1:bb116abfe905 | 27 | int i; |
| okini3939 | 1:bb116abfe905 | 28 | |
| okini3939 | 1:bb116abfe905 | 29 | stop(1); |
| okini3939 | 1:bb116abfe905 | 30 | if (newflg) { |
| okini3939 | 1:bb116abfe905 | 31 | for (i = 0; i < 4; i ++) { |
| okini3939 | 1:bb116abfe905 | 32 | delete led[i]; |
| okini3939 | 1:bb116abfe905 | 33 | } |
| okini3939 | 1:bb116abfe905 | 34 | } |
| okini3939 | 0:9d29ea3f1886 | 35 | } |
| okini3939 | 0:9d29ea3f1886 | 36 | |
| okini3939 | 0:9d29ea3f1886 | 37 | void KITTScanner::start (float speed) { |
| okini3939 | 1:bb116abfe905 | 38 | int i; |
| okini3939 | 0:9d29ea3f1886 | 39 | |
| okini3939 | 1:bb116abfe905 | 40 | for (i = 0; i < 4; i ++) { |
| okini3939 | 1:bb116abfe905 | 41 | bright[i] = 0; |
| okini3939 | 1:bb116abfe905 | 42 | } |
| okini3939 | 1:bb116abfe905 | 43 | num = 0; |
| okini3939 | 1:bb116abfe905 | 44 | quit = 0; |
| okini3939 | 1:bb116abfe905 | 45 | ticker.attach(this, &KITTScanner::int_KITTScanner, speed / 6.0); |
| okini3939 | 0:9d29ea3f1886 | 46 | } |
| okini3939 | 0:9d29ea3f1886 | 47 | |
| okini3939 | 0:9d29ea3f1886 | 48 | void KITTScanner::stop (int flg) { |
| okini3939 | 1:bb116abfe905 | 49 | int i; |
| okini3939 | 0:9d29ea3f1886 | 50 | |
| okini3939 | 1:bb116abfe905 | 51 | if (flg) { |
| okini3939 | 1:bb116abfe905 | 52 | // fast stop |
| okini3939 | 1:bb116abfe905 | 53 | ticker.detach(); |
| okini3939 | 1:bb116abfe905 | 54 | for (i = 0; i < 4; i ++) { |
| okini3939 | 1:bb116abfe905 | 55 | *led[i] = 0; |
| okini3939 | 1:bb116abfe905 | 56 | } |
| okini3939 | 1:bb116abfe905 | 57 | } else { |
| okini3939 | 1:bb116abfe905 | 58 | // slow stop |
| okini3939 | 1:bb116abfe905 | 59 | quit = 1; |
| okini3939 | 1:bb116abfe905 | 60 | } |
| okini3939 | 0:9d29ea3f1886 | 61 | } |
| okini3939 | 0:9d29ea3f1886 | 62 | |
| okini3939 | 0:9d29ea3f1886 | 63 | void KITTScanner::int_KITTScanner () { |
| okini3939 | 1:bb116abfe905 | 64 | int i, flg; |
| okini3939 | 1:bb116abfe905 | 65 | |
| okini3939 | 1:bb116abfe905 | 66 | for (i = 0; i < 4; i ++) { |
| okini3939 | 1:bb116abfe905 | 67 | *led[i] = bright[i]; |
| okini3939 | 0:9d29ea3f1886 | 68 | |
| okini3939 | 1:bb116abfe905 | 69 | // fade out |
| okini3939 | 1:bb116abfe905 | 70 | bright[i] = bright[i] / 3.0; |
| okini3939 | 1:bb116abfe905 | 71 | if (bright[i] < (1.0 / 3.0 / 3.0)) { |
| okini3939 | 1:bb116abfe905 | 72 | bright[i] = 0; |
| okini3939 | 1:bb116abfe905 | 73 | } |
| okini3939 | 1:bb116abfe905 | 74 | } |
| okini3939 | 1:bb116abfe905 | 75 | |
| okini3939 | 1:bb116abfe905 | 76 | if (! quit) { |
| okini3939 | 1:bb116abfe905 | 77 | // scan |
| okini3939 | 0:9d29ea3f1886 | 78 | |
| okini3939 | 1:bb116abfe905 | 79 | if (num >= 0) { |
| okini3939 | 1:bb116abfe905 | 80 | // right |
| okini3939 | 1:bb116abfe905 | 81 | bright[num] = 1.0; |
| okini3939 | 1:bb116abfe905 | 82 | num ++; |
| okini3939 | 1:bb116abfe905 | 83 | if (num > 3) { |
| okini3939 | 1:bb116abfe905 | 84 | num = -2; |
| okini3939 | 1:bb116abfe905 | 85 | } |
| okini3939 | 1:bb116abfe905 | 86 | } else { |
| okini3939 | 1:bb116abfe905 | 87 | // left |
| okini3939 | 1:bb116abfe905 | 88 | bright[- num] = 1.0; |
| okini3939 | 1:bb116abfe905 | 89 | num ++; |
| okini3939 | 1:bb116abfe905 | 90 | } |
| okini3939 | 1:bb116abfe905 | 91 | |
| okini3939 | 1:bb116abfe905 | 92 | } else { |
| okini3939 | 1:bb116abfe905 | 93 | // slow stop |
| okini3939 | 1:bb116abfe905 | 94 | |
| okini3939 | 1:bb116abfe905 | 95 | flg = 0; |
| okini3939 | 1:bb116abfe905 | 96 | for (i = 0; i < 4; i ++) { |
| okini3939 | 1:bb116abfe905 | 97 | if (bright[i] > 0) { |
| okini3939 | 1:bb116abfe905 | 98 | flg = 1; |
| okini3939 | 1:bb116abfe905 | 99 | break; |
| okini3939 | 1:bb116abfe905 | 100 | } |
| okini3939 | 1:bb116abfe905 | 101 | } |
| okini3939 | 1:bb116abfe905 | 102 | if (! flg) { |
| okini3939 | 1:bb116abfe905 | 103 | // all led off |
| okini3939 | 1:bb116abfe905 | 104 | ticker.detach(); |
| okini3939 | 1:bb116abfe905 | 105 | for (i = 0; i < 4; i ++) { |
| okini3939 | 1:bb116abfe905 | 106 | *led[i] = 0; |
| okini3939 | 1:bb116abfe905 | 107 | } |
| okini3939 | 1:bb116abfe905 | 108 | } |
| okini3939 | 1:bb116abfe905 | 109 | |
| okini3939 | 1:bb116abfe905 | 110 | } |
| okini3939 | 0:9d29ea3f1886 | 111 | } |