Diff: main.cpp

Revision:

36:9ee1ec2135d5

Parent:

34:cd56c00ed910

Child:

37:e25d212ee3fe

--- a/main.cpp	Fri Jun 12 11:44:46 2015 -0700
+++ b/main.cpp	Fri Jun 12 18:23:46 2015 -0700
@@ -13,16 +13,16 @@
 // PTD2 (D11) data output for strip# 1
 // PTD3 (D12) data output for strip# 2
 // PTA2 (D3) blinking eyes output (HI = ON)
+// PTA5 (D5) servomotor (20 msec period; 1.0-2.0msec ON)
 
-unsigned const DATA_OUT_PIN1 = 2; // PTD2
-unsigned const DATA_OUT_PIN2 = 3; // PTD3
-
+const unsigned DATA_OUT_PIN1 = 2; // PTD2
+const unsigned DATA_OUT_PIN2 = 3; // PTD3
 const unsigned MAX_LEDS_PER_STRIP = 32;
 
 // per LED: 3 * 20 mA = 60mA max
 // 60 LEDs: 60 * 60mA = 3600 mA max
 // 120 LEDs: 7200 mA max
-unsigned const nLEDs = MAX_LEDS_PER_STRIP;
+const unsigned nLEDs = MAX_LEDS_PER_STRIP;
 
 template class WS2811<MAX_LEDS_PER_STRIP>;
 
@@ -34,16 +34,20 @@
 Serial pc(USBTX, USBRX);
 
 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
-PwmOut rled(LED_RED);   // max = 0.0
-PwmOut gled(LED_GREEN); // max = 0.0
+PwmOut rled(LED_RED);       // max = 0.0
+PwmOut gled(LED_GREEN);     // max = 0.0
 // LED_BLUE is on PTD1
-PwmOut eyes(D3);        // max = 1.0
+PwmOut eyes(D3);            // also redLED1; max = 1.0
+PwmOut servo(D5);
+DigitalOut greenLED2(D4);   // max = 1.0
+DigitalIn button1(D6);      // low=ON, debounced
+DigitalIn button2(D7);      // low=ON, debounced
 
-float touchPercentage;
+// Limits
+const float maxBrite = 0.5;
 
-float const minBrite = 0.2;
-float const maxBrite = 0.5;
-float brite;
+const float minServo = -0.7; // -1.0 = -60°
+const float maxServo = 0.6; // 1.0 = +60°
 
 // @brief sets different colors in each of the LEDs of a strip
 // @param strip the light strip
@@ -71,10 +75,30 @@
     strip.show();
 }
 
-static void selfTest()
+// range is -1.0 (full CCW) to +1.0 (full CW)
+static void positionServo(float pos)
+{
+    if (pos < minServo) pos = minServo;
+    else if (pos > maxServo) pos = maxServo;
+
+    servo.pulsewidth_us((1.5 + (pos / 2.0)) * 1000.0);
+}
+
+static void selfTestServo()
 {
-    pc.printf("self test: ");
+    pc.printf("Servo:\r\n");
+    pc.printf("CCW, ");
+    positionServo(-1.0);
+    wait(1.0);
+    pc.printf("CW, ");
+    positionServo(+1.0);
+    wait(1.0);
+    pc.printf("center.\r\n");
+    positionServo(0.0);
+}
 
+static void selfTestLEDs()
+{
     pc.printf("LEDs .");
     rled = 0.0; // red LED on
     wait(1.0);
@@ -88,10 +112,13 @@
     wait(1.0);
     pc.printf(".");
     eyes = 0.0;
-    pc.printf(", ");
+    pc.printf("\r\n");
+}
 
+static void selfTestLightStrips()
+{
     pc.printf("light strips");
-    float rgb[4] = { 1.0, 0.0, 0.0, 0.0 };
+    uint8_t rgb[4] = { 255 * maxBrite, 0, 0, 0 };
     for (int i = 0; i < 3; i++) {
         showSolidColor(lightStrip1, rgb[0], rgb[1], rgb[2]);
         showSolidColor(lightStrip2, rgb[1], rgb[2], rgb[0]);
@@ -108,10 +135,19 @@
     pc.printf("\r\n");
 }
 
+static void selfTest()
+{
+    pc.printf("self test: ");
+
+    selfTestServo();
+    selfTestLEDs();
+    selfTestLightStrips();
+}
+
 int main(void)
 {
     pc.baud(115200);
-    pc.printf("\r\nNevermore's Revenge!\r\ncompiled " __DATE__ ", " __TIME__ "\r\n");
+    pc.printf("\r\n\r\nNevermore's Revenge!\r\ncompiled " __DATE__ ", " __TIME__ "\r\n");
 
     lightStrip1.begin();
     lightStrip2.begin();
@@ -119,6 +155,8 @@
     rled = 1.0;
     gled = 1.0;
     eyes = 0.0;
+    greenLED2 = 0.0;
+    servo.period_ms(20);
 
     selfTest();
 
@@ -133,6 +171,8 @@
         showRainbow(lightStrip1, 1.0, maxBrite, fabs(xyz[0]));
         showRainbow(lightStrip2, 1.0, maxBrite, fabs(xyz[1]));
         MyWS2811::startDMA();
+        MyWS2811::wait_for_dma_done();
+        wait(0.000055);
     }
 }