/*
* Handle note-on messages
* Precondition: 1 <= channel <= 16, 0 <= pitch < 128, 0 <= velocity < 128
*/
void HandleNoteOn(byte channel, byte pitch, byte velocity)
{
//If zero velocity, turn the note off
if (velocity == 0) {
HandleNoteOff(channel, pitch, velocity);
return;
}
double freq = frequencyTable[pitch];
if (useSerial) {
//Print a message to Serial Monitor
Serial.println("NOTE ON");
Serial.println("Channel: " + String(channel) + ", Pitch: " + String(pitch) + ", Velocity: " + String(velocity));
Serial.println("Computed Frequency: "+String(freq)+"Hz");
}
if (useLCD) {
//Print a message to the LCD
clearLCD();
printToLCD(0,0,"On F="+String(freq)+"Hz");
printToLCD(0,1,"P="+String(pitch)+", V="+String(velocity));
}
ledOff(); //just to be safe
DueTimer timer = Timer.getAvailable();
timer.attachInterrupt(blinkLED);
timer.setFrequency(freq);
timer.start();
activeTimers[pitch] = timer;
}
/*
* Handle note-off messages
* If sustain is not on, kill the note
* Otherwise, toggle the flag that puts the timers
* into sustain mode
*/
void HandleNoteOff(byte channel, byte pitch, byte velocity)
{
if (useSerial) {
//Print a message to Serial Monitor
Serial.println("NOTE OFF");
Serial.println("Channel: " + String(channel) + ", Pitch: " + String(pitch) + ", Velocity: " + String(velocity));
}
if (useLCD) {
//Print a message to the LCD
clearLCD();
printToLCD(0,0,"Off");
printToLCD(0,1,"P="+String(pitch)+", V="+String(velocity));
}
DueTimer timer = activeTimers[pitch]; //Error prone, if a NoteOff is sent for some note that wasn't turned on with NoteOn
timer.detachInterrupt(); //Also stops the timer
activeTimers[pitch] = NULL; //Clear the spot in the activeTimers array
}
//Potentially leaves free-running timers
void HandleContinue() {
if (useSerial) {
Serial.println("CONTINUE");
}
if (useLCD) {
//Print to LCD
clearLCD();
printToLCD(0,0,"Restarting...");
printToLCD(0,1,"(Could crash)");
}
Timer0.start();
Timer1.start();
Timer2.start();
Timer3.start();
Timer4.start();
Timer5.start();
Timer6.start();
Timer7.start();
Timer8.start();
}
void HandleStop() {
if (useSerial) {
Serial.println("STOP");
}
if (useLCD) {
//Print to LCD
clearLCD();
printToLCD(0,0,"Stop!");
printToLCD(0,1,"Hammertime");
}
Timer0.stop();
Timer1.stop();
Timer2.stop();
Timer3.stop();
Timer4.stop();
Timer5.stop();
Timer6.stop();
Timer7.stop();
Timer8.stop();
}
//Reset EVERYTHING
void HandleSystemReset() {
if (useSerial) {
Serial.println("SYSTEM RESET");
}
if (useLCD) {
//Print to LCD
clearLCD();
printToLCD(0,0,"Resetting");
printToLCD(0,1,"System");
}
Timer0.detachInterrupt();
Timer1.detachInterrupt();
Timer2.detachInterrupt();
Timer3.detachInterrupt();
Timer4.detachInterrupt();
Timer5.detachInterrupt();
Timer6.detachInterrupt();
Timer7.detachInterrupt();
Timer8.detachInterrupt();
activeTimers = {NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL};
}
void RoverNavigator::loopAt1Hz() {
_gps->location(&_lat, &_lon, &_age);
#if ENABLE_LCD
printToLCD();
#endif
#if MANUAL_PID_TUNING
configurePIDConstants();
#endif
#if DEBUG_LOG
debugLog();
#endif
}
