void epuckPlayer()
{
//e_start_agendas_processing();
//e_init_motors();
//e_init_prox();
//e_init_uart1();
/* Must send anything here or it don't work. Is it a bug? */
e_send_uart1_char("epuckSide_v3.0", 14);
unsigned a,b;
/* Flash the LED's in a singular manner for show that this program is in
* epuck memory */
for(a=0; a<8; a++)
for(b=0; b<20000; b++)
e_set_led(a ,1); /* LED ON */
for(a=0; a<8; a++)
for(b=0; b<20000; b++)
e_set_led(a ,0); /* LED OFF */
char command;
while(1)
{
command = recv_char();
switch(command)
{
case 0x13:
recv_vel();
break;
case 0x14:
send_steps();
break;
case 0x16:
read_ir_sensors();
break;
case 0x15:
stop_motors();
break;
case 0x17:
read_camera();
break;
case 0x18:
set_LEDs();
break;
case 0x01:
sendVersion();
break;
case 0x02:
config_camera();
break;
}
}
}
/**
* Increment effect counter & set new LED number
*/
void next_LED_in_effects(){
if(!current_effect) return;
set_LEDs(current_effect[effect_cntr]);
if(effect_cntr == 0 && effect_increment == -1){ // left border - go to the right
effect_increment = 1;
}
effect_cntr += effect_increment;
if(current_effect[effect_cntr] == 0){ // right border - go to the left
effect_increment = -1;
effect_cntr -= 2; // and go to left from previous element
}
}
void ramp(uint8_t b0, uint8_t b1, void (*set_LEDs)(uint8_t))
{
int df = RAMP_FRAMES;
int db = abs(b1 - b0) * 16;
int32_t err = df / 2;
int b = b0 * 16;
int bstep = b1 < b0 ? -1 : +1;
for (int f = 0; f < RAMP_FRAMES; f++) {
int c = b / 16;
c += (b % 16) >= dither_matrix[f % 16];
set_LEDs(c);
err -= db;
if (err < 0) {
b += bstep;
err += df;
}
}
}
