// Control the LED's.
MbedResponse *NetCentricApp::ledCommand(MbedRequest *request) {
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
if (request->n > 0) led1 = request->args[0];
if (request->n > 1) led2 = request->args[1];
if (request->n > 2) led3 = request->args[2];
if (request->n > 3) led4 = request->args[3];
MbedResponse *r = new MbedResponse();
r->requestId = request->id;
r->commandId = request->commandId;
r->error = NO_ERROR;
r->n = 4;
r->values = new float[4];
r->values[0] = led1;
r->values[1] = led2;
r->values[2] = led3;
r->values[3] = led4;
return r;
}
MbedResponse *NetCentricApp::rotateR(MbedRequest *request) {
printf("---------------IK BEN HIER___________");
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
if (request->n > 0) led1 = request->args[0];
if (request->n > 1) led2 = request->args[1];
if (request->n > 2) led3 = request->args[2];
if (request->n > 3) led4 = request->args[3];
MbedResponse *r = new MbedResponse();
r->requestId = request->id;
r->commandId = request->commandId;
r->error = NO_ERROR;
r->n = 4;
r->values = new float[4];
r->values[0] = led1;
r->values[1] = led2;
r->values[2] = led3;
r->values[3] = led4;
callServo(request->args[0]);
return r;
}
int main() {
MBED_HOSTTEST_TIMEOUT(20);
MBED_HOSTTEST_SELECT(stdio_auto);
MBED_HOSTTEST_DESCRIPTION(stdio);
MBED_HOSTTEST_START("MBED_2");
DigitalOut led1(LED1);
DigitalOut led2(LED2);
int value_int;
notify_start(); // Just to sync with host test supervisor
const char* PRINT_PATTERN = "MBED: Your value was: %d\r\n";
while (true) {
// SCANF PRINTF family
value_int = 0;
led1 = 1;
scanf("%d", &value_int);
printf(PRINT_PATTERN, value_int);
led1 = 0;
// FSCANF, FPRINTF family
value_int = 0;
led2 = 1;
fscanf(stdin, "%d", &value_int);
fprintf(stdout, PRINT_PATTERN, value_int);
led2 = 0;
}
}
void led(int i)
{
//if(i>99){_delay_ms(111);return;}
long int k;
for(k=0;k<255;k++){
led1(i/10);_delay_us(800);
led2(i%10);_delay_us(800);}
}
static void appTaskLED2Led(void *pdata) {
DigitalOut led2(LED2);
while (true) {
OSTimeDlyHMSM(0,0,0,500);
led2 = !led2;
}
}
void leds_state(int leds)
{
led1( ( leds & (1<<0) ) && (1<<0) );
led2( ( leds & (1<<1) ) && (1<<1) );
led3( ( leds & (1<<2) ) && (1<<2) );
led4( ( leds & (1<<3) ) && (1<<3) );
led5( ( leds & (1<<4) ) && (1<<4) );
led6( ( leds & (1<<5) ) && (1<<5) );
}
void tskLED2(CThread *p_thread, xHandle p_params) {
CPin led2(LED_PIN_1);
led2.output();
while( p_thread->isAlive() ) {
if ( m_semButton.wait() ) { // wait for the semaphore
led2.toggle();
}
}
}
int main(void)
{
//Hier wird alles initialisiert, dh Grundeinstellungen festgelegt
init_Motor(); //Motor einstellen
init_system_tick(); //System Tick einstellen
init_drehzahlsensor(); //Drehzahlsensor einstellen
init_leds(); //LEDs einstellen
init_hupe(); //Hupe einstellen
sei(); //Alle Interrupts einschalten
while(1) //Alles innerhalb der while Schleife wird immer wieder wiederholt
{
if (~PINB & 0x01) //Wenn der invertierte Wert des ersten Bits in PINB 1 ist, dann (also wenn der Button gedrückt wird)
{
led1(AN); //Mach die LEDs 1 und 3 an
led3(AN);
m_r(255,0); //Und die Motoren mit Vollgas (255) in 2 Richtungen
m_l(255,1);
_delay_ms(500); //Warte 500 ms
led1(AUS); //LEDs 1 und 3 aus, LEDs 2 und 4 an
led3(AUS);
led2(AN);
led4(AN);
m_r(255,1); //Richtungen ändern
m_l(255,0);
_delay_ms(500); //und wieder 500ms in die andere Richtung
m_r(0,0); //Motoren aus
m_l(0,0);
led2(AUS); //Leds aus
led4(AUS);
hupe(AN); //Hupe an
_delay_ms(1000); //1 s warten
hupe(AUS); //Hupe aus
_delay_ms(300); //300ms warten
hupe(AN); //Hupe an
_delay_ms(500); //warte 500 ms
hupe(AUS); //Hupe aus
} //wieder nach oben
}
}
int main(void) {
DDRB |= _BV(PB6) | _BV(PB7); // LED outputs
PORTB |= _BV(PB7) | _BV(PB6);
DDRB |= _BV(PB2); // Enable Motors output
DDRC |= _BV(PC1); // Enable LASER outout
stop(); // This pulls the motor driver reset
wdt_enable(WDTO_4S);
muartInit();
mprintf(PSTR("#Power up!\n"));
// Ensure that the motor drivers are properly initialized by holding them in reset while the power stabilizes.
for (char i=0;i<10;i++) {
_delay_ms(100);
}
run();
mprintf(PSTR("#Motor drivers and laser armed!\n"));
led1(0);
led2(0);
char frame = 0;
while(1) {
if (!(frame & 15)) {
mprintf(PSTR("OK\n"));
}
if (frame & 8) {
led1(!(frame & 1));
} else {
led2(!(frame & 1));
}
_delay_ms(50);
wdt_reset();
frame++;
}
}
void animation(void)
{
volatile int i;
for(i = 50;i<ANIMATION_MAX;i+=15)
{
led1(ON);
delay_ms(i);
led2(ON);
delay_ms(i);
led3(ON);
delay_ms(i);
led4(ON);
delay_ms(i);
led1(OFF);
delay_ms(i);
led2(OFF);
delay_ms(i);
led3(OFF);
delay_ms(i);
led4(OFF);
delay_ms(i);
}
}
void test_spdt()
{
//创建所需元器件
ngdc dc("dc1", 5);
ngspdt spdt("spdt", ngspdt::status_throw1);
ngresistor r1("1", 5);
ngresistor r2("2", 5);
ngled led1("led1");
ngled led2("led2");
ngground gnd;
//创建接线，连接各元器件
ngline l1(dc.pos, spdt.pole);
ngline l2(spdt.throw1, r1.p1);
ngline l3(spdt.throw2, r2.p1);
ngline l4(r1.p2, led1.pos);
ngline l5(r2.p2, led2.pos);
ngline l6(led1.neg, dc.neg);
ngline l7(led2.neg, dc.neg);
ngline l0(dc.neg, gnd.ground);
//创建电路图，添加元器件、接线到电路图
schema sch;
sch.AddDevices(&dc, &spdt, &r1, &r2, &led1, &led2, &gnd, 0);
sch.AddLines(&l1, &l2, &l3, &l4, &l5, &l6, &l7, &l0, 0);
//创建仿真对象，添加电路图，并开始暂态仿真
circuit cir(&sch);
cir.Tran("1t", "1m", 0);
do
{
Sleep(200);
char ch = getchar();
switch (ch)
{
case 'a':
cir.SwitchOver(&spdt);
Sleep(200);
break;
case 'q':
cir.Halt();
default:
break;
};
} while (cir.IsRunning()); //主程序线程，类似windows UI消息循环
}
virtual void run() {
CPinINT irq1(P13);
CPinINT irq2(P14);
CPin led1(LED1);
CPin led2(LED2);
irq1.begin();
irq2.begin();
while(1) {
if ( irq1.wait(0) ) {
led1.invert();
}
if ( irq2.wait(0) ) {
led2.invert();
}
}
}
void GPSSensorUBX::DoSerialAGPS(void) {
// Light
PwmOut led1(LED1);
PwmOut led2(LED2);
led1.write(1.0);
led2.write(1.0);
bool gotSomething = false;
while(1) {
char c;
if(debug_read(&c)) {
DBG("got %c",c);
gps.putc(c);
gotSomething = true;
} else if(gotSomething) {
break;
}
}
DBG("out");
led1.write(0.0);
led2.write(0.0);
}
void vBTaskFunction( void *pvParameters )
{
Serial *usb=(Serial*)pvParameters;
Led led2(LED2);
portTickType lastTickTime;
lastTickTime = xTaskGetTickCount ();
for( ;; )
{
led2.on();
vTaskDelayUntil (&lastTickTime, 50);
led2.off();
usb->printf("** [B] TICK: %d\r\n",(int)lastTickTime);
vTaskDelayUntil (&lastTickTime, 400);
}
}
static void appTaskLeds(void *pdata) {
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
/* Task main loop */
while (true) {
if (led1Flashing) {
led1 = !led1;
}
if (led2Flashing) {
led2 = !led2;
}
if (led3Flashing) {
led3 = !led3;
}
if (led4Flashing) {
led4 = !led4;
}
OSTimeDlyHMSM(0,0,0,500);
}
}
int main (void)
{
ioport_set_pin_dir(IO_1,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_2,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_3,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_4,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_5,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_6,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_7,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_8,IOPORT_DIR_INPUT);
init_octopus();
animation();
//Activate button interrupt
pmic_init();
pmic_set_scheduling(PMIC_SCH_ROUND_ROBIN);
PORTC.INTCTRL = 0x03;
PORTC.INT0MASK = (1<<3);
PORTC.PIN3CTRL |= (1<<1);
cpu_irq_enable();
//Activate ZCD signal interruption
cpu_irq_disable();
PORTD.INTCTRL = 0x03;
PORTD.INT0MASK = (1<<5);
PORTD.PIN5CTRL |= 0x01;
cpu_irq_enable();
//Activate RTC
rtc_init();
// pwm_ini(SERVO_0);
// pwm_update(SERVO_0,0);
// delay_ms(1000);
// pwm_update(SERVO_0,500);
// delay_ms(1000);
// pwm_update(SERVO_0,1000);
char aux;
char aux2;
for(;;)
{
printf("hello");
if(bluetooth_is_rx_complete())
{
scanf("%1c",&aux);
switch (aux)
{
case 'C':
scanf("%1c",&aux);
if (aux=='1')
{
led1(ON);
ioport_set_pin_level(IO_1,ON);
}
else
{
led1(OFF);
ioport_set_pin_level(IO_1,OFF);
}
break;
case 'T':
scanf("%1c",&aux);
if (aux=='1')
{
led2(ON);
ioport_set_pin_level(IO_2,ON);
}
else
{
led2(OFF);
ioport_set_pin_level(IO_2,OFF);
}
break;
case 'D':
scanf("%i",&dimmer);
RTC.COMP=dimmer;
break;
case 'O':
scanf("%1c",&aux);
scanf("%1c",&aux);
scanf("%1c",&aux2);
if(aux == '1')
{
if(aux2=='1')
{
led3(ON);
ioport_set_pin_level(IO_3,ON);
}
else
{
led3(OFF);
ioport_set_pin_level(IO_3,OFF);
}
}
else
{
if(aux2=='1')
{
led4(ON);
ioport_set_pin_level(IO_4,ON);
}
else
{
led4(OFF);
ioport_set_pin_level(IO_4,OFF);
}
}
break;
}
}
}
}
int main (void)
{
ioport_set_pin_dir(IO_1,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_2,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_3,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_4,IOPORT_DIR_OUTPUT);
init_octopus();
initial_animation();
pwm_ini(SERVO_0);
pwm_update(SERVO_0,0);
delay_ms(1000);
pwm_update(SERVO_0,500);
delay_ms(1000);
pwm_update(SERVO_0,1000);
char aux;
char aux2;
int dimmer=0;
for(;;)
{
if(bluetooth_is_rx_complete())
{
scanf("%1c",&aux);
switch (aux)
{
case 'C':
scanf("%1c",&aux);
if (aux=='1')
{
led1(ON);
ioport_set_pin_level(IO_1,ON);
}
else
{
led1(OFF);
ioport_set_pin_level(IO_1,OFF);
}
break;
case 'T':
scanf("%1c",&aux);
if (aux=='1')
{
led2(ON);
ioport_set_pin_level(IO_2,ON);
}
else
{
led2(OFF);
ioport_set_pin_level(IO_2,OFF);
}
break;
case 'D':
scanf("%i",&dimmer);
break;
case 'O':
scanf("%1c",&aux);
scanf("%1c",&aux);
scanf("%1c",&aux2);
if(aux == '1')
{
if(aux2=='1')
{
led3(ON);
ioport_set_pin_level(IO_3,ON);
}
else
{
led3(OFF);
ioport_set_pin_level(IO_3,OFF);
}
}
else
{
if(aux2=='1')
{
led4(ON);
ioport_set_pin_level(IO_4,ON);
}
else
{
led4(OFF);
ioport_set_pin_level(IO_4,OFF);
}
}
break;
}
}
dimmer=dimmer*10;
pwm_update(SERVO_0,dimmer);
}
}
Animation
SpectrumAnimationFactoryRGBBands::createSpectrumAnimation(unsigned int nLEDs,
const std::vector<std::pair<double, double>>& spectrum,
const ControlSettings& settings) const
{
double brightnessRed = 0.0;
double brightnessGreen = 0.0;
double brightnessBlue = 0.0;
double amplifyFactor = settings.volumeTotal/1000.0;
double amplifyFactorRed = settings.volumeRed/25.0;
double amplifyFactorGreen = settings.volumeGreen/50.0;
double amplifyFactorBlue = settings.volumeBlue/100.0;
for (const auto& bin : spectrum)
{
double frequency = bin.first;
double amplitude = bin.second;
if (frequency > settings.freqRedMin && frequency < settings.freqRedMax)
{
brightnessRed += amplitude*amplifyFactor*amplifyFactorRed;
}
if (frequency > settings.freqGreenMin && frequency < settings.freqGreenMax)
{
brightnessGreen += amplitude*amplifyFactor*amplifyFactorGreen;
}
if (frequency > settings.freqBlueMin && frequency < settings.freqBlueMax)
{
brightnessBlue += amplitude*amplifyFactor*amplifyFactorBlue;
}
}
Animation animation;
Frame frame(nLEDs);
int centreLedNr = nLEDs/2;
// int maxRGB = std::max(brightnessBlue, std::max(brightnessRed, brightnessGreen));
// brightnessRed *= 255.0/maxRGB;
// brightnessGreen *= 255.0/maxRGB;
// brightnessBlue *= 255.0/maxRGB;
for (int i = 0; i < centreLedNr; ++i)
{
int scaleFact = (i * 255) / centreLedNr;
// int scaleFact = 0.0;
int r = brightnessRed - scaleFact;
int g = brightnessGreen - scaleFact;
int b = brightnessBlue - scaleFact;
if (r > 255)
{
r = 255;
}
if (g > 255)
{
g = 255;
}
if (b > 255)
{
b = 255;
}
if (r < 0)
{
r = 0;
}
if (g < 0)
{
g = 0;
}
if (b < 0)
{
b = 0;
}
int offSet = 0;
int ledNr1 = (centreLedNr + i + 1 + offSet) % nLEDs;
int ledNr2 = (centreLedNr - i + offSet) % nLEDs;
LED led(ledNr1, Color(r, g, b));
frame.addLED(led);
LED led2(ledNr2, Color(r, g, b));
frame.addLED(led2);
}
animation.addFrame(frame);
return animation;
}
