void calibrateSensors(){
stop();
lightSequence(10);
unsigned short forwardWallDistance;
while(true){
forwardWallDistance = getLeftValue();
lightSequence(2);
if(forwardWallDistance != 0){
LEFT_LED_OFF;
}
}
}
void LedCube::drawBuffer(unsigned int wait)
{
byte seq[num*2];
byte n = 0;
for(byte lv=0; lv<levels; lv++)
{
for(byte col=0; col<cols; col++)
{
if(buffer[lv][col])
{
//Serial.print(buffer[r][c],DEC); Serial.print(': ');
//Serial.print(r,DEC); Serial.print(','); Serial.print(c,DEC); Serial.print(' ');
seq[n] = lv;
seq[n+1] = col;
n += 2;
}
}
}
// Serial.print('('); Serial.println(num,DEC); Serial.print(')');
enableBuffer(false);
lightSequence(seq, sizeof(seq), wait);
enableBuffer();
}
void LedCube::lightColumn(byte col, unsigned int wait)
{
if(col && col<=cols)
{
byte seq[] = {0,col-1,1,col-1,2,col-1};
lightSequence(seq,sizeof(seq),wait);
}
}
void LedCube::lightFrames(cubeFrame* frames[], unsigned int length)
{
for(byte f=0; f<length; f++)
{
lightSequence(frames[f]->sequence, frames[f]->size, frames[f]->delay);
// reclaim memory allocated in createFrame to prevent a leak
destroyFrame(frames[f]);
}
}
void LedCube::lightRow(byte r, byte level, unsigned int wait)
{
if(r && level && r<=cols*2 && level<=levels)
{
byte start = r<=levels ? r-1 : (r - levels - 1) * levels;
byte inc = r<=levels ? levels : 1;
byte seq[] = {level-1,start, level-1,start+inc, level-1,start+inc*2};
lightSequence(seq, sizeof(seq), wait);
}
}
void LedCube::lightLevel(byte lv, unsigned int delay)
{
if(lv && lv<=levels)
{
byte seq[cols*2];
for(byte c=0, i=0; c<cols; c++, i+=2)
{
seq[i] = lv-1;
seq[i+1] = c;
}
lightSequence(seq,sizeof(seq),delay);
}
}
void LedCube::lightPlane(byte r, unsigned int wait)
{
if(r && r<=cols*2)
{
byte start = r<=levels ? r-1 : (r - levels - 1) * levels;
byte inc = r<=levels ? levels : 1;
byte seq[cols*2];
byte index = 0;
for(byte level=0; level<levels; level++)
{
for(byte i=0; i<3; i++)
{
seq[index] = level;
seq[index+1] = start + inc*i;
index += 2;
}
}
lightSequence(seq, sizeof(seq), wait);
}
}
void LedCube::lightPerimeter(byte level, byte rotations, unsigned int wait)
{
byte seq[] = {level,0,level,1,level,2,level,5,level,8,level,7,level,6,level,3};
lightSequence(seq, sizeof(seq), rotations, wait);
}
