diff --git a/example/example.ino b/example/example.ino index 8999e5a..f055251 100644 --- a/example/example.ino +++ b/example/example.ino @@ -1,13 +1,18 @@ -#include #include -#define GPIO_LED 48 - Dezibot dezibot = Dezibot(); - +const uint8_t MYFOO = 10; void setup() { dezibot.begin(); + } void loop() { +dezibot.multiColorLight.setLed(TOP_LEFT,0x000000FF); +dezibot.multiColorLight.setLed(TOP_RIGHT,dezibot.multiColorLight.color(0,100,0)); +dezibot.multiColorLight.blink(10,0x00FF0000,BOTTOM,500); + +delay(1000); +dezibot.multiColorLight.turnOff(ALL); +delay(1000); } diff --git a/src/Dezibot.cpp b/src/Dezibot.cpp index 38eb327..e1ff50b 100644 --- a/src/Dezibot.cpp +++ b/src/Dezibot.cpp @@ -1,30 +1,21 @@ -// -// Created by Anton Jacker on 24.11.23. -// +/** + * @file Dezibot.cpp + * @author Anton Jacker, Hans Haupt, Saskia Duebener + * @brief + * @version 0.1 + * @date 2023-11-26 + * + * @copyright Copyright (c) 2023 + * + */ #include "Dezibot.h" -#include -#include -#include -#include +Dezibot::Dezibot():multiColorLight(){ -#define SCREEN_WIDTH 128 // OLED display width, in pixels -#define SCREEN_HEIGHT 64 // OLED display height, in pixels - -// Declaration for an SSD1306 display connected to I2C (SDA, SCL pins) -// The pins for I2C are defined by the Wire-library. -// On an arduino UNO: A4(SDA), A5(SCL) -// On an arduino MEGA 2560: 20(SDA), 21(SCL) -// On an arduino LEONARDO: 2(SDA), 3(SCL), ... -#define OLED_RESET -1 // Reset pin # (or -1 if sharing Arduino reset pin) -#define SCREEN_ADDRESS 0x3C ///< See datasheet for Address; 0x3D for 128x64, 0x3C for 128x32 - -Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET); - -#define GPIO_LED 48 - +}; void Dezibot::begin(void) { motion.begin(); -} \ No newline at end of file + multiColorLight.begin(); +}; diff --git a/src/Dezibot.h b/src/Dezibot.h index 07fe014..50fcca6 100644 --- a/src/Dezibot.h +++ b/src/Dezibot.h @@ -21,6 +21,7 @@ class Dezibot { protected: public: + Dezibot(); Motion motion; LightDetection lightDetection; ColorDetection colorDetection; diff --git a/src/multiColorLight/ColorConstants.h b/src/multiColorLight/ColorConstants.h new file mode 100644 index 0000000..f180f5e --- /dev/null +++ b/src/multiColorLight/ColorConstants.h @@ -0,0 +1,9 @@ +static const uint32_t RED = 0xFF0000; +static const uint32_t GREEN = 0x00FF00; +static const uint32_t BLUE = 0x0000FF; +static const uint32_t WHITE = 0xFFFFFF; +static const uint32_t ORANGE = 0x961E00; +static const uint32_t YELLOW = 0x965000; +static const uint32_t TURQUOISE = 0x005064; +static const uint32_t PURPEL = 0x320064; +static const uint32_t PINK = 0x960064; diff --git a/src/multiColorLight/MultiColorLight.cpp b/src/multiColorLight/MultiColorLight.cpp new file mode 100644 index 0000000..f0235a4 --- /dev/null +++ b/src/multiColorLight/MultiColorLight.cpp @@ -0,0 +1,107 @@ +#include "MultiColorLight.h" + +MultiColorLight::MultiColorLight():rgbLeds(ledAmount,ledPin){ + +}; + +void MultiColorLight::begin(void){ + rgbLeds.begin(); +}; + +void MultiColorLight::setLed(uint8_t index , uint32_t color){ + if (index > ledAmount-1){ + //TODO: logging + } + rgbLeds.setPixelColor(index, normalizeColor(color)); + rgbLeds.show(); +}; + + +void MultiColorLight::setLed(leds leds, uint32_t color){ + switch (leds){ + case TOP_LEFT: + MultiColorLight::setLed(1,color);break; + case TOP_RIGHT: + MultiColorLight::setLed(0,color);break; + case BOTTOM: + MultiColorLight::setLed(2,color);break; + case TOP: + for (int index = 0; index<2; index++){ + MultiColorLight::setLed(index,color); + }break; + case ALL: + for (int index = 0; index>16; + uint8_t green = (color&0x0000FF00)>>8; + uint8_t blue = (color&0x000000FF); + if (red > maxBrightness){ + red = maxBrightness; + } + if(green > maxBrightness-70){ + green = maxBrightness-70; + } + if(blue > maxBrightness-50){ + blue = maxBrightness-50; + } + return MultiColorLight::color(red,green,blue); +} \ No newline at end of file diff --git a/src/multiColorLight/MultiColorLight.h b/src/multiColorLight/MultiColorLight.h index 70ea391..44498cf 100644 --- a/src/multiColorLight/MultiColorLight.h +++ b/src/multiColorLight/MultiColorLight.h @@ -1,6 +1,139 @@ +/** + * @file MultiColorLight.h + * @author Saskia Duebener, Hans Haupt + * @brief This component controls the ability to show multicolored light, using the RGB-LEDs + * @version 0.2 + * @date 2023-11-25 + * + * @copyright Copyright (c) 2023 + * + */ #ifndef MultiColorLight_h #define MultiColorLight_h -class MultiColorLight{ - +#include +#include "ColorConstants.h" +/** + * @brief Describes combinations of leds on the Dezibot. + * With the Robot in Front of you, when the robot drives away from you, the left LED is TOP_LEFT + * + */ +enum leds{ + TOP_LEFT, + TOP_RIGHT, + BOTTOM, + TOP, + ALL }; + +class MultiColorLight{ +protected: + static const uint16_t ledAmount = 3; + static const int16_t ledPin = 48; + static const uint8_t maxBrightness = 150; + Adafruit_NeoPixel rgbLeds; +public: + + MultiColorLight(); + /** + * @brief initialize the multicolor component + * + */ + void begin(void); + + /** + * @brief Set the specified led to the passed color + * @param index ranging from 0-2, 0: Right, 1: Left, 2: Bottom + * @param color A 32-bit unsigned integer representing the color in the format + * 0x00RRGGBB, where RR is the red component, GG is the green + * component, and BB is the blue component. Each color can range between 0 to 100 + */ + void setLed(uint8_t index , uint32_t color); + + /** + * @brief Set the specified leds to the passed color value + * + * @param leds which leds should be updated + * @param color A 32-bit unsigned integer representing the color in the format + * 0x00RRGGBB, where RR is the red component, GG is the green + * component, and BB is the blue component. Each color can range between 0 to 100 + */ + void setLed(leds leds, uint32_t color); + + /** + * @brief Set the specified leds to the passed color value + * + * @param leds which leds should be updated + * @param red brightness of red, is normalized in the function + * @param green brightness of green, is normalized in the function + * @param blue brightness of blue, is normalized in the function + */ + void setLed(leds leds, uint8_t red, uint8_t green, uint8_t blue); + + /** + * @brief sets the two leds on the top of the robot to the specified color + * + * @param color A 32-bit unsigned integer representing the color in the format + * 0x00RRGGBB, where RR is the red component, GG is the green + * component, and BB is the blue component. Each color can range between 0 to 100 + */ + void setTopLeds(uint32_t color); + + /** + * @brief sets the two leds on the top of the robot to the specified color + * + * @param red brightness of red, is normalized in the function + * @param green brightness of green, is normalized in the function + * @param blue brightness of blue, is normalized in the function + */ + void setTopLeds(uint8_t red, uint8_t green, uint8_t blue); + + /** + * @brief Let LEDs blink, returns after all blinks were executed + * + * @param amount how often should the leds blink + * @param color A 32-bit unsigned integer representing the color in the format + * 0x00RRGGBB, where RR is the red component, GG is the green + * component, and BB is the blue component. + * Each color can range between 0 to 100 + * Defaults to blue + * @param leds which LEDs should blink, default is TOP + * @param interval how many miliseconds the led is on, defaults to 1s + */ + void blink(uint16_t amount,uint32_t color = 0x00006400,leds leds=TOP, uint32_t interval=1000); + + /** + * @brief turn off the given leds + * + * @param leds which leds should be turned off, defaults to ALL + */ + void turnOffLed(leds leds=ALL); + + /** + * @brief wrapper to calulate the used colorformat from a rgb-value + * + * @param r red (0-100) + * @param g green (0-100) + * @param b blue (0-100) + * @return A 32-bit unsigned integer representing the color in the format + * 0x00RRGGBB, where RR is the red component, GG is the green + * component, and BB is the blue component. + */ + uint32_t color(uint8_t r, uint8_t g, uint8_t b); + +private: + /** + * @brief normalizes every component of color to not exeed the maxBrightness + * + * @param color A 32-bit unsigned integer representing the color in the format + * 0x00RRGGBB, where RR is the red component, GG is the green + * component, and BB is the blue component. + * @param maxBrigthness maximal level of brightness that is allowed for each color + * @return uint32_t A 32-bit unsigned integer representing the color in the format + * 0x00RRGGBB, where RR is the red component, GG is the green + * component, and BB is the blue component. Where each component can be + * between 0 - maxBrightness + */ + uint32_t normalizeColor(uint32_t color, uint8_t maxBrigthness=maxBrightness); +}; + #endif //MultiColorLight_h \ No newline at end of file