Merge branch 'feature/#8-multicolor-light' into feature/#5-motion

example/example.ino

@@ -1,13 +1,18 @@
-#include <Adafruit_NeoPixel.h>
 #include <Dezibot.h>
 
-#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);
 }

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 <SPI.h>
-#include <Wire.h>
-#include <Adafruit_NeoPixel.h>
-#include <Adafruit_SSD1306.h>
 
+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();
-}
+    multiColorLight.begin();
+};

src/Dezibot.h

@@ -21,6 +21,7 @@ class Dezibot {
 protected:
 
 public:
+    Dezibot();
     Motion motion;
     LightDetection lightDetection;
     ColorDetection colorDetection;

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;

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<ledAmount; index++){
+                MultiColorLight::setLed(index,color);
+            }break;
+        default:
+            //TODO logging
+            break;
+    }
+
+};
+
+void MultiColorLight::setLed(leds leds, uint8_t red, uint8_t green, uint8_t blue){
+    MultiColorLight::setLed(leds, MultiColorLight::color(red,green,blue));
+};
+
+
+void MultiColorLight::setTopLeds(uint32_t color){
+    MultiColorLight::setLed(TOP,color);
+}; 
+
+void MultiColorLight::setTopLeds(uint8_t red, uint8_t green, uint8_t blue){
+    MultiColorLight::setTopLeds(MultiColorLight::color(red,green,blue));
+}; 
+
+void MultiColorLight::blink(uint16_t amount,uint32_t color, leds leds, uint32_t interval){
+    for(uint16_t index = 0; index < amount;index++){
+        MultiColorLight::setLed(leds, color);
+        vTaskDelay(interval);
+        MultiColorLight::turnOffLed(leds);
+        vTaskDelay(interval);
+    }
+
+};
+
+void MultiColorLight::turnOffLed(leds leds){
+    switch (leds){
+        case TOP_LEFT:
+            MultiColorLight::setLed(1,0);break;
+        case TOP_RIGHT:
+            MultiColorLight::setLed(0,0);break;
+        case BOTTOM:
+            MultiColorLight::setLed(2,0);break;
+        case TOP:
+            for (int index = 0; index<2; index++){
+                MultiColorLight::setLed(index,0);
+            }break;
+        case ALL:
+            for (int index = 0; index<3; index++){
+                MultiColorLight::setLed(index,0);
+            }break;
+        default:
+            //TODO logging
+            break;
+    }
+};
+
+uint32_t MultiColorLight::color(uint8_t r, uint8_t g, uint8_t b){
+    return rgbLeds.Color(r,g,b);
+};
+
+//PRIVATE
+uint32_t MultiColorLight::normalizeColor(uint32_t color,uint8_t maxBrightness){
+    uint8_t red = (color&0x00FF0000)>>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);
+}

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 <Adafruit_NeoPixel.h>
+#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