smalrubot 0.0.5 → 0.0.6

data/sketch/lib/Adafruit_NeoPixel.h

@@ -0,0 +1,97 @@
+/*--------------------------------------------------------------------
+  This file is part of the Adafruit NeoPixel library.
+
+  NeoPixel is free software: you can redistribute it and/or modify
+  it under the terms of the GNU Lesser General Public License as
+  published by the Free Software Foundation, either version 3 of
+  the License, or (at your option) any later version.
+
+  NeoPixel is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with NeoPixel.  If not, see
+  <http://www.gnu.org/licenses/>.
+  --------------------------------------------------------------------*/
+
+#ifndef ADAFRUIT_NEOPIXEL_H
+#define ADAFRUIT_NEOPIXEL_H
+
+#if (ARDUINO >= 100)
+ #include <Arduino.h>
+#else
+ #include <WProgram.h>
+ #include <pins_arduino.h>
+#endif
+
+// 'type' flags for LED pixels (third parameter to constructor):
+#define NEO_RGB     0x00 // Wired for RGB data order
+#define NEO_GRB     0x01 // Wired for GRB data order
+#define NEO_BRG     0x04
+  
+#define NEO_COLMASK 0x01
+#define NEO_KHZ800  0x02 // 800 KHz datastream
+#define NEO_SPDMASK 0x02
+// Trinket flash space is tight, v1 NeoPixels aren't handled by default.
+// Remove the ifndef/endif to add support -- but code will be bigger.
+// Conversely, can comment out the #defines to save space on other MCUs.
+#ifndef __AVR_ATtiny85__
+#define NEO_KHZ400  0x00 // 400 KHz datastream
+#endif
+
+class Adafruit_NeoPixel {
+
+ public:
+
+  // Constructor: number of LEDs, pin number, LED type
+  Adafruit_NeoPixel(uint16_t n, uint8_t p=6, uint8_t t=NEO_GRB + NEO_KHZ800);
+  ~Adafruit_NeoPixel();
+
+  void
+    begin(void),
+    show(void),
+    setPin(uint8_t p),
+    setPixelColor(uint16_t n, uint8_t r, uint8_t g, uint8_t b),
+    setPixelColor(uint16_t n, uint32_t c),
+    setBrightness(uint8_t),
+    clear();
+  uint8_t
+   *getPixels(void) const,
+    getBrightness(void) const;
+  uint16_t
+    numPixels(void) const;
+  static uint32_t
+    Color(uint8_t r, uint8_t g, uint8_t b);
+  uint32_t
+    getPixelColor(uint16_t n) const;
+  inline bool
+    canShow(void) { return (micros() - endTime) >= 50L; }
+
+ private:
+
+  const uint16_t
+    numLEDs,       // Number of RGB LEDs in strip
+    numBytes;      // Size of 'pixels' buffer below
+  uint8_t
+    pin,           // Output pin number
+    brightness,
+   *pixels,        // Holds LED color values (3 bytes each)
+    rOffset,       // Index of red byte within each 3-byte pixel
+    gOffset,       // Index of green byte
+    bOffset;       // Index of blue byte
+  const uint8_t
+    type;          // Pixel flags (400 vs 800 KHz, RGB vs GRB color)
+  uint32_t
+    endTime;       // Latch timing reference
+#ifdef __AVR__
+  const volatile uint8_t
+    *port;         // Output PORT register
+  uint8_t
+    pinMask;       // Output PORT bitmask
+#endif
+
+};
+
+#endif // ADAFRUIT_NEOPIXEL_H

data/sketch/lib/Smalrubot.cpp

@@ -5,14 +5,41 @@
 #include "Arduino.h"
 #include "Smalrubot.h"
 
-Smalrubot::Smalrubot(){
+Smalrubot::Smalrubot(int neo_pixel_num, int neo_pixel_pin) :
+  pixels(neo_pixel_num, neo_pixel_pin, NEO_RGB + NEO_KHZ400)
+{
   reset();
 }
 
 void Smalrubot::parse(char c) {
-  if (c == '!') index = 0;        // Reset request
-  else if (c == '.') process();   // End request and process
-  else request[index++] = c;      // Append to request
+  if (c == '!') {
+    index = 0;
+    receivingRequest = true;
+  }
+  else if (receivingRequest) {
+    if (c == '.') {
+      process();
+      receivingRequest = false;
+    }
+    else if (index < MAX_REQUEST_LENGTH) {
+      request[index++] = c;
+    }
+    else {
+      receivingRequest = false;
+    }
+  }
+}
+
+
+int Smalrubot::parseRequestValue(int n) {
+  if (index < 4 + (n + 1) * 3) {
+    return 0;
+  }
+
+  strncpy(valStr, request + 4 + n * 3, 3);
+  valStr[3] =  '\0';
+
+  return atoi(valStr);
 }
 
 void Smalrubot::process() {
@@ -21,10 +48,9 @@ void Smalrubot::process() {
   // Parse the request.
   strncpy(cmdStr, request, 2);      cmdStr[2] =  '\0';
   strncpy(pinStr, request + 2, 2);  pinStr[2] =  '\0';
-  strncpy(valStr, request + 4, 3);  valStr[3] =  '\0';
   cmd = atoi(cmdStr);
   pin = atoi(pinStr);
-  val = atoi(valStr);
+  val = parseRequestValue(0);
 
   #ifdef debug
    Serial.print("Received request - "); Serial.println(request);
@@ -48,21 +74,50 @@ void Smalrubot::process() {
 void Smalrubot::processCommand() {
   // Call the command.
   switch(cmd) {
-    case 0:  setMode             ();  break;
-    case 1:  dWrite              ();  break;
-    case 2:  dRead               ();  break;
-    case 3:  aWrite              ();  break;
-    case 4:  aRead               ();  break;
-    case 8:  servoToggle         ();  break;
-    case 9:  servoWrite          ();  break;
-    case 90: reset               ();  break;
-    default:                          break;
+    case 0:
+      setMode();
+      break;
+    case 1:
+      dWrite();
+      break;
+    case 2:
+      dRead();
+      break;
+    case 3:
+      aWrite();
+      break;
+    case 4:
+      aRead();
+      break;
+    case 8:
+      servoToggle();
+      break;
+    case 9:
+      servoWrite();
+      break;
+    case 10:
+      setNeoPixelPin();
+      break;
+    case 11:
+      setNeoPixelNumPixels();
+      break;
+    case 12:
+      setNeoPixelColor();
+      break;
+    case 13:
+      showNeoPixel();
+      break;
+    case 90:
+      reset();
+      break;
+    default:
+      break;
   }
 }
 
-
 // WRITE CALLBACK
 void Smalrubot::setupWrite(void (*writeCallback)(char *str)) {
+  pixels.begin();
   _writeCallback = writeCallback;
 }
 void Smalrubot::writeResponse() {
@@ -153,10 +208,47 @@ void Smalrubot::servoWrite() {
   servos[pin - SERVO_OFFSET].write(val);
 }
 
+// CMD = 10
+void Smalrubot::setNeoPixelPin() {
+  #ifdef debug
+    Serial.print("set NeoPixel pin "); Serial.println(pin);
+  #endif
+  pixels.setPin(pin);
+}
+
+// CMD = 11
+void Smalrubot::setNeoPixelNumPixels() {
+  #ifdef debug
+    Serial.print("set NeoPixel num pixels "); Serial.println(val);
+  #endif
+  // not support yet
+  // pixels.setNumPixels(val);
+}
+
+// CMD = 12
+void Smalrubot::setNeoPixelColor() {
+  #ifdef debug
+    Serial.print("set NeoPixel color "); Serial.println(val);
+  #endif
+  uint16_t n = pin;
+  uint8_t r = val, g = parseRequestValue(1), b = parseRequestValue(2);
+
+  pixels.setPixelColor(n, pixels.Color(r, g, b));
+}
+
+// CMD = 13
+void Smalrubot::showNeoPixel() {
+  #ifdef debug
+    Serial.println("show NeoPixel");
+  #endif
+  pixels.show();
+}
+
 // CMD = 90
 void Smalrubot::reset() {
   #ifdef debug
     Serial.println("Reset the board to defaults.");
   #endif
   sprintf(response, "ACK:%02d", A0);
+  receivingRequest = false;
 }

data/sketch/lib/Smalrubot.h

@@ -7,6 +7,8 @@
 
 #include "Arduino.h"
 #include <Servo.h>
+#include "Adafruit_NeoPixel.h"
+#include <avr/power.h>
 
 // Allocate listener storage based on what board we're running.
 #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
@@ -20,17 +22,20 @@
 // Uncomment this line to enable debugging mode.
 // #define debug true
 
+#define MAX_REQUEST_LENGTH 20
+
 class Smalrubot {
   public:
-    Smalrubot();
+    Smalrubot(int neo_pixel_num, int neo_pixel_pin);
     void setupWrite(void (*writeCallback)(char *str));
     void parse(char c);
     void process();
 
   protected:
     // Request storage.
-    char request[8];
+    char request[MAX_REQUEST_LENGTH];
     int index;
+    bool receivingRequest;
     char cmdStr[3];
     byte cmd;
     char pinStr[3];
@@ -46,17 +51,24 @@ class Smalrubot {
 
     Servo servos[12];
 
+    Adafruit_NeoPixel pixels;
+
     virtual void processCommand();
+    int parseRequestValue(int n);
 
     // API-accessible functions.
-    void setMode               ();
-    void dWrite                ();
-    void dRead                 ();
-    void aWrite                ();
-    void aRead                 ();
-    void servoToggle           ();
-    void servoWrite            ();
-    void reset                 ();
+    void setMode();
+    void dWrite();
+    void dRead();
+    void aWrite();
+    void aRead();
+    void servoToggle();
+    void servoWrite();
+    void setNeoPixelPin();
+    void setNeoPixelNumPixels();
+    void setNeoPixelColor();
+    void showNeoPixel();
+    void reset();
 };
 
 #endif

data/sketch/lib/SrStuduino.cpp

@@ -2,7 +2,9 @@
 
 typedef Smalrubot base;
 
-SrStuduino::SrStuduino() {
+SrStuduino::SrStuduino(int neo_pixel_num, int neo_pixel_pin) :
+  Smalrubot(neo_pixel_num, neo_pixel_pin)
+{
 }
 
 /*

data/sketch/lib/SrStuduino.h

@@ -10,7 +10,7 @@
 
 class SrStuduino : public Smalrubot {
   public:
-    SrStuduino();
+    SrStuduino(int neo_pixel_num, int neo_pixel_pin);
 
   protected:
     Studuino studuino;

data/sketch/sr/sr.ino

@@ -1,6 +1,12 @@
 #include "Smalrubot.h"
 #include <Servo.h>
-Smalrubot smalrubot;
+#include "Adafruit_NeoPixel.h"
+#include <avr/power.h>
+
+#define DEFAULT_NEO_PIXEL_NUM 16
+#define DEFAULT_NEO_PIXEL_PIN 5
+
+Smalrubot smalrubot(DEFAULT_NEO_PIXEL_NUM, DEFAULT_NEO_PIXEL_PIN);
 
 // Smalrubot.h doesn't handle TXRX. Setup a function to tell it to write to Serial.
 void writeResponse(char *response) { Serial.println(response); }

data/sketch/sr_studu/sr_studu.ino

@@ -1,10 +1,15 @@
 #include "SrStuduino.h"
 #include <Servo.h>
+#include "Adafruit_NeoPixel.h"
+#include <avr/power.h>
 #include <Wire.h>
 #include <MMA8653.h>
 #include "Studuino.h"
 
-SrStuduino smalrubot;
+#define DEFAULT_NEO_PIXEL_NUM 16
+#define DEFAULT_NEO_PIXEL_PIN 5
+
+SrStuduino smalrubot(DEFAULT_NEO_PIXEL_NUM, DEFAULT_NEO_PIXEL_PIN);
 
 // Smalrubot.h doesn't handle TXRX. Setup a function to tell it to write to Serial.
 void writeResponse(char *response) { Serial.println(response); }

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: smalrubot
 version: !ruby/object:Gem::Version
-  version: 0.0.5
+  version: 0.0.6
 platform: ruby
 authors:
 - Kouji Takao
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2015-02-01 00:00:00.000000000 Z
+date: 2015-05-22 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rubyserial
@@ -95,6 +95,8 @@ files:
 - lib/smalrubot/tx_rx/base.rb
 - lib/smalrubot/tx_rx/serial.rb
 - lib/smalrubot/version.rb
+- sketch/lib/Adafruit_NeoPixel.cpp
+- sketch/lib/Adafruit_NeoPixel.h
 - sketch/lib/Smalrubot.cpp
 - sketch/lib/Smalrubot.h
 - sketch/lib/SrStuduino.cpp