Psi Swarm Robot / PRRobot

Practical Robotics Modular Robot Library

Dependents:   ModularRobot

led.cpp@6:732aa91eb555, 2017-01-13 (annotated)

Committer:
jah128
Date:
Fri Jan 13 23:16:23 2017 +0000
Revision:
6:732aa91eb555
Parent:
5:6da8daaeb9f7 
Updated;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a2dd255c508 1 #include "robot.h"
jah128 0:8a2dd255c508 2
jah128 0:8a2dd255c508 3 // The LED driver is quite powerful in terms of how it can be used (LEDs can be grouped, have individual and group PWM control, can be blinked etc).
jah128 0:8a2dd255c508 4 //
jah128 0:8a2dd255c508 5 // To keep things relatively simple, in this version of the code, we will not use the groups or blinking functions, and will have all LEDs enabled.
jah128 0:8a2dd255c508 6 //
jah128 0:8a2dd255c508 7 // Their state is controlled solely by each LEDs PWM control - which is a 1 byte value between 0 (fully off) and 255 (fully on)
jah128 0:8a2dd255c508 8
jah128 0:8a2dd255c508 9 char red_led_states [8];
jah128 0:8a2dd255c508 10 char green_led_states [8];
jah128 4:c2e933d53bea 11 Ticker led_ticker;
jah128 4:c2e933d53bea 12 int animation_on = 0;
jah128 4:c2e933d53bea 13 int animation_mode = 0;
jah128 4:c2e933d53bea 14 int animation_state = 0;
jah128 4:c2e933d53bea 15 int animation_substate = 0;
jah128 4:c2e933d53bea 16 char increment = 1;
jah128 4:c2e933d53bea 17
jah128 4:c2e933d53bea 18 void Led::restore_states ()
jah128 4:c2e933d53bea 19 {
jah128 4:c2e933d53bea 20 char data[17];
jah128 4:c2e933d53bea 21 data[0]=130; //2 + 128 (AutoInc for brightness)
jah128 4:c2e933d53bea 22 for(int i=0; i<8; i++) {
jah128 4:c2e933d53bea 23 data[(i+i)+1] = red_led_states[i];
jah128 4:c2e933d53bea 24 data[(i+i)+2] = green_led_states[i];
jah128 4:c2e933d53bea 25 }
jah128 4:c2e933d53bea 26 if(animation_on == 1) stop_animation();
jah128 4:c2e933d53bea 27 else {
jah128 4:c2e933d53bea 28 if(i2c_lock==0) {
jah128 4:c2e933d53bea 29 i2c_lock = 1;
jah128 4:c2e933d53bea 30 primary_i2c.write(LED_ADDRESS,data,17);
jah128 4:c2e933d53bea 31 }
jah128 4:c2e933d53bea 32 i2c_lock = 0;
jah128 4:c2e933d53bea 33 }
jah128 4:c2e933d53bea 34 }
jah128 4:c2e933d53bea 35
jah128 4:c2e933d53bea 36 void Led::set_all (char red_brightness, char green_brightness)
jah128 4:c2e933d53bea 37 {
jah128 4:c2e933d53bea 38 char data[17];
jah128 4:c2e933d53bea 39 data[0]=130; //2 + 128 (AutoInc for brightness)
jah128 4:c2e933d53bea 40 for(int i=0; i<8; i++) {
jah128 4:c2e933d53bea 41 red_led_states[i] = red_brightness;
jah128 4:c2e933d53bea 42 green_led_states[i] = green_brightness;
jah128 4:c2e933d53bea 43 data[(i+i)+1] = red_brightness;
jah128 4:c2e933d53bea 44 data[(i+i)+2] = green_brightness;
jah128 4:c2e933d53bea 45 }
jah128 4:c2e933d53bea 46 if(animation_on == 1) stop_animation();
jah128 4:c2e933d53bea 47 else {
jah128 4:c2e933d53bea 48 if(i2c_lock==0) {
jah128 4:c2e933d53bea 49 i2c_lock = 1;
jah128 4:c2e933d53bea 50 primary_i2c.write(LED_ADDRESS,data,17);
jah128 4:c2e933d53bea 51 }
jah128 4:c2e933d53bea 52 i2c_lock = 0;
jah128 4:c2e933d53bea 53 }
jah128 4:c2e933d53bea 54 }
jah128 4:c2e933d53bea 55
jah128 4:c2e933d53bea 56 void Led::set_leds (char * red_brightness, char * green_brightness)
jah128 4:c2e933d53bea 57 {
jah128 4:c2e933d53bea 58 char data[17];
jah128 4:c2e933d53bea 59 data[0]=130; //2 + 128 (AutoInc for brightness)
jah128 4:c2e933d53bea 60 for(int i=0; i<8; i++) {
jah128 4:c2e933d53bea 61 red_led_states[i] = red_brightness[i];
jah128 4:c2e933d53bea 62 green_led_states[i] = green_brightness[i];
jah128 4:c2e933d53bea 63 data[(i+i)+1] = red_brightness[i];
jah128 4:c2e933d53bea 64 data[(i+i)+2] = green_brightness[i];
jah128 4:c2e933d53bea 65 }
jah128 4:c2e933d53bea 66 if(animation_on == 1) stop_animation();
jah128 4:c2e933d53bea 67 else {
jah128 4:c2e933d53bea 68 if(i2c_lock==0) {
jah128 4:c2e933d53bea 69 i2c_lock = 1;
jah128 4:c2e933d53bea 70 primary_i2c.write(LED_ADDRESS,data,17);
jah128 4:c2e933d53bea 71 }
jah128 4:c2e933d53bea 72 i2c_lock = 0;
jah128 4:c2e933d53bea 73 }
jah128 4:c2e933d53bea 74 }
jah128 4:c2e933d53bea 75
jah128 4:c2e933d53bea 76
jah128 4:c2e933d53bea 77 void Led::set_leds (char red1, char red2, char red3, char red4, char red5, char red6, char red7, char red8, char grn1, char grn2, char grn3, char grn4, char grn5, char grn6, char grn7, char grn8)
jah128 4:c2e933d53bea 78 {
jah128 4:c2e933d53bea 79 char data[17];
jah128 4:c2e933d53bea 80 data[0]=130; //2 + 128 (AutoInc for brightness)
jah128 4:c2e933d53bea 81 red_led_states[0] = red1;
jah128 4:c2e933d53bea 82 red_led_states[1] = red2;
jah128 4:c2e933d53bea 83 red_led_states[2] = red3;
jah128 4:c2e933d53bea 84 red_led_states[3] = red4;
jah128 4:c2e933d53bea 85 red_led_states[4] = red5;
jah128 4:c2e933d53bea 86 red_led_states[5] = red6;
jah128 4:c2e933d53bea 87 red_led_states[6] = red7;
jah128 4:c2e933d53bea 88 red_led_states[7] = red8;
jah128 4:c2e933d53bea 89 green_led_states[0] = grn1;
jah128 4:c2e933d53bea 90 green_led_states[1] = grn2;
jah128 4:c2e933d53bea 91 green_led_states[2] = grn3;
jah128 4:c2e933d53bea 92 green_led_states[3] = grn4;
jah128 4:c2e933d53bea 93 green_led_states[4] = grn5;
jah128 4:c2e933d53bea 94 green_led_states[5] = grn6;
jah128 4:c2e933d53bea 95 green_led_states[6] = grn7;
jah128 4:c2e933d53bea 96 green_led_states[7] = grn8;
jah128 4:c2e933d53bea 97 for(int i=0; i<8; i++) {
jah128 4:c2e933d53bea 98 data[(i+i)+1] = red_led_states[i];
jah128 4:c2e933d53bea 99 data[(i+i)+2] = green_led_states[i];
jah128 4:c2e933d53bea 100 }
jah128 4:c2e933d53bea 101 if(animation_on == 1) stop_animation();
jah128 4:c2e933d53bea 102 else {
jah128 4:c2e933d53bea 103 if(i2c_lock==0) {
jah128 4:c2e933d53bea 104 i2c_lock = 1;
jah128 4:c2e933d53bea 105 primary_i2c.write(LED_ADDRESS,data,17);
jah128 4:c2e933d53bea 106 }
jah128 4:c2e933d53bea 107 i2c_lock = 0;
jah128 4:c2e933d53bea 108 }
jah128 4:c2e933d53bea 109 }
jah128 4:c2e933d53bea 110
jah128 4:c2e933d53bea 111 void Led::_set_leds (char red1, char red2, char red3, char red4, char red5, char red6, char red7, char red8, char grn1, char grn2, char grn3, char grn4, char grn5, char grn6, char grn7, char grn8)
jah128 4:c2e933d53bea 112 {
jah128 4:c2e933d53bea 113 char data[17];
jah128 4:c2e933d53bea 114 data[0]=130; //2 + 128 (AutoInc for brightness)
jah128 4:c2e933d53bea 115 data[1] = red1;
jah128 4:c2e933d53bea 116 data[3] = red2;
jah128 4:c2e933d53bea 117 data[5] = red3;
jah128 4:c2e933d53bea 118 data[7] = red4;
jah128 4:c2e933d53bea 119 data[9] = red5;
jah128 4:c2e933d53bea 120 data[11] = red6;
jah128 4:c2e933d53bea 121 data[13] = red7;
jah128 4:c2e933d53bea 122 data[15] = red8;
jah128 4:c2e933d53bea 123 data[2] = grn1;
jah128 4:c2e933d53bea 124 data[4] = grn2;
jah128 4:c2e933d53bea 125 data[6] = grn3;
jah128 4:c2e933d53bea 126 data[8] = grn4;
jah128 4:c2e933d53bea 127 data[10] = grn5;
jah128 4:c2e933d53bea 128 data[12] = grn6;
jah128 4:c2e933d53bea 129 data[14] = grn7;
jah128 4:c2e933d53bea 130 data[16] = grn8;
jah128 4:c2e933d53bea 131 if(i2c_lock==0) {
jah128 4:c2e933d53bea 132 i2c_lock = 1;
jah128 4:c2e933d53bea 133 primary_i2c.write(LED_ADDRESS,data,17);
jah128 4:c2e933d53bea 134 }
jah128 4:c2e933d53bea 135 i2c_lock = 0;
jah128 4:c2e933d53bea 136
jah128 4:c2e933d53bea 137 }
jah128 0:8a2dd255c508 138
jah128 3:8762f6b2ea8d 139 void Led::all_off()
jah128 3:8762f6b2ea8d 140 {
jah128 4:c2e933d53bea 141 char data[17];
jah128 4:c2e933d53bea 142 data[0]=130; //2 + 128 (AutoInc for brightness)
jah128 4:c2e933d53bea 143 for(int i=0; i<8; i++) {
jah128 4:c2e933d53bea 144 red_led_states[i] = 0;
jah128 4:c2e933d53bea 145 green_led_states[i] = 0;
jah128 4:c2e933d53bea 146 data[(i+i)+1] = 0;
jah128 4:c2e933d53bea 147 data[(i+i)+2] = 0;
jah128 4:c2e933d53bea 148 }
jah128 4:c2e933d53bea 149 if(animation_on == 1) stop_animation();
jah128 4:c2e933d53bea 150 else {
jah128 4:c2e933d53bea 151 if(i2c_lock==0) {
jah128 4:c2e933d53bea 152 i2c_lock = 1;
jah128 4:c2e933d53bea 153 primary_i2c.write(LED_ADDRESS,data,17);
jah128 4:c2e933d53bea 154 }
jah128 4:c2e933d53bea 155 i2c_lock = 0;
jah128 4:c2e933d53bea 156 }
jah128 3:8762f6b2ea8d 157 }
jah128 3:8762f6b2ea8d 158
jah128 4:c2e933d53bea 159
jah128 4:c2e933d53bea 160
jah128 0:8a2dd255c508 161 void Led::set_green_led (char led, char brightness)
jah128 0:8a2dd255c508 162 {
jah128 0:8a2dd255c508 163 if(led < 8) {
jah128 0:8a2dd255c508 164 green_led_states [led] = brightness;
jah128 0:8a2dd255c508 165 char data[2];
jah128 0:8a2dd255c508 166 data[0] = 3 + led + led;
jah128 0:8a2dd255c508 167 data[1] = brightness;
jah128 4:c2e933d53bea 168 if(animation_on == 1) stop_animation();
jah128 4:c2e933d53bea 169 else {
jah128 4:c2e933d53bea 170 if(i2c_lock==0) {
jah128 4:c2e933d53bea 171 i2c_lock = 1;
jah128 4:c2e933d53bea 172 primary_i2c.write(LED_ADDRESS,data,2);
jah128 4:c2e933d53bea 173 }
jah128 4:c2e933d53bea 174 i2c_lock = 0;
jah128 4:c2e933d53bea 175 }
jah128 0:8a2dd255c508 176 }
jah128 0:8a2dd255c508 177 }
jah128 0:8a2dd255c508 178
jah128 0:8a2dd255c508 179 void Led::set_red_led (char led, char brightness)
jah128 0:8a2dd255c508 180 {
jah128 0:8a2dd255c508 181 if(led < 8) {
jah128 0:8a2dd255c508 182 red_led_states [led] = brightness;
jah128 0:8a2dd255c508 183 char data[2];
jah128 0:8a2dd255c508 184 data[0] = 2 + led + led;
jah128 0:8a2dd255c508 185 data[1] = brightness;
jah128 4:c2e933d53bea 186 if(animation_on == 1) stop_animation();
jah128 4:c2e933d53bea 187 else {
jah128 4:c2e933d53bea 188 if(i2c_lock==0) {
jah128 4:c2e933d53bea 189 i2c_lock = 1;
jah128 4:c2e933d53bea 190 primary_i2c.write(LED_ADDRESS,data,2);
jah128 4:c2e933d53bea 191 }
jah128 4:c2e933d53bea 192 i2c_lock = 0;
jah128 4:c2e933d53bea 193 }
jah128 4:c2e933d53bea 194 }
jah128 4:c2e933d53bea 195 }
jah128 4:c2e933d53bea 196
jah128 4:c2e933d53bea 197
jah128 4:c2e933d53bea 198 void Led::_set_all (char red_brightness, char green_brightness)
jah128 4:c2e933d53bea 199 {
jah128 4:c2e933d53bea 200 char data[17];
jah128 4:c2e933d53bea 201 data[0]=130; //2 + 128 (AutoInc for brightness)
jah128 4:c2e933d53bea 202 for(int i=0; i<8; i++) {
jah128 4:c2e933d53bea 203 data[(i+i)+1] = red_brightness;
jah128 4:c2e933d53bea 204 data[(i+i)+2] = green_brightness;
jah128 4:c2e933d53bea 205 }
jah128 4:c2e933d53bea 206 if(i2c_lock==0) {
jah128 0:8a2dd255c508 207 i2c_lock = 1;
jah128 4:c2e933d53bea 208 primary_i2c.write(LED_ADDRESS,data,17);
jah128 4:c2e933d53bea 209 }
jah128 4:c2e933d53bea 210 i2c_lock = 0;
jah128 4:c2e933d53bea 211 }
jah128 4:c2e933d53bea 212
jah128 4:c2e933d53bea 213 void Led::_set_green_led (char led, char brightness)
jah128 4:c2e933d53bea 214 {
jah128 4:c2e933d53bea 215 if(led < 8) {
jah128 4:c2e933d53bea 216 char data[2];
jah128 4:c2e933d53bea 217 data[0] = 3 + led + led;
jah128 4:c2e933d53bea 218 data[1] = brightness;
jah128 4:c2e933d53bea 219 if(i2c_lock==0) {
jah128 4:c2e933d53bea 220 i2c_lock = 1;
jah128 4:c2e933d53bea 221 primary_i2c.write(LED_ADDRESS,data,2);
jah128 4:c2e933d53bea 222 }
jah128 4:c2e933d53bea 223 i2c_lock = 0;
jah128 4:c2e933d53bea 224 }
jah128 4:c2e933d53bea 225 }
jah128 4:c2e933d53bea 226
jah128 4:c2e933d53bea 227 void Led::_set_red_led (char led, char brightness)
jah128 4:c2e933d53bea 228 {
jah128 4:c2e933d53bea 229
jah128 4:c2e933d53bea 230 if(led < 8) {
jah128 4:c2e933d53bea 231 char data[2];
jah128 4:c2e933d53bea 232 data[0] = 2 + led + led;
jah128 4:c2e933d53bea 233 data[1] = brightness;
jah128 4:c2e933d53bea 234 if(i2c_lock==0) {
jah128 4:c2e933d53bea 235 i2c_lock = 1;
jah128 4:c2e933d53bea 236 primary_i2c.write(LED_ADDRESS,data,2);
jah128 4:c2e933d53bea 237 }
jah128 4:c2e933d53bea 238 i2c_lock = 0;
jah128 4:c2e933d53bea 239 }
jah128 4:c2e933d53bea 240 }
jah128 4:c2e933d53bea 241
jah128 4:c2e933d53bea 242 void Led::_set_leds (char * red_brightness, char * green_brightness)
jah128 4:c2e933d53bea 243 {
jah128 4:c2e933d53bea 244 char data[17];
jah128 4:c2e933d53bea 245 data[0]=130; //2 + 128 (AutoInc for brightness)
jah128 4:c2e933d53bea 246 for(int i=0; i<8; i++) {
jah128 4:c2e933d53bea 247 data[(i+i)+1] = red_brightness[i];
jah128 4:c2e933d53bea 248 data[(i+i)+2] = green_brightness[i];
jah128 4:c2e933d53bea 249 }
jah128 4:c2e933d53bea 250 if(i2c_lock==0) {
jah128 4:c2e933d53bea 251 i2c_lock = 1;
jah128 4:c2e933d53bea 252 primary_i2c.write(LED_ADDRESS,data,17);
jah128 4:c2e933d53bea 253 }
jah128 4:c2e933d53bea 254 i2c_lock = 0;
jah128 4:c2e933d53bea 255 }
jah128 4:c2e933d53bea 256
jah128 4:c2e933d53bea 257 void Led::set_green_led_stored_state (char led, char brightness)
jah128 4:c2e933d53bea 258 {
jah128 4:c2e933d53bea 259 if(led < 8) {
jah128 4:c2e933d53bea 260 green_led_states [led] = brightness;
jah128 4:c2e933d53bea 261 }
jah128 4:c2e933d53bea 262 }
jah128 4:c2e933d53bea 263
jah128 4:c2e933d53bea 264 void Led::set_red_led_stored_state (char led, char brightness)
jah128 4:c2e933d53bea 265 {
jah128 4:c2e933d53bea 266 if(led < 8) {
jah128 4:c2e933d53bea 267 red_led_states [led] = brightness;
jah128 0:8a2dd255c508 268 }
jah128 0:8a2dd255c508 269 }
jah128 0:8a2dd255c508 270
jah128 0:8a2dd255c508 271 int Led::reset_led_driver()
jah128 0:8a2dd255c508 272 {
jah128 0:8a2dd255c508 273 // The TLC59116 has a software reset option over i2c:
jah128 0:8a2dd255c508 274 // The bytes A5h, 5Ah are sent to special address D6h
jah128 0:8a2dd255c508 275 char data[2];
jah128 0:8a2dd255c508 276 data[0] = 0xA5;
jah128 0:8a2dd255c508 277 data[1] = 0x5A;
jah128 0:8a2dd255c508 278 return primary_i2c.write(0xD6,data,2);
jah128 0:8a2dd255c508 279 }
jah128 0:8a2dd255c508 280
jah128 0:8a2dd255c508 281 int Led::init_led_driver()
jah128 0:8a2dd255c508 282 {
jah128 0:8a2dd255c508 283 // This code enables the LED outputs so all LEDs are on, and are set to work on individual PWM control
jah128 0:8a2dd255c508 284 //
jah128 0:8a2dd255c508 285 // First we write 0x80 to the Mode 1 register (0x00) to enable the oscillator and register auto-increment
jah128 0:8a2dd255c508 286 char data[2];
jah128 0:8a2dd255c508 287 data[0]=0x00;
jah128 0:8a2dd255c508 288 data[1]=0x80;
jah128 0:8a2dd255c508 289 int okay = primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 290 if(okay == 0) {
jah128 0:8a2dd255c508 291 // Now we turn all the LEDs the enable on PWM control
jah128 0:8a2dd255c508 292 data[0]=0x14;
jah128 0:8a2dd255c508 293 data[1]=0xAA;
jah128 0:8a2dd255c508 294 primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 295 data[0]=0x15;
jah128 0:8a2dd255c508 296 data[1]=0xAA;
jah128 0:8a2dd255c508 297 primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 298 data[0]=0x16;
jah128 0:8a2dd255c508 299 data[1]=0xAA;
jah128 0:8a2dd255c508 300 primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 301 data[0]=0x17;
jah128 0:8a2dd255c508 302 data[1]=0xAA;
jah128 0:8a2dd255c508 303 primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 304 }
jah128 0:8a2dd255c508 305 return okay;
jah128 0:8a2dd255c508 306 }
jah128 0:8a2dd255c508 307
jah128 4:c2e933d53bea 308
jah128 4:c2e933d53bea 309
jah128 4:c2e933d53bea 310 //Animations
jah128 4:c2e933d53bea 311
jah128 0:8a2dd255c508 312
jah128 4:c2e933d53bea 313 void Led::stop_animation()
jah128 0:8a2dd255c508 314 {
jah128 4:c2e933d53bea 315 if(animation_on == 1) {
jah128 4:c2e933d53bea 316 animation_on = 0;
jah128 4:c2e933d53bea 317 led_ticker.detach();
jah128 4:c2e933d53bea 318 restore_states();
jah128 4:c2e933d53bea 319 }
jah128 0:8a2dd255c508 320 }
jah128 0:8a2dd255c508 321
jah128 4:c2e933d53bea 322 void Led::start_animation(char mode, char speed)
jah128 3:8762f6b2ea8d 323 {
jah128 4:c2e933d53bea 324 //Speed is ranged so 0 is fastest
jah128 4:c2e933d53bea 325 int us_delay = 4000 + (speed * 1000);
jah128 4:c2e933d53bea 326 animation_on = 1;
jah128 4:c2e933d53bea 327 animation_mode = mode;
jah128 4:c2e933d53bea 328 animation_state = 0;
jah128 4:c2e933d53bea 329 animation_substate = 0;
jah128 4:c2e933d53bea 330 increment = 1;
jah128 4:c2e933d53bea 331 //Turn off all LEDs
jah128 4:c2e933d53bea 332 _set_all(0,0);
jah128 4:c2e933d53bea 333 led_ticker.attach_us(this,&Led::animation_cycle,us_delay);
jah128 3:8762f6b2ea8d 334 }
jah128 3:8762f6b2ea8d 335
jah128 4:c2e933d53bea 336 void Led::animation_cycle()
jah128 0:8a2dd255c508 337 {
jah128 4:c2e933d53bea 338 char red_brightness;
jah128 4:c2e933d53bea 339 char green_brightness;
jah128 4:c2e933d53bea 340 char working_led;
jah128 4:c2e933d53bea 341
jah128 4:c2e933d53bea 342 switch(animation_mode) {
jah128 4:c2e933d53bea 343 case 0:
jah128 4:c2e933d53bea 344 // Flood-fade (boot-up animation)
jah128 4:c2e933d53bea 345 animation_substate += increment;
jah128 4:c2e933d53bea 346 increment += 1;
jah128 4:c2e933d53bea 347 if(animation_substate > 250) {
jah128 4:c2e933d53bea 348 animation_substate = 0;
jah128 4:c2e933d53bea 349 animation_state ++;
jah128 4:c2e933d53bea 350 increment = 1;
jah128 4:c2e933d53bea 351 if (animation_state == 24) animation_state = 0;
jah128 4:c2e933d53bea 352 }
jah128 4:c2e933d53bea 353 working_led = animation_state % 8;
jah128 4:c2e933d53bea 354 if(animation_state < 8 || animation_state > 15) _set_green_led(working_led, animation_substate );
jah128 4:c2e933d53bea 355 else _set_green_led(working_led, 0);
jah128 4:c2e933d53bea 356 if(animation_state > 7) _set_red_led(working_led, animation_substate );
jah128 4:c2e933d53bea 357 else _set_red_led(working_led, 0);
jah128 4:c2e933d53bea 358 break;
jah128 4:c2e933d53bea 359 case 1:
jah128 4:c2e933d53bea 360 // R-O-G Colour sweep
jah128 4:c2e933d53bea 361 switch(animation_state) {
jah128 4:c2e933d53bea 362 case 0:
jah128 4:c2e933d53bea 363 red_brightness = 255;
jah128 4:c2e933d53bea 364 green_brightness = animation_substate * 4;
jah128 4:c2e933d53bea 365 break;
jah128 4:c2e933d53bea 366 case 1:
jah128 4:c2e933d53bea 367 red_brightness = 255 - (animation_substate * 4);
jah128 4:c2e933d53bea 368 green_brightness = 128 + (animation_substate * 4);
jah128 4:c2e933d53bea 369 break;
jah128 4:c2e933d53bea 370 case 2:
jah128 4:c2e933d53bea 371 green_brightness = 255;
jah128 4:c2e933d53bea 372 red_brightness = 128 - (animation_substate * 4);
jah128 4:c2e933d53bea 373 break;
jah128 4:c2e933d53bea 374 case 3:
jah128 4:c2e933d53bea 375 green_brightness = 255 - (animation_substate * 4);
jah128 4:c2e933d53bea 376 red_brightness = animation_substate * 4;
jah128 4:c2e933d53bea 377 break;
jah128 4:c2e933d53bea 378 case 4:
jah128 4:c2e933d53bea 379 green_brightness = 128 - (animation_substate * 4);
jah128 4:c2e933d53bea 380 red_brightness = 128 + (animation_substate * 4);
jah128 4:c2e933d53bea 381 break;
jah128 4:c2e933d53bea 382 }
jah128 4:c2e933d53bea 383 animation_substate ++;
jah128 4:c2e933d53bea 384 if(animation_substate == 32) {
jah128 4:c2e933d53bea 385 animation_substate = 0;
jah128 4:c2e933d53bea 386 animation_state ++;
jah128 4:c2e933d53bea 387 if(animation_state == 5) animation_state = 0;
jah128 4:c2e933d53bea 388 }
jah128 4:c2e933d53bea 389 _set_all(red_brightness,green_brightness);
jah128 4:c2e933d53bea 390 break;
jah128 4:c2e933d53bea 391 case 2:
jah128 4:c2e933d53bea 392 // Red Strobe
jah128 4:c2e933d53bea 393 if(animation_state < 6) _set_all(animation_state * 48, 0);
jah128 4:c2e933d53bea 394 if(animation_state == 6) _set_all(255,0);
jah128 4:c2e933d53bea 395 if(animation_state == 12) _set_all(0,0);
jah128 4:c2e933d53bea 396 animation_state ++;
jah128 4:c2e933d53bea 397 if(animation_state == 18) animation_state = 0;
jah128 4:c2e933d53bea 398 break;
jah128 4:c2e933d53bea 399 case 3:
jah128 4:c2e933d53bea 400 // Green Strobe
jah128 4:c2e933d53bea 401 if(animation_state < 6) _set_all(0,animation_state * 48);
jah128 4:c2e933d53bea 402 if(animation_state == 6) _set_all(0,255);
jah128 4:c2e933d53bea 403 if(animation_state == 12) _set_all(0,0);
jah128 4:c2e933d53bea 404 animation_state ++;
jah128 4:c2e933d53bea 405 if(animation_state == 18) animation_state = 0;
jah128 4:c2e933d53bea 406 break;
jah128 4:c2e933d53bea 407 case 4:
jah128 4:c2e933d53bea 408 // Orange Strobe
jah128 4:c2e933d53bea 409 if(animation_state < 6) _set_all(animation_state * 48,animation_state * 48);
jah128 4:c2e933d53bea 410 if(animation_state == 6) _set_all(255,255);
jah128 4:c2e933d53bea 411 if(animation_state == 12) _set_all(0,0);
jah128 4:c2e933d53bea 412 animation_state ++;
jah128 4:c2e933d53bea 413 if(animation_state == 18) animation_state = 0;
jah128 4:c2e933d53bea 414 break;
jah128 4:c2e933d53bea 415 case 5:
jah128 4:c2e933d53bea 416 // R:G Strobe
jah128 4:c2e933d53bea 417 if(animation_state == 0) _set_all(0,64);
jah128 4:c2e933d53bea 418 if(animation_state == 1) _set_all(0,128);
jah128 4:c2e933d53bea 419 if(animation_state == 2) _set_all(0,192);
jah128 4:c2e933d53bea 420 if(animation_state == 3) _set_all(0,255);
jah128 4:c2e933d53bea 421 if(animation_state == 7) _set_all(32,64);
jah128 4:c2e933d53bea 422 if(animation_state == 8) _set_all(64,0);
jah128 4:c2e933d53bea 423 if(animation_state == 9) _set_all(128,0);
jah128 4:c2e933d53bea 424 if(animation_state == 10) _set_all(192,0);
jah128 4:c2e933d53bea 425 if(animation_state == 11) _set_all(255,0);
jah128 4:c2e933d53bea 426 if(animation_state == 15) _set_all(64,32);
jah128 4:c2e933d53bea 427 animation_state ++;
jah128 4:c2e933d53bea 428 if(animation_state == 16) animation_state = 0;
jah128 4:c2e933d53bea 429 break;
jah128 4:c2e933d53bea 430 case 6:
jah128 4:c2e933d53bea 431 // Forward red chase
jah128 4:c2e933d53bea 432 if(animation_state == 0) _set_leds( 0, 0, 0, 64, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 433 if(animation_state == 1) _set_leds( 0, 0, 64,128,128, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 434 if(animation_state == 2) _set_leds( 0, 64,128,255,255,128, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 435 if(animation_state == 3) _set_leds( 64,128,255,255,255,255,128, 64, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 436 if(animation_state == 4) _set_leds(128,255,255,128,128,255,255,128, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 437 if(animation_state == 5) _set_leds(255,255,128, 64, 64,128,255,255, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 438 if(animation_state == 6) _set_leds(255,220, 92, 32, 32, 92,220,255, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 439 if(animation_state == 8) _set_leds(255,192, 64, 16, 16, 64,192,255, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 440 if(animation_state == 10) _set_leds(255,160, 32, 8, 8, 32,160,255, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 441 if(animation_state == 12) _set_leds(255,128, 16, 0, 0, 16,128,255, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 442 if(animation_state == 13) _set_leds(255, 64, 4, 0, 0, 4, 64,255, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 443 if(animation_state == 14) _set_leds(255, 0, 0, 0, 0, 0, 0,255, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 444 animation_state ++;
jah128 4:c2e933d53bea 445 if(animation_state == 16)animation_state = 0;
jah128 4:c2e933d53bea 446 break;
jah128 4:c2e933d53bea 447 case 7:
jah128 4:c2e933d53bea 448 // Reverse red chase
jah128 4:c2e933d53bea 449 if(animation_state == 0) _set_leds( 64, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 450 if(animation_state == 1) _set_leds(128, 64, 0, 0, 0, 0, 64,128, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 451 if(animation_state == 2) _set_leds(255,128, 64, 0, 0, 64,128,255, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 452 if(animation_state == 3) _set_leds(255,255,128, 64, 64,128,255,255, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 453 if(animation_state == 4) _set_leds(128,255,255,128,128,255,255,128, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 454 if(animation_state == 5) _set_leds( 64,128,255,255,255,255,128, 64, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 455 if(animation_state == 6) _set_leds( 32, 92,220,255,255,220, 92, 32, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 456 if(animation_state == 8) _set_leds( 16, 64,192,255,255,192, 64, 16, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 457 if(animation_state == 10) _set_leds( 8, 32,160,255,255,160, 32, 8, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 458 if(animation_state == 12) _set_leds( 0, 16,128,255,255,128, 16, 0, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 459 if(animation_state == 13) _set_leds( 0, 4, 64,255,255, 64, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 460 if(animation_state == 14) _set_leds( 0, 0, 0,255,255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
jah128 4:c2e933d53bea 461 animation_state ++;
jah128 4:c2e933d53bea 462 if(animation_state == 16)animation_state = 0;
jah128 4:c2e933d53bea 463 break;
jah128 4:c2e933d53bea 464 case 8:
jah128 4:c2e933d53bea 465 // Forward green chase
jah128 4:c2e933d53bea 466 if(animation_state == 0) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 64, 64, 0, 0, 0);
jah128 4:c2e933d53bea 467 if(animation_state == 1) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 64,128,128, 64, 0, 0);
jah128 4:c2e933d53bea 468 if(animation_state == 2) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0, 0, 64,128,255,255,128, 64, 0);
jah128 4:c2e933d53bea 469 if(animation_state == 3) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0, 64,128,255,255,255,255,128, 64);
jah128 4:c2e933d53bea 470 if(animation_state == 4) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0,128,255,255,128,128,255,255,128);
jah128 4:c2e933d53bea 471 if(animation_state == 5) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0,255,255,128, 64, 64,128,255,255);
jah128 4:c2e933d53bea 472 if(animation_state == 6) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0,255,220, 92, 32, 32, 92,220,255);
jah128 4:c2e933d53bea 473 if(animation_state == 8) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0,255,192, 64, 16, 16, 64,192,255);
jah128 4:c2e933d53bea 474 if(animation_state == 10) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0,255,160, 32, 8, 8, 32,160,255);
jah128 4:c2e933d53bea 475 if(animation_state == 12) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0,255,128, 16, 0, 0, 16,128,255);
jah128 4:c2e933d53bea 476 if(animation_state == 13) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0,255, 64, 4, 0, 0, 4, 64,255);
jah128 4:c2e933d53bea 477 if(animation_state == 14) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0,255, 0, 0, 0, 0, 0, 0,255);
jah128 4:c2e933d53bea 478 animation_state ++;
jah128 4:c2e933d53bea 479 if(animation_state == 16)animation_state = 0;
jah128 4:c2e933d53bea 480 break;
jah128 4:c2e933d53bea 481 case 9:
jah128 4:c2e933d53bea 482 // Reverse green chase
jah128 4:c2e933d53bea 483 if(animation_state == 0) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0, 0, 0, 0, 64);
jah128 4:c2e933d53bea 484 if(animation_state == 1) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0,128, 64, 0, 0, 0, 0, 64,128);
jah128 4:c2e933d53bea 485 if(animation_state == 2) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0,255,128, 64, 0, 0, 64,128,255);
jah128 4:c2e933d53bea 486 if(animation_state == 3) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0,255,255,128, 64, 64,128,255,255);
jah128 4:c2e933d53bea 487 if(animation_state == 4) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0,128,255,255,128,128,255,255,128);
jah128 4:c2e933d53bea 488 if(animation_state == 5) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0, 64,128,255,255,255,255,128, 64);
jah128 4:c2e933d53bea 489 if(animation_state == 6) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0, 32, 92,220,255,255,220, 92, 32);
jah128 4:c2e933d53bea 490 if(animation_state == 8) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0, 16, 64,192,255,255,192, 64, 16);
jah128 4:c2e933d53bea 491 if(animation_state == 10) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0, 8, 32,160,255,255,160, 32, 8);
jah128 4:c2e933d53bea 492 if(animation_state == 12) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0, 0, 16,128,255,255,128, 16, 0);
jah128 4:c2e933d53bea 493 if(animation_state == 13) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 64,255,255, 64, 4, 0);
jah128 4:c2e933d53bea 494 if(animation_state == 14) _set_leds( 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,255,255, 0, 0, 0);
jah128 4:c2e933d53bea 495 animation_state ++;
jah128 4:c2e933d53bea 496 if(animation_state == 16)animation_state = 0;
jah128 4:c2e933d53bea 497 break;
jah128 4:c2e933d53bea 498 case 10:
jah128 4:c2e933d53bea 499 // Forward orange chase
jah128 4:c2e933d53bea 500 if(animation_state == 0) _set_leds( 0, 0, 0, 64, 64, 0, 0, 0, 0, 0, 0, 64, 64, 0, 0, 0);
jah128 4:c2e933d53bea 501 if(animation_state == 1) _set_leds( 0, 0, 64,128,128, 64, 0, 0, 0, 0, 64,128,128, 64, 0, 0);
jah128 4:c2e933d53bea 502 if(animation_state == 2) _set_leds( 0, 64,128,255,255,128, 64, 0, 0, 64,128,255,255,128, 64, 0);
jah128 4:c2e933d53bea 503 if(animation_state == 3) _set_leds( 64,128,255,255,255,255,128, 64, 64,128,255,255,255,255,128, 64);
jah128 4:c2e933d53bea 504 if(animation_state == 4) _set_leds(128,255,255,128,128,255,255,128,128,255,255,128,128,255,255,128);
jah128 4:c2e933d53bea 505 if(animation_state == 5) _set_leds(255,255,128, 64, 64,128,255,255,255,255,128, 64, 64,128,255,255);
jah128 4:c2e933d53bea 506 if(animation_state == 6) _set_leds(255,220, 92, 32, 32, 92,220,255,255,220, 92, 32, 32, 92,220,255);
jah128 4:c2e933d53bea 507 if(animation_state == 8) _set_leds(255,192, 64, 16, 16, 64,192,255,255,192, 64, 16, 16, 64,192,255);
jah128 4:c2e933d53bea 508 if(animation_state == 10) _set_leds(255,160, 32, 8, 8, 32,160,255,255,160, 32, 8, 8, 32,160,255);
jah128 4:c2e933d53bea 509 if(animation_state == 12) _set_leds(255,128, 16, 0, 0, 16,128,255,255,128, 16, 0, 0, 16,128,255);
jah128 4:c2e933d53bea 510 if(animation_state == 13) _set_leds(255, 64, 4, 0, 0, 4, 64,255,255, 64, 4, 0, 0, 4, 64,255);
jah128 4:c2e933d53bea 511 if(animation_state == 14) _set_leds(255, 0, 0, 0, 0, 0, 0,255,255, 0, 0, 0, 0, 0, 0,255);
jah128 4:c2e933d53bea 512 animation_state ++;
jah128 4:c2e933d53bea 513 if(animation_state == 16)animation_state = 0;
jah128 4:c2e933d53bea 514 break;
jah128 4:c2e933d53bea 515 case 11:
jah128 4:c2e933d53bea 516 // Reverse orange chase
jah128 4:c2e933d53bea 517 if(animation_state == 0) _set_leds( 64, 0, 0, 0, 0, 0, 0, 64, 64, 0, 0, 0, 0, 0, 0, 64);
jah128 4:c2e933d53bea 518 if(animation_state == 1) _set_leds(128, 64, 0, 0, 0, 0, 64,128,128, 64, 0, 0, 0, 0, 64,128);
jah128 4:c2e933d53bea 519 if(animation_state == 2) _set_leds(255,128, 64, 0, 0, 64,128,255,255,128, 64, 0, 0, 64,128,255);
jah128 4:c2e933d53bea 520 if(animation_state == 3) _set_leds(255,255,128, 64, 64,128,255,255,255,255,128, 64, 64,128,255,255);
jah128 4:c2e933d53bea 521 if(animation_state == 4) _set_leds(128,255,255,128,128,255,255,128,128,255,255,128,128,255,255,128);
jah128 4:c2e933d53bea 522 if(animation_state == 5) _set_leds( 64,128,255,255,255,255,128, 64, 64,128,255,255,255,255,128, 64);
jah128 4:c2e933d53bea 523 if(animation_state == 6) _set_leds( 32, 92,220,255,255,220, 92, 32, 32, 92,220,255,255,220, 92, 32);
jah128 4:c2e933d53bea 524 if(animation_state == 8) _set_leds( 16, 64,192,255,255,192, 64, 16, 16, 64,192,255,255,192, 64, 16);
jah128 4:c2e933d53bea 525 if(animation_state == 10) _set_leds( 8, 32,160,255,255,160, 32, 8, 8, 32,160,255,255,160, 32, 8);
jah128 4:c2e933d53bea 526 if(animation_state == 12) _set_leds( 0, 16,128,255,255,128, 16, 0, 0, 16,128,255,255,128, 16, 0);
jah128 4:c2e933d53bea 527 if(animation_state == 13) _set_leds( 0, 4, 64,255,255, 64, 4, 0, 0, 4, 64,255,255, 64, 4, 0);
jah128 4:c2e933d53bea 528 if(animation_state == 14) _set_leds( 0, 0, 0,255,255, 0, 0, 0, 0, 0, 0,255,255, 0, 0, 0);
jah128 4:c2e933d53bea 529 animation_state ++;
jah128 4:c2e933d53bea 530 if(animation_state == 16)animation_state = 0;
jah128 4:c2e933d53bea 531 break;
jah128 5:6da8daaeb9f7 532 case 12:
jah128 5:6da8daaeb9f7 533 // Alternate red:green
jah128 5:6da8daaeb9f7 534 if(animation_state == 0) _set_leds( 64, 0, 64, 0, 64, 0, 64, 0, 0, 64, 0, 64, 0, 64, 0, 64);
jah128 5:6da8daaeb9f7 535 if(animation_state == 1) _set_leds(128, 0,128, 0,128, 0,128, 0, 0,128, 0,128, 0,128, 0,128);
jah128 5:6da8daaeb9f7 536 if(animation_state == 2) _set_leds(255, 0,255, 0,255, 0,255, 0, 0,255, 0,255, 0,255, 0,255);
jah128 5:6da8daaeb9f7 537 if(animation_state == 6) _set_leds(128, 0,128, 0,128, 0,128, 0, 0,128, 0,128, 0,128, 0,128);
jah128 5:6da8daaeb9f7 538 if(animation_state == 7) _set_leds( 64, 0, 64, 0, 64, 0, 64, 0, 0, 64, 0, 64, 0, 64, 0, 64);
jah128 5:6da8daaeb9f7 539 if(animation_state == 8) _set_leds( 0, 64, 0, 64, 0, 64, 0, 64, 64, 0, 64, 0, 64, 0, 64, 0);
jah128 5:6da8daaeb9f7 540 if(animation_state == 9) _set_leds( 0,128, 0,128, 0,128, 0,128,128, 0,128, 0,128, 0,128, 0);
jah128 5:6da8daaeb9f7 541 if(animation_state == 10) _set_leds( 0,255, 0,255, 0,255, 0,255,255, 0,255, 0,255, 0,255, 0);
jah128 5:6da8daaeb9f7 542 if(animation_state == 14) _set_leds( 0,128, 0,128, 0,128, 0,128,128, 0,128, 0,128, 0,128, 0);
jah128 5:6da8daaeb9f7 543 if(animation_state == 15) _set_leds( 0, 64, 0, 64, 0, 64, 0, 64, 64, 0, 64, 0, 64, 0, 64, 0);
jah128 5:6da8daaeb9f7 544 animation_state ++;
jah128 5:6da8daaeb9f7 545 if(animation_state == 16)animation_state = 0;
jah128 5:6da8daaeb9f7 546 break;
jah128 0:8a2dd255c508 547 }
jah128 4:c2e933d53bea 548 }