public void OnLoop()
{
if (Saturation > 1)
{
Saturation = 1;
}
if (Saturation < 0)
{
Saturation = 0;
}
if (Value > 1)
{
Value = 1;
}
if (Value < 0)
{
Value = 0;
}
/* convert to rgb */
HsvToRgb.Convert(Hue, Saturation, Value, out _r, out _g, out _b);
_r = _averageR.Process(_r);
_g = _averageG.Process(_g);
_b = _averageB.Process(_b);
/* update CANifier's LED strip */
Platform.Hardware.canifier.SetLEDOutput(_r, CTRE.CANifier.LEDChannel.LEDChannelA);
Platform.Hardware.canifier.SetLEDOutput(_g, CTRE.CANifier.LEDChannel.LEDChannelB);
Platform.Hardware.canifier.SetLEDOutput(_b, CTRE.CANifier.LEDChannel.LEDChannelC);
}
/**
* Updates the LED strip (Talon/HERO) when given angle. To be used with Pigeon
*
* @param Hue Angle in degrees
*/
static void UpdateLedStrip_Pigeon(float Hue)
{
/* 75% brigtness */
float Brightness = 0.75f;
/* Hue provided angle from pigeon */
float HueDeg = Hue;
/* Constant saturation */
float Saturation = 1;
/* Constant value */
float Value = 1;
/* Output after HSV to RGB conversion */
uint R, G, B;
/* Convert HSV to RGB */
HsvToRgb.Convert(HueDeg, Saturation, Value, out R, out G, out B);
/* Modify RGB values based on brightness */
float Red = R * 1f / 255f * Brightness;
float Green = G * 1f / 255f * Brightness;
float Blue = B * 1f / 255f * Brightness;
/* Update RGB values with current RGB */
_LEDStripController.Red = Red;
_LEDStripController.Green = Green;
_LEDStripController.Blue = Blue;
/* Update the LED strip through HERO */
_LEDStripController.Process();
/* Update the LED strip through Talon SRX */
CommandLedStrip_Talon(Red, Green, Blue, 10, _TalonID);
}
public void OnLoop()
{
/* just ramp through the outer rim of the HSV color wheel */
_saturation = 1;
_theta += 1;
if (_theta >= 360)
{
_theta = 0;
}
/* push saturation to the outter rim of the HSV color wheel */
_saturation *= 3.0f;
if (_saturation > 1)
{
_saturation = 1;
}
/* convert to rgb */
float r, g, b;
HsvToRgb.Convert(_theta, _saturation, _value, out r, out g, out b);
/* update CANifier's LED strip */
Platform.Hardware.canifier_LedStrip_RCRADIO.SetLEDOutput(r, CTRE.Phoenix.CANifier.LEDChannel.LEDChannelA);
Platform.Hardware.canifier_LedStrip_RCRADIO.SetLEDOutput(g, CTRE.Phoenix.CANifier.LEDChannel.LEDChannelB);
Platform.Hardware.canifier_LedStrip_RCRADIO.SetLEDOutput(b, CTRE.Phoenix.CANifier.LEDChannel.LEDChannelC);
}
/**
* Updates the LED strip (Talon/HERO) when given Brightness, X, and Y
*
* @param Brightness Brightness value from 0 to 1, modifies RGB values
* @param X X value used when finding the angle for hue
* @param Y Y value used when finding the angle for hue
*/
static void UpdateLedStrip(float Brightness, float X, float Y)
{
/* The values of the HSV are explained here,
* https://en.wikipedia.org/wiki/HSL_and_HSV */
/* Square it to get bright quickly */
Brightness = Brightness * Brightness;
/* Angle */
float HueDeg = 0;
/* Finds the angle of the left Stick for hue */
if (Y != 0 || X != 0)
{
/* Find the inverse tangent of X-axis and Y-axis of left joystick for angle */
HueDeg = (float)System.Math.Atan2(Y, X) * 180f / (float)System.Math.PI;
/* Keep the angle positive */
if (HueDeg < 0)
{
HueDeg += 360.0f;
}
}
/* Find the saturation of HSV based on the X and Y value */
float Saturation = (float)System.Math.Sqrt(X * X + Y * Y);
/* Constant the value of HSV */
float Value = 1.0f;
/* Output after HSV to RGB conversion */
uint R, G, B;
/* Convert HSV to RGB */
HsvToRgb.Convert(HueDeg, Saturation, Value, out R, out G, out B);
/* Modify RGB values based on brightness */
float Red = R * 1f / 255f * Brightness;
float Green = G * 1f / 255f * Brightness;
float Blue = B * 1f / 255f * Brightness;
/* Update RGB values with current RGB */
_LEDStripController.Red = Red;
_LEDStripController.Green = Green;
_LEDStripController.Blue = Blue;
/* Update the LED strip through HERO */
_LEDStripController.Process();
/* Update the LED strip through Talon SRX */
CommandLedStrip_Talon(Red, Green, Blue, 10, _TalonID);
}
public void OnLoop()
{
/* select how to control LED strip */
if (false)
{
/* get the drive train and produce a unique color per drivetrain state */
float f = Platform.Hardware.drivetrain.Forward;
float t = Platform.Hardware.drivetrain.Turn;
_theta = (float)System.Math.Atan2(f, t) * 180f / (float)System.Math.PI;
_saturation = (float)System.Math.Sqrt(f * f + t * t);
}
else
{
/* just ramp through the outer rim of the HSV color wheel */
_saturation = 1;
_theta += 1;
if (_theta >= 360)
{
_theta = 0;
}
}
/* push saturation to the outter rim of the HSV color wheel */
_saturation *= 3.0f;
if (_saturation > 1)
{
_saturation = 1;
}
/* convert to rgb */
float r, g, b;
HsvToRgb.Convert(_theta, _saturation, _value, out r, out g, out b);
/* update CANifier's LED strip */
Platform.Hardware.canifier_LedStrip_RCRADIO.SetLEDOutput(r, CTRE.CANifier.LEDChannel.LEDChannelA);
Platform.Hardware.canifier_LedStrip_RCRADIO.SetLEDOutput(g, CTRE.CANifier.LEDChannel.LEDChannelB);
Platform.Hardware.canifier_LedStrip_RCRADIO.SetLEDOutput(b, CTRE.CANifier.LEDChannel.LEDChannelC);
}
public void RunForever()
{
/* get an X,Y, and btn value. These could come from potentiometers for example, or USB gamepad */
Microsoft.SPOT.Hardware.AnalogInput aiBtn = new Microsoft.SPOT.Hardware.AnalogInput(CTRE.HERO.IO.Port1.Analog_Pin3);
Microsoft.SPOT.Hardware.AnalogInput aiX = new Microsoft.SPOT.Hardware.AnalogInput(CTRE.HERO.IO.Port1.Analog_Pin4);
Microsoft.SPOT.Hardware.AnalogInput aiY = new Microsoft.SPOT.Hardware.AnalogInput(CTRE.HERO.IO.Port1.Analog_Pin5);
/* loop forever */
while (true)
{
/* loop sleep */
Thread.Sleep(5);
/* get x,y, and button */
bool btn = aiBtn.Read() < 0.5f;
float x = (float)aiX.Read() * 2f - 1f; // [-1,1]
float y = (float)aiY.Read() * 2f - 1f; // [-1,1]
x = Deadband(x);
y = Deadband(y);
/* figure out next color based on current mode */
if (_colorWheelMode)
{
/* spin around the top circular slice of an HSV surface,
* https://en.wikipedia.org/wiki/HSL_and_HSV */
/* calc sat and hue, use 100% for value */
float hueDeg = 0;
if (y != 0 || x != 0)
{
hueDeg = (float)System.Math.Atan2(y, x) * 180f / (float)System.Math.PI;
/* keep the angle positive */
if (hueDeg < 0)
{
hueDeg += 360f;
}
}
float sat = (float)System.Math.Sqrt(x * x + y * y);
float value = 1f;
/* convert to rgb */
uint color;
uint r, g, b;
HsvToRgb.Convert(hueDeg, sat, value, out r, out g, out b);
color = r;
color <<= 8;
color |= g;
color <<= 8;
color |= b;
/* set all LEDs to one color, controlled by analog signals */
_heroPixels.setColor(color, 0, _heroPixels.NumberPixels);
}
else
{
/* just ramp through the predetermined color sequence */
uint color = _colorSequence[_colIdx];
_heroPixels.setColor(color, _pixelIdx, 1);
}
/* update LEDs using SPI*/
_heroPixels.writeOutput();
/* iterate to next pixel */
if (++_pixelIdx >= _heroPixels.NumberPixels)
{
/* back to first pixel */
_pixelIdx = 0;
/* step to next color when using the predetermined sequence */
if (++_colIdx >= _colorSequence.Length)
{
_colIdx = 0;
}
}
/* detect on-press event on button to change mode. */
if (btn && !_lastBtn)
{
_colorWheelMode = !_colorWheelMode;
}
_lastBtn = btn;
}
}
