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缩放与平移。

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This commit is contained in:
unlockable
2023-09-07 16:07:51 +08:00
parent a0b1c3c055
commit 8a628ffe02
1 changed files with 146 additions and 74 deletions
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220
8By8/8By8.ino
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@@ -10,6 +10,10 @@
#define CLOCK_START_PIN 30
#define SW_START_PIN 38
#define JOYSTICK_VRX A1
#define JOYSTICK_VRY A0
#define JOYSTICK_SWITCH 2
#define ACC_UPDATE 0x01
#define GYRO_UPDATE 0x02
#define ANGLE_UPDATE 0x04
@@ -28,7 +32,6 @@ class SensorReader {
private:
static const uint32_t c_uiBaud[8];
static volatile byte s_cDataUpdate;
static Triple angle;
static void AutoScanSensor() {
int iRetry;
@@ -91,6 +94,8 @@ private:
}
public:
static Triple angle, acceleration;
static bool init() {
WitInit(WIT_PROTOCOL_NORMAL, 0x50);
WitSerialWriteRegister(SensorReader::SensorUartSend);
@@ -104,16 +109,19 @@ public:
}
else {
Serial1.begin(SensorReader::c_uiBaud[WIT_BAUD_9600]);
Serial.println("9600 Baud rate modified successfully");
// Serial.println("9600 Baud rate modified successfully");
}
if (WitSetContent(RSW_ANGLE) != WIT_HAL_OK) {
Serial.print("\r\nSet Content Angle Error\r\n");
if (WitSetContent(RSW_ANGLE | RSW_ACC) != WIT_HAL_OK) {
Serial.println("Set send content: angle, acc Error");
return false;
}
else {
Serial.println("Set Content Angle success");
if (WitSetOutputRate(RRATE_2HZ) != WIT_HAL_OK) {
Serial.print("Set report rate failed");
return false;
}
return true;
}
@@ -133,11 +141,16 @@ public:
SensorReader::s_cDataUpdate = 0;
}
}
}
static Triple get_angle() {
return SensorReader::angle;
if (SensorReader::s_cDataUpdate & ACC_UPDATE) {
SensorReader::acceleration.x =
sReg[AX] / 32768.0f * 16.0f * 9.8f;
SensorReader::acceleration.y =
sReg[AX + 1] / 32768.0f * 16.0f * 9.8f;
SensorReader::acceleration.z =
sReg[AX + 2] / 32768.0f * 16.0f * 9.8f;
}
}
}
};
@@ -234,6 +247,7 @@ public:
for (int i = 0; i < 8; i++) {
for (int j = 0; j < 8; j++) {
LED_brightness[i][j] = 0;
LED_blinking_status[i][j] = 0;
LED_status[i][j] = 0;
}
}
@@ -638,17 +652,24 @@ double *Symbol::x_value_ptr, *Symbol::y_value_ptr;
const uint32_t SensorReader::c_uiBaud[8] = {0, 4800, 9600, 19200,
38400, 57600, 115200, 230400};
volatile byte SensorReader::s_cDataUpdate;
Triple SensorReader::angle;
Triple SensorReader::angle, SensorReader::acceleration;
double x, y;
const String allowed_chars = "0123456789+-*/^()xy";
String input = "";
int x_offset = 0, y_offset = 0, z_offset = 0;
double zoom = 1.0;
float z_ref = 0.0;
void setup() {
for (int i = 22; i < 46; i++) {
pinMode(i, OUTPUT);
}
pinMode(JOYSTICK_SWITCH, INPUT);
pinMode(JOYSTICK_VRX, INPUT);
pinMode(JOYSTICK_VRY, INPUT);
Timer1.initialize();
Timer1.setPeriod(TIME_PER_LAYER_IN_US);
@@ -685,9 +706,9 @@ void setup() {
TIMSK5 |= (1 << OCIE5A);
sei();
Cube::set_status(1, 1, 1, 3);
Cube::set_status(1, 1, 2, 3);
Cube::set_blinking(1, 1, 2);
// Wait for z_ref to have value;
delay(500);
z_ref = SensorReader::angle.z;
}
ISR(TIMER4_COMPA_vect) {
@@ -699,71 +720,122 @@ ISR(TIMER5_COMPA_vect) {
}
void loop() {
Triple angle;
Serial.print("Zref: ");
Serial.println(z_ref);
angle = SensorReader::get_angle();
Serial.print("x: ");
Serial.println(angle.x);
Serial.print("y: ");
Serial.println(angle.y);
Serial.print("z: ");
Serial.println(angle.z);
Serial.println("Input expression");
while (true) {
if (Serial.available()) {
byte input_char = Serial.read();
// Serial.print("Pos: ");
// Serial.println(allowed_chars.indexOf(input_char));
if (allowed_chars.indexOf(input_char) != -1) {
input.concat((char)input_char);
// Serial.print("String: ");
// Serial.println(input);
continue;
}
delay(1500);
if (input_char == 0x3) {
break;
}
// String input = "";
// Serial.println("Input expression");
// while (true) {
// if (Serial.available()) {
// byte input_char = Serial.read();
// // Serial.print("Pos: ");
// // Serial.println(allowed_chars.indexOf(input_char));
// if (allowed_chars.indexOf(input_char) != -1) {
// input.concat((char)input_char);
// // Serial.print("String: ");
// // Serial.println(input);
// continue;
// }
if (input_char == 0x4) {
input = "";
Serial.println("Clear input string");
}
}
if (SensorReader::angle.x > 40.0) {
Serial.println("a");
y_offset += 1;
break;
}
else if (SensorReader::angle.x < -40.0) {
Serial.println("b");
y_offset -= 1;
break;
}
// if (input_char == 0x3) {
// break;
// }
// }
// }
// Serial.print("Read: ");
// Serial.println(input);
// Calculator calculator(input);
// int x_offset, y_offset;
if (SensorReader::angle.y > 40.0) {
Serial.println("c");
x_offset -= 1;
break;
}
else if (SensorReader::angle.y < -40.0) {
Serial.println("d");
x_offset += 1;
break;
}
// for (x_offset = 0; x_offset < 4; x_offset++) {
// for (y_offset = 0; y_offset < 4; y_offset++) {
// Cube::clear();
if (SensorReader::angle.z - z_ref > 40.0) {
Serial.println("e");
zoom /= 2.0;
break;
}
else if (SensorReader::angle.z - z_ref < -40.0) {
Serial.println(SensorReader::angle.z);
Serial.println("f");
zoom *= 2.0;
break;
}
// for (int i = 0; i < 8; i++) {
// for (int j = 0; j < 8; j++) {
// x = i - x_offset;
// y = j - y_offset;
// double result = calculator.evaluate();
// int z;
// if (!(isinf(result) || isnan(result))) {
// z = round(result);
// Cube::set_status(i, j, z, 3);
// }
// else {
// z = 0;
// }
// // Serial.print(x);
// // Serial.print(" ");
// // Serial.print(y);
// // Serial.print(" ");
// // Serial.println(z);
// }
// }
// delay(1000);
// }
// }
if (abs(SensorReader::acceleration.x) +
abs(SensorReader::acceleration.y) +
abs(SensorReader::acceleration.z) >
120.0) {
x_offset = 0;
y_offset = 0;
z_offset = 0;
zoom = 1;
}
}
// // int z = round(calculator.evaluate());
// // Serial.println(z);
Serial.print("Read: ");
Serial.println(input);
Serial.print("Offset: ");
Serial.print(x_offset);
Serial.print(" ");
Serial.print(y_offset);
Serial.print(" ");
Serial.println(z_offset);
Serial.print("Zoom: ");
Serial.println(zoom);
Calculator calculator(input);
Cube::clear();
for (int i = 0; i < 8; i++) {
for (int j = 0; j < 8; j++) {
x = (i + x_offset) * zoom;
y = (j + y_offset) * zoom;
double result = calculator.evaluate();
int z;
if (!(isinf(result) || isnan(result))) {
z = round((result + z_offset) * zoom);
Cube::set_status(i, j, z, 3);
}
else {
z = 0;
}
// Serial.print(x);
// Serial.print(" ");
// Serial.print(y);
// Serial.print(" ");
// Serial.println(z);
// Display origin point
Cube::set_status(round(-x_offset), round(-y_offset),
round(-z_offset), 3);
Cube::set_blinking(round(-x_offset), round(-y_offset),
round(-z_offset));
}
}
// delay(1000);
// int z = round(calculator.evaluate());
// Serial.println(z);
// Serial.print("Here");
}