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Remove eyes
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@meowmeowahr
meowmeowahr committed Mar 12, 2023
1 parent e198dde commit 03d31d1
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Showing 2 changed files with 8 additions and 158 deletions.
43 changes: 4 additions & 39 deletions DebugTool.spin2
View file
Original file line number Diff line number Diff line change
Expand Up @@ -51,11 +51,6 @@ con { fixed io pins }

con { app io pins }

DISPLAYA_BASE_PIN = 0 ' 240x240 displays
DISPLAYB_BASE_PIN = 8
DISPLAY_LIGHT_PIN = 31 ' BL Pin
DISPLAY_LIGHT_FRQ = 1000 ' BL Hz

RPI_TX = 6 { I } ' Raspberry Pi
RPI_RX = 5 { O }

Expand Down Expand Up @@ -114,11 +109,6 @@ obj
rpi : "jm_fullduplexserial" ' * serial IO for RPi
ansi : "jm_ansi" ' ANSI terminal control sequences

disp_a : "Wave_16b240x240LCDDrv" ' * ST7796 TFT LCD driver
disp_b : "Wave_16b240x240LCDDrv" ' ST7796 TFT LCD driver
graphic : "Graphics" ' graphics for tfts
eye_pwm : "jm_pwm" ' pwm for displays

strs : "ka_strings" ' string manipulation
timer1 : "jm_ez_timer" ' timer
prng : "jm_prng" ' TEMPORARY RNG
Expand Down Expand Up @@ -146,8 +136,6 @@ obj

dat

screen byte $00[ disp_a.BUFFER_SIZE ]

Version byte "version=v0.1.0", 10, 0 ' version

' rr gg bb ww
Expand Down Expand Up @@ -231,8 +219,8 @@ pub check_serial() | index, i, v, vn, len, c
term.fstr1(string("chip=%s", 10), string("Propeller 2"))
term.str(string("root=P2 Kevinbot Board", 10))
term.str(string("leds=WS1812B Leds", 10))
fstr20(string("pins=DISP_A:%d..P%d,DISP_B:%d..P%d,RPI_RX:%d,RPI_TX:%d,CAMERA_LED:%d,LED:%d,SDA:%d,SCL:%d,VOLT1_P:%d,VOLT2_P:%d,LEFT_MOT:%d,RIGHT_MOT:%d,LEFT_ENC_A:%d,LEFT_ENC_B:%d,RIGHT_ENC_A:%d,RIGHT_ENC_B:%d,ONE_WIRE:%d,BUZZER_PIN:%d", 10), ...
DISPLAYA_BASE_PIN, DISPLAYA_BASE_PIN + 8, DISPLAYB_BASE_PIN, DISPLAYB_BASE_PIN + 8, RPI_RX, RPI_TX, CAMERA_LED, LED, SDA, SCL, VOLT1_P, VOLT2_P, LEFT_MOT, RIGHT_MOT, LEFT_ENC_A, LEFT_ENC_B, RIGHT_ENC_A, RIGHT_ENC_B, ONE_WIRE, BUZZER_PIN)
fstr16(string("pins=DISP_A:%d..P%d,DISP_B:%d..P%d,RPI_RX:%d,RPI_TX:%d,CAMERA_LED:%d,LED:%d,SDA:%d,SCL:%d,VOLT1_P:%d,VOLT2_P:%d,LEFT_MOT:%d,RIGHT_MOT:%d,LEFT_ENC_A:%d,LEFT_ENC_B:%d,RIGHT_ENC_A:%d,RIGHT_ENC_B:%d,ONE_WIRE:%d,BUZZER_PIN:%d", 10), ...
RPI_RX, RPI_TX, CAMERA_LED, LED, SDA, SCL, VOLT1_P, VOLT2_P, LEFT_MOT, RIGHT_MOT, LEFT_ENC_A, LEFT_ENC_B, RIGHT_ENC_A, RIGHT_ENC_B, ONE_WIRE, BUZZER_PIN)
term.fstr5(string("led_config=Total:%d=Head:%d, Body:%d, Base:%d, Cam:%d", 10), TOTAL_LEDS, HEAD_LEDS, BODY_LEDS, BASE_LEDS, CAM_LEDS)

tone(50, 1000, 50)
Expand All @@ -250,8 +238,6 @@ pub tone(amp, freq, length)

pub update_cog()

setup_display() ' setup display after starting cogs

waitms(500)

repeat
Expand Down Expand Up @@ -368,8 +354,8 @@ pub get_msg(p_dest, maxlen) : len | k
return


pub fstr20(p_str, arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9, arg10, ...
arg11, arg12, arg13, arg14, arg15, arg16, arg17, arg18, arg19, arg20)
pub fstr16(p_str, arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9, arg10, ...
arg11, arg12, arg13, arg14, arg15, arg16)

'' Emit string with formatting characters and six arguments.

Expand Down Expand Up @@ -401,27 +387,6 @@ pub setup() | r, ch

pca.start(SCL, SDA, 100, pca.PU_1K5)

eye_pwm.start(DISPLAY_LIGHT_PIN, 255, 1000, eye_pwm.M_SAW)


pub setup_display()

'' init displays with the same buffer, and set them to black

disp_a.setup(DISPLAYA_BASE_PIN)
disp_a.addScreenBuffer(@screen)
disp_a.writeBuffer(0, disp_a.BUFFER_SIZE )

disp_b.setup(DISPLAYB_BASE_PIN)
disp_b.addScreenBuffer(@screen)
disp_b.writeBuffer(0, disp_b.BUFFER_SIZE )

dispa_pix := disp_a.loadPixelPASM($130)
dispb_pix := disp_b.loadPixelPASM(dispa_pix)

disp_a.writeBuffer(0, disp_a.BUFFER_SIZE)
disp_b.writeBuffer(0, disp_a.BUFFER_SIZE)


pub wait_for_terminal(clear)

Expand Down
123 changes: 4 additions & 119 deletions Kevinbot_v3.spin2
View file
Original file line number Diff line number Diff line change
Expand Up @@ -362,37 +362,15 @@ dat { command tables }

var { globals }

dispa_pix
dispb_pix

long scstack[128]
long scstack2[128]

byte running

byte eye_mode
byte eye_radius
byte iris_radius

byte eye_speed

long bg_color
long iris_color
long pupil_color

byte eye_x
byte eye_y
byte eye_stage

byte serial_buf[BUFFER_SIZE]
byte clean_buf[BUFFER_SIZE]

byte cmdstr[CMD_SIZE] ' command as string
byte valstr[CMD_SIZE] ' value as string

byte eye_effect

byte disp_cog
byte sens_cog

long pixbuf[TOTAL_LEDS] ' pixel buffer
Expand Down Expand Up @@ -431,8 +409,6 @@ var { globals }

pub main() | r, d, tc, tf, p, h, status, tc_left, tc_right, ta, tb, tc2, td, te

eye_mode, eye_radius, iris_radius, eye_speed := S_EYE_MODE, S_EYE_RADIUS, S_IRIS_RADIUS, S_MOVE_SPEED
bg_color, iris_color, pupil_color := S_BG_COLOR, S_IRIS_COLOR, S_PUPIL_COLOR
light_update_head, light_update_body, head_effect, body_effect := S_LIGHT_UPDATE_HEAD, S_LIGHT_UPDATE_BODY, S_HEAD_EFFECT, S_BODY_EFFECT
light_update_base, base_effect := S_LIGHT_UPDATE_BASE, S_BASE_EFFECT
body_bright, base_bright := S_BODY_BRIGHTNESS, S_BASE_BRIGHTNESS
Expand All @@ -442,8 +418,7 @@ pub main() | r, d, tc, tf, p, h, status, tc_left, tc_right, ta, tb, tc2, td, te

setup()

disp_cog := cogspin(newcog, display_cog(), @scstack) ' display cog
sens_cog := cogspin(newcog, sensor_cog(), @scstack2) ' sensor update cog
sens_cog := cogspin(newcog, sensor_cog(), @scstack) ' sensor update cog

if STARTUP_BEEP ' make startup beeps
tone(20, 1600, 100)
Expand Down Expand Up @@ -587,55 +562,6 @@ pub main() | r, d, tc, tf, p, h, status, tc_left, tc_right, ta, tb, tc2, td, te
waitms(1050)


pub display_cog()

setup_display() ' setup display after starting cogs

eye_x := (EYE_X_MIN + EYE_X_MAX) / 2
eye_stage := 0

graphic.convRGB(dispb_pix, 0, 0, 240, 240, 240, @image+134) ' show Kevinbot image
disp_b.writeBuffer(0, disp_b.BUFFER_SIZE)
disp_a.writeBuffer(0, disp_a.BUFFER_SIZE)

waitms(500)

graphic.box(dispa_pix, 0, 0, disp_a.X_MAX, disp_a.Y_MAX, bg_color, bg_color) ' clear screen
disp_a.writeBuffer(0, disp_a.BUFFER_SIZE)
disp_b.writeBuffer(0, disp_a.BUFFER_SIZE)

repeat
' eyes()

if eye_stage == 0
if eye_x-1 > EYE_X_MAX
eye_stage := 1

graphic.box(dispa_pix, 0, 0, disp_a.X_MAX, disp_a.Y_MAX, bg_color, bg_color)

graphic.circle(dispa_pix, eye_x, 120, iris_radius, iris_color, iris_color)
graphic.circle(dispa_pix, eye_x, 120, eye_radius, pupil_color, pupil_color)

disp_a.writeBuffer(0, disp_a.BUFFER_SIZE)
disp_b.writeBuffer(0, disp_b.BUFFER_SIZE)

eye_x += eye_speed

else
if eye_x-1 < EYE_X_MIN
eye_stage := 0

graphic.box(dispa_pix, 0, 0, disp_a.X_MAX, disp_a.Y_MAX, bg_color, bg_color)

graphic.circle(dispa_pix, eye_x, 120, iris_radius, iris_color, iris_color)
graphic.circle(dispa_pix, eye_x, 120, eye_radius, pupil_color, pupil_color)

disp_a.writeBuffer(0, disp_a.BUFFER_SIZE)
disp_b.writeBuffer(0, disp_b.BUFFER_SIZE)

eye_x -= eye_speed


pub stop_robot()

' Shutdown robot, stop motors, stop cogs
Expand All @@ -648,7 +574,6 @@ pub stop_robot()
fill_cam($00_00_00_00)
left.write(left.M_USECS, 1500)
right.write(right.M_USECS, 1500)
cogstop(disp_cog)
cogstop(sens_cog)


Expand All @@ -660,21 +585,8 @@ pub check_serial() | index, i, v, vn, len, c
' get cmd index from command table
case index

1: ' eye_bg_color
bg_color := hex2val(@valstr)

2: ' pupil_color
pupil_color := hex2val(@valstr)

3: ' iris_color
iris_color := hex2val(@valstr)

4: ' eye_speed
eye_speed := dec2val(@valstr)

5:
eye_radius := dec2val(@valstr) ' eye_size
iris_radius := dec2val(@valstr) + 10
1..5:
' COMMAND DEPRECATED

6:
rpi.str(@Version) ' robot_version (no value)
Expand Down Expand Up @@ -793,7 +705,7 @@ pub check_serial() | index, i, v, vn, len, c
right.write(right.M_USECS, 1500)

35: ' eye_brightness
eye_pwm.write(dec2val(@valstr))
' COMMAND DEPRECATED


pub fill_body(color) | ch
Expand Down Expand Up @@ -1355,34 +1267,13 @@ pub setup() | r, ch
if (byte[@HeadStartup][1] > 180) or (byte[@HeadStartup][1] < 0)
error_state := 1

eye_pwm.start(DISPLAY_LIGHT_PIN, S_EYE_PWM_DUTY, DISPLAY_LIGHT_FRQ, eye_pwm.M_SAW)

timer1.start()
timer2.start()
timer3.start()
timer4.start()
timer5.start()


pub setup_display()

'' init displays with the same buffer, and set them to black

disp_a.setup(DISPLAYA_BASE_PIN)
disp_a.addScreenBuffer(@screen)
disp_a.writeBuffer(0, disp_a.BUFFER_SIZE )

disp_b.setup(DISPLAYB_BASE_PIN)
disp_b.addScreenBuffer(@screen)
disp_b.writeBuffer(0, disp_b.BUFFER_SIZE )

dispa_pix:=disp_a.loadPixelPASM($130)
dispb_pix:=disp_b.loadPixelPASM(dispa_pix)

graphic.box(dispa_pix,0, 0, disp_a.X_MAX, disp_a.Y_MAX, bg_color, bg_color)
disp_a.writeBuffer(0, disp_a.BUFFER_SIZE)
disp_b.writeBuffer(0, disp_a.BUFFER_SIZE)


pub wait_for_terminal(clear)

Expand All @@ -1407,12 +1298,6 @@ pub clear_screen()
term.str(ansi.cls())


dat

image
file "KevinbotEye.bmp"


con { license }

{{
Expand Down

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