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Added LED to tilt sensor #1

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Added LED to tilt sensor #1

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60 changes: 57 additions & 3 deletions src/PDL_Tilt_Sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,13 @@
#include "FreeRTOS.h"
#include "task.h"
#include "math.h"
#include "Adafruit_NeoPixel.h"

#define DEFAULT_VERTICAL_THRESHOLD_DEGREES 10
#define DEFAULT_TASK_PRIORITY 2
#define DEFAULT_LOOP_DELAY_MS 100
#define TASK_STACK_SIZE 1024
#define DEFAULT_ANGLE_X_OFFSET 90
#define DEFAULT_ANGLE_X_OFFSET 45
#define DEFAULT_ANGLE_Y_OFFSET 90

PDL_Tilt_Sensor::PDL_Tilt_Sensor()
Expand All @@ -20,6 +21,7 @@ PDL_Tilt_Sensor::PDL_Tilt_Sensor()
is_vertical(false), was_vertical(false),
loop_delay(DEFAULT_LOOP_DELAY_MS), debug_status(IMU_DEBUG_STATUS_NONE),
ax_offset(DEFAULT_ANGLE_X_OFFSET), ay_offset(DEFAULT_ANGLE_Y_OFFSET), imu_task_handle(NULL),
ring(12, D10, NEO_GRB + NEO_KHZ800),
tilted_callback(nullptr), level_callback(nullptr) {}

void PDL_Tilt_Sensor::init(uint32_t priority)
Expand All @@ -34,6 +36,10 @@ void PDL_Tilt_Sensor::init(uint32_t priority)
}

xTaskCreate(imuTask, "IMU_TASK", TASK_STACK_SIZE, this, priority, &imu_task_handle);

ring.begin();
ring.setBrightness(100);
ring.show();
}

void PDL_Tilt_Sensor::deinit()
Expand Down Expand Up @@ -82,11 +88,53 @@ void PDL_Tilt_Sensor::processIMUData()
float ay = ay_filter.add(ay_raw);
float az = az_filter.add(az_raw);

angle_x = atan2(sqrt(ay * ay + az * az), ax) * 180 / M_PI - ax_offset;
angle_x = -(atan2(sqrt(ay * ay + az * az), ax) * 180 / M_PI - ax_offset);
angle_y = atan2(sqrt(ax * ax + az * az), ay) * 180 / M_PI - ay_offset;

checkTiltStatus();


// float delta_x = 0, delta_y = 0;
// if (angle_x < x_lower_threshold || angle_x > x_upper_threshold) {
// delta_x = angle_x;
// }
// if (angle_y < y_lower_threshold || angle_y > y_upper_threshold) {
// delta_y = angle_y;
// }



int angle_step = 30;
float theta = atan2(-angle_y,angle_x) * 180 / M_PI;

int theta_LED = (int) theta / angle_step;
if (theta_LED < 0) {
theta_LED = 12 + theta_LED;
}

if (is_vertical) {
for (int i = 0; i < 12; i++)
{
ring.setPixelColor(i, ring.Color(0, 255, 0));
}
}
else {
for (int i = 0; i < 12; i++)
{
if (i == theta_LED) {
ring.setPixelColor(i, ring.Color(255, 255, 0));
}
else {
ring.setPixelColor(i, ring.Color(0, 0, 0));
}

}
}

ring.show();



switch (debug_status)
{
case IMU_DEBUG_STATUS_RAW:
Expand All @@ -96,7 +144,7 @@ void PDL_Tilt_Sensor::processIMUData()
Serial.printf("ax:%6d, ay:%6d, az:%6d\n", ax, ay, az);
break;
case IMU_DEBUG_STATUS_ANGLE:
Serial.printf("angle_x:%6.3f, angle_y:%6.3f, is_vertical:%d\n", angle_x, angle_y, is_vertical);
Serial.printf("angle_x:%6.3f, angle_y:%6.3f, is_vertical:%d, theta:%6.3f, theta_LED:%d\n", angle_x, angle_y, is_vertical, theta, theta_LED);
break;
case IMU_DEBUG_THRESHOLD:
Serial.printf("angle_x:%6.3f, angle_y:%6.3f, is_vertical:%d\n", angle_x, angle_y, is_vertical);
Expand Down Expand Up @@ -181,3 +229,9 @@ void PDL_Tilt_Sensor::checkTiltStatus()
}
}
}

// void PDL_Tilt_Sensor::updateLED()
// {


// }
3 changes: 3 additions & 0 deletions src/PDL_Tilt_Sensor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
#include "MovingAverage.h"
#include "FreeRTOS.h"
#include "task.h"
#include "Adafruit_NeoPixel.h"

enum IMU_DEBUG_STATUS {
IMU_DEBUG_STATUS_NONE = 0,
Expand Down Expand Up @@ -32,6 +33,8 @@ class PDL_Tilt_Sensor {
void setLoopDelay(uint32_t delay_ms);
void setSampleSize(uint16_t samples);

Adafruit_NeoPixel ring;

void setTiltedCallback(IMUEventCallback callback);
void setLevelCallback(IMUEventCallback callback);

Expand Down