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Modified the lighting routine for optimized compatibility
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Joy-IT committed Oct 16, 2020
1 parent efc800c commit 19fb138
Showing 1 changed file with 152 additions and 89 deletions.
241 changes: 152 additions & 89 deletions joycar.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -72,13 +72,24 @@ enum SensorLRSelection
namespace JoyCar {
// Light Variables
let strip = neopixel.create(DigitalPin.P0, 8, NeoPixelMode.RGB);
let lastIndicator = 0;
let indicatorBool = false;
let lastHazard = 0;
let hazardBool = false;

let biasL = 100;
let biasR = 100;

// Global Light Settings
let lightGlobalInterval = 0;
let lightIndicatorInterval = 0;
let headlights = false;
let breakLights = false;
let reverseLight = false;
let indicatorLeft = false;
let indicatorRight = false;
let hazard = false;

let hazardBool = false;
let indicatorLeftBool = false;
let indicatorRightBool = false;

//Motor init
let pwmBuffer = pins.createBuffer(2);
pwmBuffer.setNumber(NumberFormat.UInt8LE, 0, 0);
Expand Down Expand Up @@ -216,19 +227,13 @@ namespace JoyCar {
//% subcategory=LEDs
//% weight=100
export function light(toggle: ToggleSwitch) {
if(toggle == ToggleSwitch.On){
strip.setPixelColor(0, 0xB2B2B2);
strip.setPixelColor(3, 0xB2B2B2);
strip.setPixelColor(5, 0xB30000);
strip.setPixelColor(6, 0xB30000);
}
else {
strip.setPixelColor(0, 0x000000);
strip.setPixelColor(3, 0x000000);
strip.setPixelColor(5, 0x000000);
strip.setPixelColor(6, 0x000000);
}
strip.show();
if(toggle == ToggleSwitch.On){
headlights = true;
}
else {
headlights = false;
}
setLights();
}

/**
Expand All @@ -239,14 +244,12 @@ namespace JoyCar {
//% weight=90
export function brakelight(toggle: ToggleSwitch) {
if(toggle == ToggleSwitch.On){
strip.setPixelColor(5, 0xff0000);
strip.setPixelColor(6, 0xff0000);
breakLights = true;
}
else {
strip.setPixelColor(5, 0x000000);
strip.setPixelColor(6, 0x000000);
breakLights = false;
}
strip.show();
setLights();
}

/**
Expand All @@ -256,47 +259,23 @@ namespace JoyCar {
//% subcategory=LEDs
//% weight=80
export function indicator(toggle: ToggleSwitch, selection: SensorLRSelection) {
if(toggle == ToggleSwitch.On){
if(selection == SensorLRSelection.Left){
if((input.runningTime() - lastIndicator >= 400) && !indicatorBool){
strip.setPixelColor(1, 0xff7200);
strip.setPixelColor(4, 0xff7200);
indicatorBool = true;
lastIndicator = input.runningTime();
}
else if((input.runningTime() - lastIndicator >= 400) && indicatorBool){
strip.setPixelColor(1, 0x00000);
strip.setPixelColor(4, 0x00000);
indicatorBool = false;
lastIndicator = input.runningTime();
}
}
else if(selection == SensorLRSelection.Right){
if((input.runningTime() - lastIndicator >= 400) && !indicatorBool){
strip.setPixelColor(2, 0xff7200);
strip.setPixelColor(7, 0xff7200)
indicatorBool = true;
lastIndicator = input.runningTime();
}
else if((input.runningTime() - lastIndicator >= 400) && indicatorBool){
strip.setPixelColor(2, 0x00000);
strip.setPixelColor(7, 0x00000);
indicatorBool = false;
lastIndicator = input.runningTime();
}
}
if(toggle == ToggleSwitch.On) {
if(selection == SensorLRSelection.Left) {
indicatorLeft = true;
}
else {
if(selection == SensorLRSelection.Left){
strip.setPixelColor(1, 0x000000);
strip.setPixelColor(4, 0x000000);
}
if(selection == SensorLRSelection.Right){
strip.setPixelColor(2, 0x000000);
strip.setPixelColor(7, 0x000000);
}
if(selection == SensorLRSelection.Right) {
indicatorRight = true;
}
}
else {
if(selection == SensorLRSelection.Left) {
indicatorLeft = false;
}
if(selection == SensorLRSelection.Right) {
indicatorRight = false;
}
strip.show();
}
setLights();
}

/**
Expand All @@ -306,31 +285,13 @@ namespace JoyCar {
//% subcategory=LEDs
//% weight=70
export function hazardlights(toggle: ToggleSwitch) {
if(toggle == ToggleSwitch.On){
if((input.runningTime() - lastHazard >= 400) && !hazardBool){
strip.setPixelColor(1, 0xff7200);
strip.setPixelColor(2, 0xff7200);
strip.setPixelColor(4, 0xff7200);
strip.setPixelColor(7, 0xff7200);
hazardBool = true;
lastHazard = input.runningTime();
}
else if((input.runningTime() - lastHazard >= 400) && hazardBool){
strip.setPixelColor(1, 0x00000);
strip.setPixelColor(2, 0x00000);
strip.setPixelColor(4, 0x00000);
strip.setPixelColor(7, 0x00000);
hazardBool = false;
lastHazard = input.runningTime();
}
}
else {
strip.setPixelColor(1, 0x00000);
strip.setPixelColor(2, 0x00000);
strip.setPixelColor(4, 0x00000);
strip.setPixelColor(7, 0x00000);
}
strip.show();
if(toggle == ToggleSwitch.On){
hazard = true;
}
else {
hazard = false;
}
setLights();
}

/**
Expand All @@ -341,12 +302,12 @@ namespace JoyCar {
//% weight=60
export function reversinglight(toggle: ToggleSwitch) {
if(toggle == ToggleSwitch.On){
strip.setPixelColor(6, 0xffffff);
reverseLight = true;
}
else {
strip.setPixelColor(6, 0x000000);
reverseLight = false;
}
strip.show();
setLights();
}


Expand Down Expand Up @@ -443,6 +404,108 @@ namespace JoyCar {
}

// ------------------------------------------------------------
// Light controller
function setLights(){
// Check last execution time to filter multiple execution bounces
if(input.runningTime() - lightGlobalInterval >= 50) {
strip.setPixelColor(0, 0x000000);
strip.setPixelColor(1, 0x000000);
strip.setPixelColor(2, 0x000000);
strip.setPixelColor(3, 0x000000);
strip.setPixelColor(4, 0x000000);
strip.setPixelColor(5, 0x000000);
strip.setPixelColor(6, 0x000000);
strip.setPixelColor(7, 0x000000);

if(headlights) {
strip.setPixelColor(0, 0x808080);
strip.setPixelColor(3, 0x808080);
strip.setPixelColor(5, 0x500000);
strip.setPixelColor(6, 0x500000);
}
if(breakLights) {
strip.setPixelColor(5, 0xff0000);
strip.setPixelColor(6, 0xff0000);
}
if(reverseLight) {
strip.setPixelColor(6, 0x808080);
}

if(hazard || indicatorLeft || indicatorRight) {
if(indicatorLeft){
if(!indicatorLeftBool){
strip.setPixelColor(1, 0xff7200);
strip.setPixelColor(4, 0xff7200);
strip.setPixelColor(2, 0x000000);
strip.setPixelColor(7, 0x000000);
if(input.runningTime() - lightIndicatorInterval >= 400) {
indicatorLeftBool = true;
lightIndicatorInterval = input.runningTime();
}
}
else {
strip.setPixelColor(1, 0x000000);
strip.setPixelColor(4, 0x000000);
strip.setPixelColor(2, 0x000000);
strip.setPixelColor(7, 0x000000);
if(input.runningTime() - lightIndicatorInterval >= 400) {
indicatorLeftBool = false;
lightIndicatorInterval = input.runningTime();
}
}
}
else if(indicatorRight){
if(!indicatorRightBool){
strip.setPixelColor(2, 0xff7200);
strip.setPixelColor(7, 0xff7200);
strip.setPixelColor(1, 0x000000);
strip.setPixelColor(4, 0x000000);
if(input.runningTime() - lightIndicatorInterval >= 400) {
indicatorRightBool = true;
lightIndicatorInterval = input.runningTime();
}
}
else {
strip.setPixelColor(2, 0x000000);
strip.setPixelColor(7, 0x000000);
strip.setPixelColor(1, 0x000000);
strip.setPixelColor(4, 0x000000);
if(input.runningTime() - lightIndicatorInterval >= 400) {
indicatorRightBool = false;
lightIndicatorInterval = input.runningTime();
}
}
}
else if(hazard) {
if(!hazardBool) {
strip.setPixelColor(1, 0xff7200);
strip.setPixelColor(2, 0xff7200);
strip.setPixelColor(4, 0xff7200);
strip.setPixelColor(7, 0xff7200);
if(input.runningTime() - lightIndicatorInterval >= 400) {
hazardBool = true;
lightIndicatorInterval = input.runningTime();
}
}
else {
strip.setPixelColor(1, 0x000000);
strip.setPixelColor(2, 0x000000);
strip.setPixelColor(4, 0x000000);
strip.setPixelColor(7, 0x000000);
if(input.runningTime() - lightIndicatorInterval >= 400) {
hazardBool = false;
lightIndicatorInterval = input.runningTime();
}
}
}
}

lightGlobalInterval = input.runningTime();
}

strip.show();
}

// Drive controller
function driveJoyCar(ch2: number, ch3: number, ch4: number, ch5: number){
// Map PWM numbers to working range of motors
Expand Down

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