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working leds in digital mode. pwm did not work correctly

This commit is contained in:
interfisch 2019-12-17 22:38:31 +01:00
parent 1a0ab28c21
commit 4c153f28e8
1 changed files with 15 additions and 15 deletions
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30
controller/controller.ino
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@ -157,7 +157,7 @@ void setup()
Serial2.begin(SERIAL_CONTROL_BAUD); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3). Marked with "II" on connector (Front)
// Pin Setup
pinMode(PIN_STARTLED, OUTPUT);
pinMode(PIN_STARTLED, OUTPUT); //MODE=PWM (needs testing, mcu locks up when using writePWM()
pinMode(PIN_ENABLE, OUTPUT);
digitalWrite(PIN_ENABLE, HIGH); //keep power on
pinMode(PIN_STARTBUTTON, INPUT_PULLUP);
@ -282,7 +282,6 @@ void handleModeChange() {
requestmode=idle; //start in idle state
state_modechange=0; //reset state for safety
}//TODO else if (button_hold_start) { requestmode=on; }
//TODO: led show
break;
case idle:
if (button_hold_start){ //long press
@ -427,7 +426,6 @@ void modeloops() {
last_looptime=loopmillis;
switch (currentmode) { //mode changes
case booting:
//TODO: LED effect
break;
case idle:
loop_idle();
@ -461,14 +459,11 @@ void loop_on() {
void loop_error() {
out_speedFL=out_speedFR=out_speedRR=out_speedRL=0; //stop motors
Serial.print("Error:"); Serial.println(errormessage);
//TODO: blink error led
Serial.print("Error:"); Serial.println(errormessage);
}
void loop_off() {
//loop enters when boards are sucessfully turned off
//TODO: led show
digitalWrite(PIN_ENABLE, LOW); //cut own power
}
@ -552,16 +547,16 @@ String modeToString(uint8_t m) {
}
void ledUpdate () {
void ledUpdate() {
#define LEDUPDATETIME 20
#define FASTERRORBLINKDELAY 200 //period for startled to blink on error
#define FASTERRORBLINKDELAY 100 //period for startled to blink on error
if (loopmillis - last_ledupdate >= LEDUPDATETIME) {
last_ledupdate=loopmillis;
// ## StartLed ##
uint8_t _ledbrightness;
switch (currentmode) { //modeLed for different currentmodes
case booting: //Startled dimmed
startled=127;
startled=255;
break;
case idle: //Breathing Startled
_ledbrightness=uint8_t( (loopmillis/10)%(512) );
@ -584,7 +579,7 @@ void ledUpdate () {
}else{
switch (currentmode) { //modeLed for different currentmodes
case booting:
modeled_green=255; modeled_red=127; //ModeLed=Lime
modeled_green=255; modeled_red=0; //ModeLed=Green
break;
case idle:
modeled_green=255; modeled_red=255; //ModeLed=Yellow
@ -596,13 +591,18 @@ void ledUpdate () {
modeled_green=0; modeled_red=255; //ModeLed=Red
break;
case off:
modeled_green=255; modeled_red=127; //ModeLed=Lime
modeled_green=255; modeled_red=255; //ModeLed=Yellow
break;
}
}
analogWrite(PIN_MODELED_GREEN, map(modeled_green, 0, 255, 0, 65535));
analogWrite(PIN_MODELED_RED, map(modeled_red, 0, 255, 0, 65535));
analogWrite(PIN_STARTLED, map(startled, 0, 255, 0, 65535));
/*
pwmWrite(PIN_MODELED_GREEN, map(modeled_green, 0, 255, 0, 65535));
pwmWrite(PIN_MODELED_RED, map(modeled_red, 0, 255, 0, 65535));
pwmWrite(PIN_STARTLED, map(startled, 0, 255, 0, 65535));
*/
digitalWrite(PIN_MODELED_GREEN, modeled_green<127? true:false); //red and green inverted (common anode)
digitalWrite(PIN_MODELED_RED, modeled_red<127? true:false); //red and green inverted (common anode)
digitalWrite(PIN_STARTLED, startled>127? true:false);
}
}