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merging crazy patterns with IR
#include <Sparki.h>
class Patterns{
public:
Patterns(){
}
void turnSignal(){
int colors[3][3] = {RGB_RED, RGB_BLUE, RGB_GREEN};
sparki.beep();
for (int x = 0; x < 3; x++){
sparki.RGB(colors[x][0], colors[x][1], colors[x][2]);
delay(250);
}
sparki.RGB(RGB_OFF);
}
void stopSignal(){
for (int x = 1; x < 10; x++){
sparki.beep();
sparki.RGB(50, 0, 100);
delay(200);
}
sparki.RGB(RGB_OFF);
}
void stopMotors(){
sparki.motorStop(MOTOR_LEFT);
sparki.motorStop(MOTOR_RIGHT);
stopSignal();
}
void forwardWheels(int leftSpeed, int rightSpeed, int waitmSec) {
turnSignal();
sparki.motorRotate(MOTOR_LEFT, DIR_CCW, leftSpeed);
sparki.motorRotate(MOTOR_RIGHT, DIR_CW, rightSpeed);
delay(waitmSec);
}
void reverseWheels(int leftSpeed, int rightSpeed, int waitmSec) {
turnSignal();
sparki.motorRotate(MOTOR_LEFT, DIR_CW, leftSpeed);
sparki.motorRotate(MOTOR_RIGHT, DIR_CCW, rightSpeed);
delay(waitmSec);
}
void crazySun(int speed1, int speed2, int waitmSec, unsigned long timeToDo){
unsigned long endTime = millis() + timeToDo;
while(millis() < endTime){
forwardWheels(speed1, speed2, waitmSec);
reverseWheels(speed2, speed1, waitmSec);
}
stopMotors();
}
void squigglyLines(int speed1, int speed2, int waitmSec, int num){
for (int x=0; x<num; x++){
forwardWheels(speed1, speed2, waitmSec);
forwardWheels(speed2, speed1, waitmSec);
}
stopMotors();
}
void circle(int speed1, int speed2, int waitmSec, unsigned long timeToDo){
unsigned long endTime = millis() + timeToDo;
while(millis() < endTime) {
forwardWheels(speed1, speed2, waitmSec);
}
stopMotors();
}
void hourglassHelper(int x1, int x2, int w){
sparki.moveForward(x1);
sparki.moveLeft(90);
sparki.moveForward(w);
sparki.moveLeft(90);
sparki.moveForward(x2);
sparki.moveRight(90);
sparki.moveForward(w);
sparki.moveRight(90);
}
void hourglass(int l, int w){
for(int x = l; x > 0; x-=2){
hourglassHelper(x, x-1, w);
}
turnSignal();
for(int x = 1; x < l; x+=2){
hourglassHelper(x, x+1, w);
}
stopMotors();
}
void mazeHelperRight(int x){
sparki.moveForward(x);
sparki.moveRight(90);
}
void mazeHelperLeft(int x){
sparki.moveForward(x);
sparki.moveLeft(90);
}
void maze(int l, int w){
for (int x = 1; x <= 2*l; x+=w){
mazeHelperRight(x);
}
sparki.moveRight(270);
for (int x = 2*l; x > 0; x-=w){
mazeHelperLeft(x);
}
stopMotors();
}
void spiral(int length){
if (length > 100){
length = 100;
}
forwardWheels(100,1, 1000);
for (int i=1; i <=length; i++){
forwardWheels(100, i, i*200);
}
sparki.moveStop();
}
void veeness(int x, int d, int n, int theta){
int phi = 180 -2*theta;
int alpha = 180 - phi;
int beta = 90 + theta;
int gamma = 90 - theta;
for (int i = 0; i < n; i++){
sparki.moveLeft(gamma);
sparki.moveForward(x);
sparki.moveLeft(alpha);
sparki.moveForward(x);
sparki.moveRight(beta);
sparki.moveForward(d);
sparki.moveRight(gamma);
sparki.moveForward(x);
sparki.moveRight(alpha);
sparki.moveForward(x);
sparki.moveLeft(beta);
sparki.moveForward(d);
}
stopMotors();
}
void abstractLHelper(int x, int d, int n){
for(int i=0; i<n; i++){
sparki.moveLeft(90);
sparki.moveForward(x);
sparki.moveRight(90);
sparki.moveForward(d);
sparki.moveRight(90);
sparki.moveForward(x);
sparki.moveLeft(90);
sparki.moveForward(d);
}
}
void abstractL(int x, int d, int n){
abstractLHelper(x, d, n);
sparki.moveForward(x+2);
sparki.moveLeft(90);
sparki.moveForward(d);
abstractLHelper(x, d, n);
stopMotors();
}
};
void writeM(int s){
sparki.moveForward(6*s);
sparki.moveRight(90);
sparki.moveForward(1*s);
sparki.moveRight(45);
sparki.moveForward(2.5*s);
sparki.moveLeft(90);
sparki.moveForward(2.5*s);
sparki.moveRight(45);
sparki.moveForward(1*s);
sparki.moveRight(90);
sparki.moveForward(6*s);
sparki.moveRight(90);
sparki.moveForward(1*s);
sparki.moveRight(90);
sparki.moveForward(4*s);
sparki.moveLeft(135);
sparki.moveForward(2.5*s);
sparki.moveRight(90);
sparki.moveForward(2.5*s);
sparki.moveLeft(135);
sparki.moveForward(4*s);
sparki.moveRight(90);
sparki.moveForward(1*s);
}
void RGBRainbow(){
sparki.RGB(RGB_RED);
delay(500);
sparki.RGB(RGB_ORANGE);
delay(500);
sparki.RGB(RGB_YELLOW);
delay(500);
sparki.RGB(RGB_GREEN);
delay(500);
sparki.RGB(RGB_BLUE);
delay(500);
sparki.RGB(RGB_INDIGO);
delay(500);
sparki.RGB(RGB_VIOLET);
delay(500);
sparki.RGB(RGB_WHITE);
delay(500);
sparki.RGB(RGB_OFF);
delay(500);
}
void printBusy(){
sparki.clearLCD();
sparki.println("I'M STILL VERY BUSY");
sparki.updateLCD();
}
void printNotBusy(){
sparki.clearLCD();
sparki.println("I'M FREE TO OBEY YOUR COMMAND");
sparki.updateLCD();
}
int code;
int previousIR;
Patterns pattern;
void checkIR(){
code = sparki.readIR();
previousIR == code ? code = -1: 0;
if(code != -1){
sparki.moveStop();
sparki.gripperStop();
sparki.print("Received code: ");
sparki.println(code);
sparki.updateLCD();
previousIR = code;
}
}
void setup() {
sparki.clearLCD();
}
void loop() {
printNotBusy();
checkIR();
switch(code){
case 70: sparki.moveForward(); break;
case 21: sparki.moveBackward(); break;
case 67: sparki.servo(SERVO_RIGHT); sparki.RGB(RGB_BLUE); break;
case 71: sparki.moveRight(); break;
case 69: sparki.moveLeft(); break;
case 68: sparki.servo(SERVO_LEFT); sparki.RGB(RGB_RED); break;
case 64: sparki.servo(SERVO_CENTER); sparki.RGB(RGB_GREEN); break;
case 9: sparki.gripperOpen(); break;
case 7: sparki.gripperClose(); break;
case 22: printBusy(); pattern.crazySun(60, 100, 8000, 128000); break;
case 25: printBusy(); pattern.squigglyLines(5, 100, 8000, 2); break;
case 13: printBusy(); pattern.circle(5, 100, 8000, 24000); break;
case 12: printBusy(); pattern.hourglass(20,1); break;
case 24: printBusy(); pattern.maze(10,1); break;
case 94: printBusy(); pattern.spiral(50); break;
case 8: printBusy(); pattern.abstractL(5, 2, 4); break;
case 28: printBusy(); pattern.veeness(8, 2, 7, 30); break;
case 90: printBusy(); RGBRainbow(); break;
case 66: printBusy(); writeM(1); break;
case 82: printBusy(); writeM(2); break;
case 74: printBusy(); writeM(3);break;
default:
break;
}
}
// /------^-----\
// | |
// | 69 70 71 |
// | 68 64 67 |
// | 7 21 9 |
// | 22 25 13 |
// | 12 24 94 |
// | 8 28 90 |
// | 66 82 74 |
// \____________/
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