inital commit, working roller coaster based ony physics
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commit
153a9f0d83
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#include <Adafruit_NeoPixel.h>
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#ifdef __AVR__
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#include <avr/power.h>
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#endif
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#include <vector>
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#include "wagon.h"
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#define PIN D2
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#define NUMPIXELS 300
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Adafruit_NeoPixel strip = Adafruit_NeoPixel(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);
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long lastPixelUpdate=0;
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#define PIXELUPDATETIME 10
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long lastRoutineUpdate=0;
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#define ROUTINEUPDATETIME 10
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long loopmillis=0;
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uint8_t height[NUMPIXELS];
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std::vector <Wagon> wagon_arr;
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uint8_t maxid=0;
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void setup() {
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Serial.begin(115200);
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for (int i=0;i<NUMPIXELS;i++){
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height[i]=0;
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}
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//Temporaer
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int h=0;
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for (int i=2;i<=30;i++){
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height[i]=h*43/(30-2);
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h++;
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}
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for (int i=31;i<(31+55);i++){ //gerade obene ebene
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height[i]=43;
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}
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h=30;
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for (int i=(31+55);i<(31+55+30);i++){
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height[i]=h*43/(30);
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h--;
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}
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h=0;
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for (int i=(31+55+30+40);i<=(31+55+30+40+15);i++){
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height[i]=h*23/(15);
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h++;
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}
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for (int i=(31+55+30+40+15);i<=(31+55+30+40+15+55);i++){ //gerade mittlere ebene
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height[i]=23;
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}
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h=20;
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for (int i=(31+55+30+40+15+55);i<=(31+55+30+40+15+55+20);i++){ //gerade mittlere ebene
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height[i]=h*23/20;
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h--;
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}
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h=0;
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for (int i=NUMPIXELS-30;i<NUMPIXELS;i++){
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height[i]=h*40/30;
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h++;
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}
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strip.begin();
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strip.setBrightness(150);
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strip.show(); // Initialize all pixels to 'off'
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Serial.println("Started");
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previewHeightmap();
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spawnWagon();
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}
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void previewHeightmap(){
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int maxheight=45;
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for (int i=0;i<NUMPIXELS;i++){
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//uint32_t c=Wheel(height[i]*255/45);
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uint8_t b=height[i]*255/45;
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uint32_t c=strip.Color(255-b,b,0);
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strip.setPixelColor(i,c);
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}
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strip.show();
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delay(3000);
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}
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void spawnWagon(){
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Wagon tmpr = Wagon(maxid++,NUMPIXELS,&strip, height, 35, 6, 0.5,0); //spawn new wagon
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wagon_arr.push_back(tmpr);
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Serial.println("Spawned Wagon");
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}
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void loop() {
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loopmillis=millis();
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//######################### Update LED Output
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if (lastPixelUpdate+PIXELUPDATETIME<loopmillis){
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lastPixelUpdate=loopmillis;
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for (int i=0;i<NUMPIXELS;i++){ //all black
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uint32_t c=strip.Color(0,0,0);
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strip.setPixelColor(i,c);
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}
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for (std::vector<Wagon>::iterator it = wagon_arr.begin(); it != wagon_arr.end(); ++it) //all wagons
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{
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Wagon & w = *it;
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w.updateGraphics();
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}
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strip.show();
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}
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if (lastRoutineUpdate+ROUTINEUPDATETIME<loopmillis-ROUTINEUPDATETIME){
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Serial.println("Behind!!!!!!!!!!");
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}
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//######################### Update Physics
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if (lastRoutineUpdate+ROUTINEUPDATETIME<loopmillis){
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lastRoutineUpdate=loopmillis;
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for (std::vector<Wagon>::iterator it = wagon_arr.begin(); it != wagon_arr.end(); ++it) //all wagons
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{
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Wagon & w = *it;
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w.updatePhysics(ROUTINEUPDATETIME);
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if (!w.alive())
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{
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it = wagon_arr.erase(it); // After erasing, it is now pointing the next element.
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--it;
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spawnWagon(); //spawn new one
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}
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}
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}
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}
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// Input a value 0 to 255 to get a color value.
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// The colours are a transition r - g - b - back to r.
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uint32_t Wheel(byte WheelPos) {
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WheelPos = 255 - WheelPos;
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if(WheelPos < 85) {
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return strip.Color(255 - WheelPos * 3, 0, WheelPos * 3);
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}
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if(WheelPos < 170) {
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WheelPos -= 85;
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return strip.Color(0, WheelPos * 3, 255 - WheelPos * 3);
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}
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WheelPos -= 170;
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return strip.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
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}
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#include "wagon.h"
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Wagon::Wagon(int id,int numpixels, Adafruit_NeoPixel *strip,uint8_t *height,float pos, float wagonlength,float startvel,float startacc)
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{
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_id = id;
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_numpixels=numpixels;
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_pos = pos;
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_wagonlength = wagonlength;
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_strip=strip;
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_height=height;
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_vel=startvel;
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_acc=startacc;
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}
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bool Wagon::operator==(const Wagon &r) const {
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return (r._id == _id);
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}
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void Wagon::updatePhysics(float updatedelayms)
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{
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/*
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float acceleration=0;
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for (int cpos=int(_pos);cpos>int(_pos-_wagonlength);cpos--){
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acceleration=(_height[(int)cpos]-_height[(int)cpos+1])*0.03;
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}
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acceleration/=int(_wagonlength);
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_vel+= acceleration; //Acceleration from height difference
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_vel*=1-0.001; //resistance
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float airresistance=_vel*_vel *0.005;//air resistance
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if (_vel>=0){
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_vel-=airresistance;
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}else{
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_vel+=airresistance;
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}*/
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#define CONST_G 9.81
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#define PIXELDISTANCE 1.6666667 // 1/60.0 * 100
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#define C_ROLL 0.001 // = Croll * G https://de.wikipedia.org/wiki/Rollwiderstand 0.001
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#define AIRRES 0.18 //C_w*A*0.5*rho Air resistance: C_w * A * 0.5 * rho (.... *v^2)
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//http://www.kfz-tech.de/Biblio/Formelsammlung/Luftwiderstand.htm C_w 0.6
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//rho Massendichte luft 1,2041
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//A = 1m^2
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float m=50/_wagonlength; //mass of part of a wagon
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_acc=0;
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int cpos=(int)_pos;
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for (int cpos=(int)_pos;cpos>(int)(_pos-_wagonlength);cpos--){ //for each wagon
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float hdiff=getHeight((int) (cpos-0.5)) - getHeight((int)(cpos+0.5));
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//Serial.print("hdiff=");
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//Serial.print(hdiff);
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float beta=atan2(PIXELDISTANCE, hdiff);
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//Serial.print(" beta=");
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//Serial.println(beta);
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//_acc += CONST_G * cos(beta) - C_ROLLG*sin(beta) - AIRRES/m*_vel*_vel;
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float aa=CONST_G * cos(beta) *updatedelayms/1000; //Gravity and m/s^2 time correction
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float bb=C_ROLL*CONST_G*updatedelayms/1000*sin(beta); //roll resistance
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if (_vel<0){
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bb*=-1;
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}
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float cc=AIRRES/m*_vel*_vel; //air resistance
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if (_vel<0){
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cc*=-1;
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}
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//Serial.print("aa="); Serial.print(aa);
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//Serial.print(" bb="); Serial.print(bb);
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//Serial.print(" cc="); Serial.println(cc);
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_acc += aa - bb - cc;
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}
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_acc*=updatedelayms/1000;
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_vel += _acc;
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_pos += _vel/PIXELDISTANCE;
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/*Serial.print(" Vel=");
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Serial.print(_vel);
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Serial.print(" Acc=");
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Serial.println(_acc);*/
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}
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float Wagon::getHeight(int p){
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if (p<0){
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p=0;
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}else if(p>=_numpixels){
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p=_numpixels-1;
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}
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return _height[p];
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}
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void Wagon::updateGraphics()
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{
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for(int i=_pos;i>_pos-_wagonlength;i--){
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uint32_t c=_strip->Color(0,255,0);
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if (i==int(_pos)){
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c=_strip->Color(0,255,100);
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}
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_strip->setPixelColor(i,c);
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}
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//_strip->setPixelColor(10,_strip->Color(255,0,0));
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}
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int Wagon::pos()
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{
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return _pos;
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}
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int Wagon::id()
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{
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return _id;
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}
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bool Wagon::alive()
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{
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if (_pos>_numpixels){
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return false;
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}
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return true;
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}
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@ -0,0 +1,31 @@
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#ifndef WAGON_H
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#define WAGON_H
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#include <Adafruit_NeoPixel.h>
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#include <math.h>
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class Wagon
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{
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public:
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int _id;
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Wagon(int id,int numpixels,Adafruit_NeoPixel *strip,uint8_t *height, float pos, float wagonlength, float startvel,float startacc);
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Wagon();
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bool operator==(const Wagon &r) const;
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void updatePhysics(float updatedelayms);
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void updateGraphics();
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float getHeight(int p);
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int pos();
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int id();
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bool alive();
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private:
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int _numpixels;
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Adafruit_NeoPixel *_strip;
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float _pos;
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float _vel;
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float _acc;
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float _wagonlength;
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uint8_t *_height;
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};
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#endif
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