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ws2812-achterbahn
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inital commit, working roller coaster based ony physics

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interfisch 2018-04-08 18:20:11 +02:00
commit 153a9f0d83
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#include <Adafruit_NeoPixel.h>
#ifdef __AVR__
#include <avr/power.h>
#endif
#include <vector>
#include "wagon.h"
#define PIN D2
#define NUMPIXELS 300
Adafruit_NeoPixel strip = Adafruit_NeoPixel(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);
long lastPixelUpdate=0;
#define PIXELUPDATETIME 10
long lastRoutineUpdate=0;
#define ROUTINEUPDATETIME 10
long loopmillis=0;
uint8_t height[NUMPIXELS];
std::vector <Wagon> wagon_arr;
uint8_t maxid=0;
void setup() {
Serial.begin(115200);
for (int i=0;i<NUMPIXELS;i++){
height[i]=0;
}
//Temporaer
int h=0;
for (int i=2;i<=30;i++){
height[i]=h*43/(30-2);
h++;
}
for (int i=31;i<(31+55);i++){ //gerade obene ebene
height[i]=43;
}
h=30;
for (int i=(31+55);i<(31+55+30);i++){
height[i]=h*43/(30);
h--;
}
h=0;
for (int i=(31+55+30+40);i<=(31+55+30+40+15);i++){
height[i]=h*23/(15);
h++;
}
for (int i=(31+55+30+40+15);i<=(31+55+30+40+15+55);i++){ //gerade mittlere ebene
height[i]=23;
}
h=20;
for (int i=(31+55+30+40+15+55);i<=(31+55+30+40+15+55+20);i++){ //gerade mittlere ebene
height[i]=h*23/20;
h--;
}
h=0;
for (int i=NUMPIXELS-30;i<NUMPIXELS;i++){
height[i]=h*40/30;
h++;
}
strip.begin();
strip.setBrightness(150);
strip.show(); // Initialize all pixels to 'off'
Serial.println("Started");
previewHeightmap();
spawnWagon();
}
void previewHeightmap(){
int maxheight=45;
for (int i=0;i<NUMPIXELS;i++){
//uint32_t c=Wheel(height[i]*255/45);
uint8_t b=height[i]*255/45;
uint32_t c=strip.Color(255-b,b,0);
strip.setPixelColor(i,c);
}
strip.show();
delay(3000);
}
void spawnWagon(){
Wagon tmpr = Wagon(maxid++,NUMPIXELS,&strip, height, 35, 6, 0.5,0); //spawn new wagon
wagon_arr.push_back(tmpr);
Serial.println("Spawned Wagon");
}
void loop() {
loopmillis=millis();
//######################### Update LED Output
if (lastPixelUpdate+PIXELUPDATETIME<loopmillis){
lastPixelUpdate=loopmillis;
for (int i=0;i<NUMPIXELS;i++){ //all black
uint32_t c=strip.Color(0,0,0);
strip.setPixelColor(i,c);
}
for (std::vector<Wagon>::iterator it = wagon_arr.begin(); it != wagon_arr.end(); ++it) //all wagons
{
Wagon & w = *it;
w.updateGraphics();
}
strip.show();
}
if (lastRoutineUpdate+ROUTINEUPDATETIME<loopmillis-ROUTINEUPDATETIME){
Serial.println("Behind!!!!!!!!!!");
}
//######################### Update Physics
if (lastRoutineUpdate+ROUTINEUPDATETIME<loopmillis){
lastRoutineUpdate=loopmillis;
for (std::vector<Wagon>::iterator it = wagon_arr.begin(); it != wagon_arr.end(); ++it) //all wagons
{
Wagon & w = *it;
w.updatePhysics(ROUTINEUPDATETIME);
if (!w.alive())
{
it = wagon_arr.erase(it); // After erasing, it is now pointing the next element.
--it;
spawnWagon(); //spawn new one
}
}
}
}
// Input a value 0 to 255 to get a color value.
// The colours are a transition r - g - b - back to r.
uint32_t Wheel(byte WheelPos) {
WheelPos = 255 - WheelPos;
if(WheelPos < 85) {
return strip.Color(255 - WheelPos * 3, 0, WheelPos * 3);
}
if(WheelPos < 170) {
WheelPos -= 85;
return strip.Color(0, WheelPos * 3, 255 - WheelPos * 3);
}
WheelPos -= 170;
return strip.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
}

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#include "wagon.h"
Wagon::Wagon(int id,int numpixels, Adafruit_NeoPixel *strip,uint8_t *height,float pos, float wagonlength,float startvel,float startacc)
{
_id = id;
_numpixels=numpixels;
_pos = pos;
_wagonlength = wagonlength;
_strip=strip;
_height=height;
_vel=startvel;
_acc=startacc;
}
bool Wagon::operator==(const Wagon &r) const {
return (r._id == _id);
}
void Wagon::updatePhysics(float updatedelayms)
{
/*
float acceleration=0;
for (int cpos=int(_pos);cpos>int(_pos-_wagonlength);cpos--){
acceleration=(_height[(int)cpos]-_height[(int)cpos+1])*0.03;
}
acceleration/=int(_wagonlength);
_vel+= acceleration; //Acceleration from height difference
_vel*=1-0.001; //resistance
float airresistance=_vel*_vel *0.005;//air resistance
if (_vel>=0){
_vel-=airresistance;
}else{
_vel+=airresistance;
}*/
#define CONST_G 9.81
#define PIXELDISTANCE 1.6666667 // 1/60.0 * 100
#define C_ROLL 0.001 // = Croll * G https://de.wikipedia.org/wiki/Rollwiderstand 0.001
#define AIRRES 0.18 //C_w*A*0.5*rho Air resistance: C_w * A * 0.5 * rho (.... *v^2)
//http://www.kfz-tech.de/Biblio/Formelsammlung/Luftwiderstand.htm C_w 0.6
//rho Massendichte luft 1,2041
//A = 1m^2
float m=50/_wagonlength; //mass of part of a wagon
_acc=0;
int cpos=(int)_pos;
for (int cpos=(int)_pos;cpos>(int)(_pos-_wagonlength);cpos--){ //for each wagon
float hdiff=getHeight((int) (cpos-0.5)) - getHeight((int)(cpos+0.5));
//Serial.print("hdiff=");
//Serial.print(hdiff);
float beta=atan2(PIXELDISTANCE, hdiff);
//Serial.print(" beta=");
//Serial.println(beta);
//_acc += CONST_G * cos(beta) - C_ROLLG*sin(beta) - AIRRES/m*_vel*_vel;
float aa=CONST_G * cos(beta) *updatedelayms/1000; //Gravity and m/s^2 time correction
float bb=C_ROLL*CONST_G*updatedelayms/1000*sin(beta); //roll resistance
if (_vel<0){
bb*=-1;
}
float cc=AIRRES/m*_vel*_vel; //air resistance
if (_vel<0){
cc*=-1;
}
//Serial.print("aa="); Serial.print(aa);
//Serial.print(" bb="); Serial.print(bb);
//Serial.print(" cc="); Serial.println(cc);
_acc += aa - bb - cc;
}
_acc*=updatedelayms/1000;
_vel += _acc;
_pos += _vel/PIXELDISTANCE;
/*Serial.print(" Vel=");
Serial.print(_vel);
Serial.print(" Acc=");
Serial.println(_acc);*/
}
float Wagon::getHeight(int p){
if (p<0){
p=0;
}else if(p>=_numpixels){
p=_numpixels-1;
}
return _height[p];
}
void Wagon::updateGraphics()
{
for(int i=_pos;i>_pos-_wagonlength;i--){
uint32_t c=_strip->Color(0,255,0);
if (i==int(_pos)){
c=_strip->Color(0,255,100);
}
_strip->setPixelColor(i,c);
}
//_strip->setPixelColor(10,_strip->Color(255,0,0));
}
int Wagon::pos()
{
return _pos;
}
int Wagon::id()
{
return _id;
}
bool Wagon::alive()
{
if (_pos>_numpixels){
return false;
}
return true;
}

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#ifndef WAGON_H
#define WAGON_H
#include <Adafruit_NeoPixel.h>
#include <math.h>
class Wagon
{
public:
int _id;
Wagon(int id,int numpixels,Adafruit_NeoPixel *strip,uint8_t *height, float pos, float wagonlength, float startvel,float startacc);
Wagon();
bool operator==(const Wagon &r) const;
void updatePhysics(float updatedelayms);
void updateGraphics();
float getHeight(int p);
int pos();
int id();
bool alive();
private:
int _numpixels;
Adafruit_NeoPixel *_strip;
float _pos;
float _vel;
float _acc;
float _wagonlength;
uint8_t *_height;
};
#endif