added dummy load check + enable

created integrated LED control + motor control script

software/firmware/circuitpython-main/shared-module/ee285/__init__.c

@@ -26,6 +26,8 @@
 #define OFFSET_2 45
 #define OFFSET_3 70
 
+uint8_t off[3];
+
 
 static void led_gradient (uint8_t grb_array[], uint8_t color1[], uint8_t color2[], uint8_t start, uint8_t end, uint8_t size) {
   // grb_array is an instantiated array of size num_leds*3 with structure
@@ -87,26 +89,40 @@ void shared_module_ee285_body_leds(mp_obj_t rgb)
 
   uint8_t pixels[NUM_BODY_LEDS*3];
 
-  //Set all GRB values to the input
-  for (int i = 0; i < NUM_BODY_LEDS; i++) //This doesn't modify the rgb values
-  {
-    pixels[3*i + 0] = GRB[0];
-    pixels[3*i + 1] = GRB[1];
-    pixels[3*i + 2] = GRB[2];
-  }
-
   mcu_pin_obj_t pin;
-  pin.number = PIN_PA04; //A4 on m4 express, see ports/atmel-samd/boards/[board]/pins.c for other pins
-  
-  //Set up the pin
-  gpio_set_pin_direction(pin.number, GPIO_DIRECTION_OUT);
-  gpio_set_pin_pull_mode(pin.number, GPIO_PULL_OFF);
-  digitalio_digitalinout_obj_t io;
-  io.pin = &pin;
+  // Check that leds will be turned on
+  off[2] = (GRB[0] || GRB[1] || GRB[2]) ? 0 : 1;
+
+  // Sets dummy load pin to HIGH if all LEDs (wing + body) will be off
+  if(off[0] && off[1] && off[2]){
+    pin.number = PIN_PB09; // Pin A3 on Feather M4 Express. project pinout for LED dummy load
+    gpio_set_pin_direction(pin.number, GPIO_DIRECTION_OUT);
+    gpio_set_pin_level(pin.number, 1);
+  }
+  else{
+
+    //Set all GRB values to the input
+    for (int i = 0; i < NUM_BODY_LEDS; i++) //This doesn't modify the rgb values
+    {
+      pixels[3*i + 0] = GRB[0];
+      pixels[3*i + 1] = GRB[1];
+      pixels[3*i + 2] = GRB[2];
+    }
+
+    pin.number = PIN_PA21; // Pin 11 on Feather M4 Express
+    // pin.number = PIN_PA04; // A4 on m4 express, see ports/atmel-samd/boards/[board]/pins.c for other pins
+    
+    //Set up the pin
+    gpio_set_pin_direction(pin.number, GPIO_DIRECTION_OUT);
+    gpio_set_pin_pull_mode(pin.number, GPIO_PULL_OFF);
+    digitalio_digitalinout_obj_t io;
+    io.pin = &pin;
+
+    //Output the array to the LEDs,
+    //this turns off interrupts then turns them back on after it finishes
+    common_hal_neopixel_write(&io, pixels, NUM_BODY_LEDS*3);
 
-  //Output the array to the LEDs,
-  //this turns off interrupts then turns them back on after it finishes
-  common_hal_neopixel_write(&io, pixels, NUM_BODY_LEDS*3);
+  }
 
 }
 
@@ -120,53 +136,76 @@ void shared_module_ee285_wing_leds(int side, mp_obj_t rgb1, mp_obj_t rgb2, mp_ob
   {
     mp_raise_ValueError_varg(translate("Expected tuple of length %3, got %d"), len);
   }
-  uint8_t GRB1[3]; 
-  GRB1[0] = mp_obj_get_int(items[1]);
-  GRB1[1] = mp_obj_get_int(items[0]);
-  GRB1[2] = mp_obj_get_int(items[2]);
+  uint8_t GRB[3][3]; 
+  GRB[0][0] = mp_obj_get_int(items[1]);
+  GRB[0][1] = mp_obj_get_int(items[0]);
+  GRB[0][2] = mp_obj_get_int(items[2]);
 
   mp_obj_get_array(rgb2, &len, &items);
   if (len < 3 || len > 4)
   {
     mp_raise_ValueError_varg(translate("Expected tuple of length %3, got %d"), len);
   }
-  uint8_t GRB2[3];
-  GRB2[0] = mp_obj_get_int(items[1]);
-  GRB2[1] = mp_obj_get_int(items[0]);
-  GRB2[2] = mp_obj_get_int(items[2]);
+
+  GRB[1][0] = mp_obj_get_int(items[1]);
+  GRB[1][1] = mp_obj_get_int(items[0]);
+  GRB[1][2] = mp_obj_get_int(items[2]);
 
   mp_obj_get_array(rgb3, &len, &items);
   if (len < 3 || len > 4)
   {
     mp_raise_ValueError_varg(translate("Expected tuple of length %3, got %d"), len);
   }
-  uint8_t GRB3[3];
-  GRB3[0] = mp_obj_get_int(items[1]);
-  GRB3[1] = mp_obj_get_int(items[0]);
-  GRB3[2] = mp_obj_get_int(items[2]);
   
-  // TODO: Check if all inputs are 0, send 
-
+  GRB[2][0] = mp_obj_get_int(items[1]);
+  GRB[2][1] = mp_obj_get_int(items[0]);
+  GRB[2][2] = mp_obj_get_int(items[2]);
+  
   uint8_t pixels[NUM_WING_LEDS*3];
 
-  //Offset 1 to 2
-  led_gradient (pixels, GRB1, GRB2, OFFSET_1*3, OFFSET_2*3, (NUM_WING_LEDS-1)*3);
-  //Offset 2 to 3
-  led_gradient (pixels, GRB2, GRB3, OFFSET_2*3, OFFSET_3*3, (NUM_WING_LEDS -1)*3);
-  //This interpolation wraps around by treating pixels as a bigger array than it is
-  led_gradient (pixels, GRB3, GRB1, OFFSET_3*3, (NUM_WING_LEDS + OFFSET_1)*3, (NUM_WING_LEDS)*3);
-
+  // Check that LEDs are all off
+  for(uint8_t i = 0; i < 3; i++){
+    for(uint8_t j = 0; j < 3; j++){
+      if(GRB[i][j]){
+        off[side] = 0;
+        break;
+      }
+    }
+  }
 
   mcu_pin_obj_t pin;
-  pin.number = side == 1 ? PIN_PA02 : PIN_PB08; //A0 and A2 on the feather m4, look up in a pins.h for other boards
+  digitalio_digitalinout_obj_t io;
+
+  // Sets dummy load pin to HIGH if all LEDs (wing + body) will be off
+  if(off[0] && off[1] && off[2])
+  {
+    pin.number = PIN_PB09; // Pin A3 on Feather M4 Express. project pinout for LED dummy load
+    gpio_set_pin_direction(pin.number, GPIO_DIRECTION_OUT);
+    gpio_set_pin_level(pin.number, 1);
+    io.pin = &pin;
+    common_hal_neopixel_write(&io, pixels, NUM_WING_LEDS*3);
+  }
+  else
+  {
+    pin.number = side == 1 ? PIN_PA20 : PIN_PA22; // Pins 12 and 13 on the Feather M4 Express
+    // pin.number = side == 1 ? PIN_PA02 : PIN_PB08; //A0 and A2 on the feather m4, look up in a pins.h for other boards
+    //Offset 1 to 2
+    led_gradient (pixels, GRB[0], GRB[1], OFFSET_1*3, OFFSET_2*3, (NUM_WING_LEDS-1)*3);
+    //Offset 2 to 3
+    led_gradient (pixels, GRB[1], GRB[2], OFFSET_2*3, OFFSET_3*3, (NUM_WING_LEDS -1)*3);
+    //This interpolation wraps around by treating pixels as a bigger array than it is
+    led_gradient (pixels, GRB[2], GRB[0], OFFSET_3*3, (NUM_WING_LEDS + OFFSET_1)*3, (NUM_WING_LEDS)*3);
+
+    gpio_set_pin_direction(pin.number, GPIO_DIRECTION_OUT);
+    gpio_set_pin_pull_mode(pin.number, GPIO_PULL_OFF);
+    io.pin = &pin;
+    common_hal_neopixel_write(&io, pixels, NUM_WING_LEDS*3);
+  }
+
+  
   
   // TODO: if all inputs 0, set a pre-determined pin to OUTPUT and HIGH
-  gpio_set_pin_direction(pin.number, GPIO_DIRECTION_OUT);
-  gpio_set_pin_pull_mode(pin.number, GPIO_PULL_OFF);
-  digitalio_digitalinout_obj_t io;
-  io.pin = &pin;
 
-  common_hal_neopixel_write(&io, pixels, NUM_WING_LEDS*3);
 }
 
 static bool motor_control_initted = false;

software/scripts/flapping_with_led.py

+# This script tests flapping the wings on a Fractal Flyer.
+# It uses the motor control loop implemented in the firmware.
+
+import time
+import ee285
+import board
+import busio
+import math
+import digitalio
+import microcontroller
+import pulseio
+
+LEDS_PER_WING = 180
+LEDS_IN_BODY = 200
+
+# ee285.motor_control_loop_init()
+
+left_wing_high = 45 #flap left wing this many degrees above level
+left_wing_low = -45  #flap left wing this many degrees below level
+left_wing_target_angle = left_wing_high
+period = 20 #Period (s) before reversing target angle
+
+'''Cycles through colors (used for LED patterns)'''
+def wheel(pos):
+    # Input a value 0 to 255 to get a color value.
+    # The colours are a transition r - g - b - back to r.
+    if pos < 0 or pos > 255:
+        r = g = b = 0
+    elif pos < 85:
+        r = int(pos * 3)
+        g = int(255 - pos*3)
+        b = 0
+    elif pos < 170:
+        pos -= 85
+        r = int(255 - pos*3)
+        g = 0
+        b = int(pos*3)
+    else:
+        pos -= 170
+        r = 0
+        g = int(pos*3)
+        b = int(255 - pos*3)
+    return (r, g, b)
+
+pattern = []
+for i in range(0, 512):
+  pattern.append(wheel(int(i/2) % 256))
+
+counter = 0
+
+start = (int)(time.monotonic())
+last_passed = -1
+
+while True:
+    passed = (int)(time.monotonic()) - start
+
+    #If desired, smoother operation could be achieved by only changing lights with wings stationary
+
+    #TODO: Any communication here (change behavior by modifying global variables)
+
+    if passed%period == 0 and passed != last_passed:
+        left_wing_target_angle = -left_wing_target_angle
+        print("Wings moving to angle", left_wing_target_angle)
+        last_passed = passed
+    
+    # Issue: wings aren't flapping all the way up, as they should be.
+
+    # Set left and right wings to desired angle
+    # ee285.wing_angle(0, left_wing_target_angle)
+    # ee285.wing_angle(1, left_wing_target_angle)
+
+    #Pattern LEDS.
+
+    color1 = counter
+    color2_wing = (counter + int(LEDS_PER_WING/2)) % 512
+    color3 = (counter + LEDS_PER_WING) % 512
+    # print(pattern[color1])
+    # print("Color 1: ", color1, " Color 2: ", color2_wing, " Color 3: ", color3, "\nCounter: ", counter) 
+
+    ee285.wing_leds(0,pattern[color1], pattern[color2_wing], pattern[color3])
+    ee285.wing_leds(1,pattern[color1], pattern[color2_wing], pattern[color3]) # flickers for some reason ?? 
+    # ee285.body_leds(pattern[color1:])
+    time.sleep(0.01)
+    counter = (counter+1) % 512

software/scripts/motor-control-loop-test-flapping.py

@@ -3,22 +3,58 @@
 
 import time
 import ee285
+import board
+import busio
+import math
+import digitalio
+import microcontroller
+import pulseio
+import neopixel
 
-ee285.motor_control_loop_init()
+LEDS_PER_WING = 180
+LEDS_IN_BODY = 200
+
+# ee285.motor_control_loop_init()
 
 left_wing_high = 45 #flap left wing this many degrees above level
 left_wing_low = -45  #flap left wing this many degrees below level
 left_wing_target_angle = left_wing_high
 period = 20 #Period (s) before reversing target angle
 
+'''Cycles through colors (used for LED patterns)'''
+def wheel(pos):
+    # Input a value 0 to 255 to get a color value.
+    # The colours are a transition r - g - b - back to r.
+    if pos < 0 or pos > 255:
+        r = g = b = 0
+    elif pos < 85:
+        r = int(pos * 3)
+        g = int(255 - pos*3)
+        b = 0
+    elif pos < 170:
+        pos -= 85
+        r = int(255 - pos*3)
+        g = 0
+        b = int(pos*3)
+    else:
+        pos -= 170
+        r = 0
+        g = int(pos*3)
+        b = int(255 - pos*3)
+    return (r, g, b)
+
+pattern = []
+for i in range(0, 512):
+  pattern.append(wheel(int(i/2) % 256))
+
+counter = 0
+
 start = (int)(time.monotonic())
 last_passed = -1
 
 while True:
     passed = (int)(time.monotonic()) - start
 
-    #TODO: Pattern LEDS here. For now, simulate with delay
-    time.sleep(0.01)
     #If desired, smoother operation could be achieved by only changing lights with wings stationary
 
     #TODO: Any communication here (change behavior by modifying global variables)
@@ -31,5 +67,15 @@ while True:
     # Issue: wings aren't flapping all the way up, as they should be.
 
     # Set left and right wings to desired angle
-    ee285.wing_angle(0, left_wing_target_angle)
-    ee285.wing_angle(1, left_wing_target_angle)
+    # ee285.wing_angle(0, left_wing_target_angle)
+    # ee285.wing_angle(1, left_wing_target_angle)
+
+    #Pattern LEDS.
+    # time.sleep(0.01)
+    color1 = counter
+    color2_wing = counter-LEDS_PER_WING/2
+    color3 = counter - LEDS_PER_WING
+    ee285.wing_leds(0,pattern[color1], pattern[color2], pattern[color3])
+    ee285.wing_leds(1,pattern[color1], pattern[color2], pattern[color3])
+    ee285.body_leds(pattern[counter:])
+    counter = (counter+1) % 256