LEDtile.ino

#include <Adafruit_NeoPixel.h>
#include <CurieIMU.h>
#include "MadgwickAHRS.h"
#include "RGBConverter.h"

#define PIN 6

#define NUM_LEDS 300

#define BRIGHTNESS 50

Adafruit_NeoPixel strip = Adafruit_NeoPixel(NUM_LEDS, PIN, NEO_GRBW + NEO_KHZ800);

static const int GAMMA[] PROGMEM = {
  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,
  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  1,  1,  1,  1,
  1,  1,  1,  1,  1,  1,  1,  1,  1,  2,  2,  2,  2,  2,  2,  2,
  2,  3,  3,  3,  3,  3,  3,  3,  4,  4,  4,  4,  4,  5,  5,  5,
  5,  6,  6,  6,  6,  7,  7,  7,  7,  8,  8,  8,  9,  9,  9, 10,
  10, 10, 11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16,
  17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25,
  25, 26, 27, 27, 28, 29, 29, 30, 31, 32, 32, 33, 34, 35, 35, 36,
  37, 38, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 50,
  51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 68,
  69, 70, 72, 73, 74, 75, 77, 78, 79, 81, 82, 83, 85, 86, 87, 89,
  90, 92, 93, 95, 96, 98, 99, 101, 102, 104, 105, 107, 109, 110, 112, 114,
  115, 117, 119, 120, 122, 124, 126, 127, 129, 131, 133, 135, 137, 138, 140, 142,
  144, 146, 148, 150, 152, 154, 156, 158, 160, 162, 164, 167, 169, 171, 173, 175,
  177, 180, 182, 184, 186, 189, 191, 193, 196, 198, 200, 203, 205, 208, 210, 213,
  215, 218, 220, 223, 225, 228, 231, 233, 236, 239, 241, 244, 247, 249, 252, 255
};

#define RED(c) ((c >> 8) & 255)
#define GREEN(c) ((c >> 16) & 255)
#define BLUE(c) (c & 255)

Madgwick filter;
unsigned long microsPerReading, microsPrevious;
float accelScale, gyroScale;

void setup() {
  Serial.begin(115200);

  // start the IMU and filter
  CurieIMU.begin();
  CurieIMU.setGyroRate(25);
  CurieIMU.setAccelerometerRate(25);
  filter.begin(25);

  // Set the accelerometer range to 2G
  CurieIMU.setAccelerometerRange(2);
  // Set the gyroscope range to 250 degrees/second
  CurieIMU.setGyroRange(250);

  // initialize variables to pace updates to correct rate
  microsPerReading = 1000000 / 25;
  microsPrevious = micros();

  strip.setBrightness(BRIGHTNESS);
  strip.begin();
  strip.show(); // Initialize all pixels to 'off'

  while (!Serial);    // wait for the serial port to open

  Serial.println("Initialization complete...");
}

void loop() {
  int aix, aiy, aiz;
  int gix, giy, giz;
  float ax, ay, az;
  float gx, gy, gz;
  float roll, pitch, heading;
  unsigned long microsNow;

  // check if it's time to read data and update the filter
  microsNow = micros();

  if (microsNow - microsPrevious >= microsPerReading) {

    // read raw data from CurieIMU
    CurieIMU.readMotionSensor(aix, aiy, aiz, gix, giy, giz);

    // convert from raw data to gravity and degrees/second units
    ax = convertRawAcceleration(aix);
    ay = convertRawAcceleration(aiy);
    az = convertRawAcceleration(aiz);
    gx = convertRawGyro(gix);
    gy = convertRawGyro(giy);
    gz = convertRawGyro(giz);

    // update the filter, which computes orientation
    filter.updateIMU(gx, gy, gz, ax, ay, az);

    // print the heading, pitch and roll
    roll = filter.getRoll();
    pitch = filter.getPitch();
    heading = filter.getYaw();

    Serial.print("Orientation: ");
    Serial.print(heading);
    Serial.print(" ");
    Serial.print(pitch);
    Serial.print(" ");
    Serial.println(roll);

    uint32_t color = strip.Color(round(roll), round(pitch), round(heading));

    for (uint16_t i = 0; i < strip.numPixels(); i++) {
      strip.setPixelColor(i, color);
    }

    strip.show();
    delay(50);


    // increment previous time, so we keep proper pace
    microsPrevious = microsPrevious + microsPerReading;
  }
  // Some example procedures showing how to display to the pixels:
  //  colorWipe(strip.Color(255, 0, 0), 50); // Red
  //  colorWipe(strip.Color(0, 255, 0), 50); // Green
  //  colorWipe(strip.Color(0, 0, 255), 50); // Blue
  //  colorWipe(strip.Color(0, 0, 0, 255), 50); // White
  //
  //  whiteOverRainbow(20, 75, 5);
  //
  //  pulseWhite(5);

  // fullWhite();
  // delay(2000);

  //  rainbowFade2White(3, 3, 1);
}

float convertRawAcceleration(int aRaw)
{
  // since we are using 2G range
  // -2g maps to a raw value of -32768
  // +2g maps to a raw value of 32767

  float a = (aRaw * 2.0) / 32768.0;
  return a;
}

float convertRawGyro(int gRaw)
{
  // since we are using 250 degrees/seconds range
  // -250 maps to a raw value of -32768
  // +250 maps to a raw value of 32767

  float g = (gRaw * 250.0) / 32768.0;
  return g;
}

// Fill the dots one after the other with a color
void colorWipe(uint32_t c, uint8_t wait) {
  for (uint16_t i = 0; i < strip.numPixels(); i++) {
    strip.setPixelColor(i, c);
    strip.show();
    delay(wait);
  }
}

void pulseWhite(uint8_t wait) {
  for (int j = 0; j < 256 ; j++) {
    for (uint16_t i = 0; i < strip.numPixels(); i++) {
      strip.setPixelColor(i, strip.Color(0, 0, 0, GAMMA[j] ) );
    }
    delay(wait);
    strip.show();
  }

  for (int j = 255; j >= 0 ; j--) {
    for (uint16_t i = 0; i < strip.numPixels(); i++) {
      strip.setPixelColor(i, strip.Color(0, 0, 0, GAMMA[j] ) );
    }
    delay(wait);
    strip.show();
  }
}


void rainbowFade2White(uint8_t wait, int rainbowLoops, int whiteLoops)
{
  float fadeMax = 100.0;
  int fadeVal = 0;
  uint32_t wheelVal;
  int redVal, greenVal, blueVal;

  for (int k = 0 ; k < rainbowLoops ; k ++) {
    for (int j = 0; j < 256; j++) { // 5 cycles of all colors on wheel
      for (int i = 0; i < strip.numPixels(); i++) {
        wheelVal = Wheel(((i * 256 / strip.numPixels()) + j) & 255);

        redVal = RED(wheelVal) * float(fadeVal / fadeMax);
        greenVal = GREEN(wheelVal) * float(fadeVal / fadeMax);
        blueVal = BLUE(wheelVal) * float(fadeVal / fadeMax);

        strip.setPixelColor( i, strip.Color( redVal, greenVal, blueVal ) );
      }

      //First loop, fade in!
      if (k == 0 && fadeVal < fadeMax - 1) {
        fadeVal++;
      }

      //Last loop, fade out!
      else if (k == rainbowLoops - 1 && j > 255 - fadeMax ) {
        fadeVal--;
      }

      strip.show();
      delay(wait);
    }
  }

  delay(500);

  for (int k = 0 ; k < whiteLoops ; k ++) {
    for (int j = 0; j < 256 ; j++) {
      for (uint16_t i = 0; i < strip.numPixels(); i++) {
        strip.setPixelColor(i, strip.Color(0, 0, 0, GAMMA[j] ) );
      }
      strip.show();
    }

    delay(2000);

    for (int j = 255; j >= 0 ; j--) {
      for (uint16_t i = 0; i < strip.numPixels(); i++) {
        strip.setPixelColor(i, strip.Color(0, 0, 0, GAMMA[j] ) );
      }
      strip.show();
    }
  }

  delay(500);
}

void whiteOverRainbow(uint8_t wait, uint8_t whiteSpeed, uint8_t whiteLength )
{
  if (whiteLength >= strip.numPixels()) whiteLength = strip.numPixels() - 1;

  int head = whiteLength - 1;
  int tail = 0;

  int loops = 3;
  int loopNum = 0;

  static unsigned long lastTime = 0;

  while (true) {
    for (int j = 0; j < 256; j++) {
      for (uint16_t i = 0; i < strip.numPixels(); i++) {
        if ((i >= tail && i <= head) || (tail > head && i >= tail) || (tail > head && i <= head) ) {
          strip.setPixelColor(i, strip.Color(0, 0, 0, 255 ) );
        }
        else {
          strip.setPixelColor(i, Wheel(((i * 256 / strip.numPixels()) + j) & 255));
        }

      }

      if (millis() - lastTime > whiteSpeed) {
        head++;
        tail++;
        if (head == strip.numPixels()) {
          loopNum++;
        }
        lastTime = millis();
      }

      if (loopNum == loops) return;

      head %= strip.numPixels();
      tail %= strip.numPixels();

      strip.show();
      delay(wait);
    }
  }

}
void fullWhite()
{
  for (uint16_t i = 0; i < strip.numPixels(); i++) {
    strip.setPixelColor(i, strip.Color(0, 0, 0, 255 ) );
  }
  strip.show();
}


// Slightly different, this makes the rainbow equally distributed throughout
void rainbowCycle(uint8_t wait)
{
  uint16_t i, j;

  for (j = 0; j < 256 * 5; j++) { // 5 cycles of all colors on wheel
    for (i = 0; i < strip.numPixels(); i++) {
      strip.setPixelColor(i, Wheel(((i * 256 / strip.numPixels()) + j) & 255));
    }
    strip.show();
    delay(wait);
  }
}

void rainbow(uint8_t wait)
{
  uint16_t i, j;

  for (j = 0; j < 256; j++) {
    for (i = 0; i < strip.numPixels(); i++) {
      strip.setPixelColor(i, Wheel((i + j) & 255));
    }
    strip.show();
    delay(wait);
  }
}

// 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, 0);
  }
  if (WheelPos < 170) {
    WheelPos -= 85;
    return strip.Color(0, WheelPos * 3, 255 - WheelPos * 3, 0);
  }
  WheelPos -= 170;
  return strip.Color(WheelPos * 3, 255 - WheelPos * 3, 0, 0);
}