import latest version of libraries + new examples

examples/Stencil/Stencil.ino

@@ -0,0 +1,25 @@
+// Stencil.ino  -- rename first and update this title
+// Empty file you can use if the WittyLib.zip has been loaded with Arduino libs
+// Cut and paste what you use:
+//  #include "Witty.h"    SetupWitty();
+//  #include "GetPush.h"  need Witty.h
+//  #include "Telec.h"    need Witty.h
+//  #include "Apa102.h"   SetupApa102(); 
+//  #include "Inter2.h"   SetupInter2(); application dependant
+//  #include "Pfm.h"      SetupPfm();
+//  #include "TerSer.h"   SetupTerSer();
+//  #include "I2Ctwi.h"   SetupI2Ctwi();
+//  SetupGy521();         need I2Ctwi.h
+
+#include "Witty.h" 
+// global variables and functions
+
+void setup() {
+  SetupWitty();
+
+}
+
+void loop() {
+
+
+}

examples/TestApa102/TestApa102.ino

@@ -0,0 +1,28 @@
+//TestApa.ino ok 190330 1224b  38v
+// arc en ciel de 0 à 192  manque de l'orangé
+#include "Witty.h"
+#define  Npix 8  // nombre de LEDs
+#define  Brt 2 // max 31 brigtness 
+#include "Apa102.h"
+
+void setup () {
+  SetupWitty();
+  SetupApa102();  
+
+}
+
+void loop() { 
+   ApaRainbow();
+   DelMs (2000);
+   
+   for (byte i=0; i<16; i++) { ApaLogRed (i); DelMs(100);}
+   for (byte i=16; i>0; i--) { ApaLogRed (i-1); DelMs(100);} 
+   for(;;);
+}
+
+/*
+ Test ApaRed from 0 to 255 (reduce delay)
+ Modify Brt value
+ Modify in the lib parameters of ApaRainbow. Hue etc is explained in doc.
+*/
+

examples/TestGetPush/TestGetPush.ino

@@ -0,0 +1,41 @@
+// TestGetPush.ino  
+#include "Witty.h"
+#include "GetPush.h"
+void setup() {
+  SetupWitty();
+  Cligno(2,200);  DelMs(500); // 2 blinks and delay
+}
+byte choix;
+void loop() { 
+    choix= GetPush();  // blink fast
+    DelMs(500);  //little wait to show the transistion
+    // Direct use of parameter
+//    DelMs(500);  //delay after the confirmation blinks
+//    Cligno(choix,200);  // do the selected task
+//    DelMs (1000);
+
+     //Test with a switch-case
+     switch(choix) {
+       case 1:
+         Cligno(5,200);
+         break;
+       case 2:
+         AvD;  DelMs(500); StopD; DelMs(200);
+         AvG;  DelMs(500); StopG; DelMs(200);
+         RecD; DelMs(500); StopD; DelMs(200);
+         RecG; DelMs(500); StopG; DelMs(200);      
+         break;
+       case 3:
+         while (!PushOn) {   // push to quit
+           if (IrmOn) {LedOn;} // Test your TV remote
+           else {LedOff;}
+         }
+         while (PushOn) {}
+         break;
+       default:
+        CliErr(3,50,500);  // Reset to quit
+     } // end switch 
+} // end loop
+
+
+//  Write an ErrSOS() function that repeat SOS the marine way (no parameter)

examples/TestGy521/TestGy521.ino

@@ -0,0 +1,38 @@
+//TestG521.ino  affichage TerSer 
+// 1g is given as 16384  
+#define aadd 0x68*2  // adresse 8bits du 6050 .. a faire mieux
+
+// déf et variables globales
+int16_t GyX,GyY,GyZ;   
+int16_t AcX,AcY,AcZ;  
+
+#include "Witty.h"
+#include "TerSer.h"
+#include "I2Ctwi.h"
+#include "Gy521.h" 
+
+void setup() {
+  SetupWitty();
+  SetupI2Ctwi();
+  SetupGy521();
+  SetupTerSer();
+}
+
+int var;
+void loop() { 
+    DelMs(1000);  //Wait 1s for stabilisation 
+       Text("Gy521 values"); CR();
+       int16_t AcX,AcY,AcZ;
+       while(1){
+           AcX=ReadWordAt(0x3B);  //Accelerometer
+           AcY=ReadWordAt(0x3D);
+           AcZ=ReadWordAt(0x3F);
+
+          Text("  AcX= "); Dec16s(AcX); 
+          Text("  AcY= "); Dec16s(AcY);
+          Text("  AcZ= "); Dec16s(AcZ); 
+          CR(); 
+          DelMs (500);
+       }  // end while
+}  // end loop
+

examples/TestInter2/TestInter2.ino

@@ -0,0 +1,17 @@
+//TestInter.ino Witty
+// Clignotement continu par interruption
+
+ 
+#include "Witty.h"
+#include "Inter2.h"
+
+void setup(){  
+    SetupInter2();
+}
+
+void loop() { 
+  for (byte i=10; i<200; i+=2) {
+   period=i; DelMs(100);
+  }
+}
+

examples/TestPfm/TestPfm.ino

@@ -0,0 +1,27 @@
+//TestMotPfm.ino witty
+// On accélère et ralenti les moteurs
+// la vitesse max est toujours +/- 80
+#include "Witty.h"
+#include "Pfm.h"
+#include "Inter2.h"
+
+void setup(){  
+    SetupWitty();
+    SetupInter2();
+}
+
+#define MaxVit 70
+void loop() { 
+  LedOff;
+  for (pfmR=0; pfmR<MaxVit; pfmR++) {pfmL=pfmR; DelMs(20);}
+  LedOn;
+  for (pfmR=MaxVit; pfmR>0; pfmR--) {pfmL=pfmR; DelMs(20);}
+  LedOff;
+  for (pfmR=0; pfmR>-MaxVit; pfmR--) {pfmL=pfmR; DelMs(20);}
+  LedOn;
+  for (pfmR=-MaxVit; pfmR<0; pfmR++) {pfmL=pfmR; DelMs(20);}
+  LedOff;
+  pfmL=1; pfmR=1; DelMs(2000);
+  pfmL=-1; pfmR=-1; DelMs(2000);
+}
+

examples/TestTelec/TestTelec.ino

@@ -0,0 +1,18 @@
+//TestTelec.ino Blink number of pulses 
+
+#include "Witty.h"
+#include "Telec.h"
+void setup () { 
+  SetupWitty();
+}
+
+byte nPulses;
+void loop() {  
+ nPulses= CompteIR();
+ Cligno (nPulses,1000);
+}
+
+/*
+ Modify the timings on Telec.h
+ Control the motos as in Demo2 program.
+ */

examples/TestWitty/TestWitty.ino

@@ -0,0 +1,24 @@
+//TestWitty.ino Test Button, Led Cligno and CliErr
+#include "Witty.h" 
+void setup() {
+  SetupWitty();
+  Cligno(3,200);
+}
+
+byte cDel=0;
+void loop() { 
+// Led stay on for 2 second, reactivate after <2 seconds with a push
+
+  while (cDel++<200) { 
+    LedOn;  DelMs(2000/200);  // 2 
+    if (PushOn) {cDel=0;}   // check every 10ms
+  }
+  LedOff;
+  DelMs(1000);
+  
+  Cligno(5,50);
+
+  CliErr(2,200,1000);
+// need a reset now
+}
+

examples/WittyDemo2/WittyDemo2.ino

@@ -1,11 +1,11 @@
- // WittyDemo2.ino 190419  4434b 112v  !! 2 copies ajouté effet lum 
+ // WittyDemo2.ino 190506  4580b 113v  distributed on w01-w10 
 // welcome with Rainbow and fast blink push n times
-// 1 push red several move on-off and back to menu
+// 1 push  several move on-off and back to menu
-// 2 pushes green same with pfm speed changes
+// 2 pushes  same with pfm speed changes
-// 3 control blue with most TV IR 1pulse stop, 2,3,4,5 move
+// 3 control  with most TV IR 1pulse stop, 2,3,4,5 move
 // 4 demonstrate log dim
-// 5 compte
+// 5 count in binary
-// 6 test accelero Gy521  reset to restart demo
+// 6 test accelerometer Gy521 value in terminal 4 orientations on leds
 
  #include "Witty.h"
  #include "GetPush.h"
@@ -27,11 +27,12 @@ void setup() {
    SetupTerSer();
    SetupI2Ctwi();
    SetupGy521();
-  Cli(2); DelMs(500); 
+  Cligno(2,200); 
 }
 
-// Une fonction démo à mettre dans un .h sépare avec par exemple un générateur de caractères
+// Example of a not simple function binary counter 1 bright 0 dark but visible
-// On veut tester un compteur binaire 1 allumé 0 sombre
+// That function has no reason to be included in the Apa102.h file
+// Show a byte in any color.
 void ShowByte (uint8_t nn,uint8_t rr,uint8_t gg,uint8_t bb) {
   ApaHead();
   for (byte i=0; i<Npix; i++) {
@@ -44,70 +45,65 @@ void ShowByte (uint8_t nn,uint8_t rr,uint8_t gg,uint8_t bb) {
 
 byte cPush; 
 byte cnt5=0;  // test 5
-      #define D DelMs(1000)
+ #define D02 DelMs(200)
-      #define D2 DelMs(2000)
+ #define D05 DelMs(500)
+ #define D1 DelMs(1000)
+ #define D2 DelMs(2000)
 void loop() {
   cli();  // if Demo3 before
   ApaRainbow();  
   cPush= GetPush(); 
   switch (cPush) {
+  D2; 
     case 1: // Demo1 Move
-      byte cmo;
+      ApaLogRed(4);
-      cmo=2;
+        AvD; AvG; D05;     // Avance
-      while(cmo--){  // on répète 2 fois 
+        StopG; StopD; D05;    
-        ApaLogRed(1);          
+        AvD;   D05;         //TourneG
-        AvD; AvG; D;     // Avance
+        StopG; StopD; D05;
-        StopG; StopD; D; 
+        AvG;  D05;         // TourneD
-         ApaLogGreen(4);     
+        StopG; StopD; D05; 
-        AvD;   D;         //TourneG
+        RecD; RecG; D05;  // Recule
-        StopG; StopD; D;
+        StopG; StopD; D05; 
-         ApaLogBlue(4); 
+        AvD; AvG; D05; RecD; RecG; D05; 
-        AvG;  D;         // TourneD
+        BlockG; BlockD; D05;  
-        StopG; StopD; D; 
+        ApaLogGreen(4); AvG; RecD; D1;
-         ApaLogWhite(4); 
+        ApaLogBlue(4); AvD; RecG; D1;
-        RecD; RecG; D;  // Recule
+         BlockG; BlockD; D05;
-        StopG; StopD; D; 
+        ApaLogWhite(4); AvD; AvG; D05; RecD; RecG; D05;
-         ApaLogRed(15); 
+        StopG; StopD; ApaLogRed(4);D02;ApaLogGreen(4);D02;
-        AvD; AvG; D; RecD; RecG; D; 
-        BlockG; BlockD; D;  
-      }
       break;
     case 2: // Demo2 Pfm Move
       ApaLogBlue(10);
         SetupInter2();
-          ApaLogGreen(1);        
+        pfmL=2; pfmR=2;  D2;D2;
-        pfmL=1; pfmR=1; D2;
+        pfmL=-2; pfmR=-2; D2;D2;
-          ApaLogGreen(2);
-        pfmL=2; pfmR=2; D2;  
-          ApaLogGreen(4);
         pfmL=4; pfmR=4; D2;
-          ApaLogGreen(8);
+        pfmL=-4; pfmR=-4; D2;  
-        pfmL=8; pfmR=8; D;  
+        pfmL=16; pfmR=16; D1;
-          ApaLogGreen(10);
+        pfmL=0; pfmR=0; D2;
-        pfmL=20; pfmR=20; DelMs(500);
+        pfmL=-16; pfmR=-16; D1; 
-         ApaClear();
+        pfmL=0; pfmR=0; D2;
-        pfmL=0; pfmR=0; D;
+        pfmL=70; pfmR=70; D05;
-         ApaLogRed(10);
+        pfmL=0; pfmR=0; D2;
-        pfmL=-20; pfmR=-20; DelMs(500); 
+        pfmL=-70; pfmR=-70; D05;
-        pfmL=0; pfmR=0; D;
+        pfmL=0; pfmR=0; D1;   
-         ApaLogRed(15);
-        pfmL=70; pfmR=70; DelMs(300);
-        pfmL=0; pfmR=0; D;
-         ApaLogYellow(15);        
-        pfmL=-70; pfmR=-70; DelMs(300);
-        pfmL=0; pfmR=0; D;   
       ApaLogBlue(2); 
-  #define Dac DelMs(20) 
+  #define Dac DelMs(10) 
-  #define MaxVit 75  // 15x5 a cause int logique leds         
+  for(volatile byte i; i<3; i++) {
-  for (pfmR=0; pfmR<MaxVit; pfmR++) {pfmL=pfmR; ApaLogGreen(pfmR/5);Dac;}
+    D2; 
-  for (pfmR=MaxVit; pfmR>=0; pfmR--) {pfmL=pfmR; ApaLogBlue(pfmR/5);Dac;}
+    #define MaxVit 80 
-        pfmL=0; pfmR=0; ApaLogWhite(5); D;
+    for (pfmR=0; pfmR<MaxVit; pfmR++) {pfmL=pfmR; ApaLogGreen(pfmL/5); Dac;} 
-  for (pfmR=0; pfmR>-MaxVit; pfmR--) {pfmL=pfmR; ApaLogBlue(-pfmR/5);Dac;}
+      ApaLogRed(2); 
-  for (pfmR=-MaxVit; pfmR<0; pfmR++) {pfmL=pfmR; ApaLogGreen(-pfmR/5);Dac;}
+    for (pfmR=MaxVit; pfmR>0; pfmR--) {pfmL=pfmR; ApaLogGreen(pfmL/5); Dac;}
-        pfmL=0; pfmR=0; ApaLogWhite(5); D;
+    for (pfmR=0; pfmR>-MaxVit; pfmR--) {pfmL=pfmR; ApaLogRed(-pfmL/5); Dac;}
-      DelMs(1000);
+      ApaLogGreen(2); 
-      cli();
+    for (pfmR=-MaxVit; pfmR<0; pfmR++) {pfmL=pfmR; ApaLogRed(-pfmL/5); Dac;}
-      break;    
+        pfmL=0; pfmR=0; D1;
+  }
+     cli();
+     break; 
+            
     case 3: // Demo IRM control
       ApaLogWhite(10);
  byte nPress;
@@ -115,10 +111,10 @@ void loop() {
         nPress= Compte();
         switch (nPress) {
           case 1:   // stop
-            ApaLogGreen(5);
+            ApaLogRed(5);
             FreeG; FreeD; break;
           case 2:   // avance
-            ApaLogRed(5);
+            ApaLogGreen(5);
             AvG; AvD; break;
           case 3:   // tourneG
             ApaLogBlue(5);
@@ -133,11 +129,13 @@ void loop() {
             ShowByte (0x55,5,5,5); 
             FreeG; FreeD; break;
          }  // end switch
-      }  // end while
+      }  // end while    
-    case 5: // RGB   // new numbering
+      // reset to quit
+      
+    case 5: // RGB   // ApaLog requires interrupt 
     sei();
-       for (byte i=0;i<16;i++) {ApaLogRed(i); DelMs(100);}
+       for (volatile byte i=0;i<16;i++) {ApaLogRed(i); DelMs(100);}
-       for (byte i=16;i>0;i--) {ApaLogRed(i-1); DelMs(100);}
+       for (volatile byte i=16;i>0;i--) {ApaLogRed(i-1); DelMs(100);}
        ApaLogGreen(1);DelMs(1000);ApaLogBlue(1);DelMs(1000);ApaLogRed(1);DelMs(1000);
        ApaLogGreen(15);DelMs(1000);ApaLogBlue(15);DelMs(1000);ApaLogRed(15);DelMs(1000);  // max intensity
        // add your own tricks

library.properties

@@ -1,9 +1,9 @@
 name=Witty
-version=1.0.0
+version=1.0.1
 author=Didel <info@didel.com>
 maintainer=Boxtec <info@boxtec.ch>
 sentence=Witty Support Library
 paragraph=Several support libraries for the Witty self-balancing 2WD bot from Didel.com. See the WittyQuickStartGuide.pdf in the docs folder.
 category=Other
 url=https://git.boxtec.ch/didel/Witty
-architectures=*
+architectures=*

src/I2Ctwi.h

@@ -1,6 +1,6 @@
 //#include "I2Ctwi.h"  TWI et fonctions composées
 // inside PP #include "I2Ctwi.h"  SetupI2Ctwi();
-//#include <Arduino.h>  // pas nécessaire?
+#include <Arduino.h>  // pas nécessaire?
 // aadd defini dans pp avec #define aadd valeur adresse 8 bits sélect
 // ? changera avec paramètre explicite? ou nom G521Twi
 byte status;

src/Inter2.h

@@ -1,12 +1,17 @@
 //Inter2.h
-//Dans PP  #include "Inter2.h"  SetupInter2();
+//Begin main progr #include "Inter2.h"  SetupInter2();
-volatile byte cpf,cup,cdo;
+volatile byte period;
+volatile  uint16_t tt;
+void DoCligno() {
+  if (tt++ > period) {
+    tt=0;  LedToggle;
+  }
+}
+volatile byte cpf;
 ISR (TIMER2_OVF_vect) {
-// TCNT2 = 256-20;  // 2M  20 11us 100 35us  200 85us
+ TCNT2 = 141;  //  58 us period
- TCNT2 = 141;  //  58 us calibre pour Tell
+  if (cpf++ > 18-1) { cpf=0; // toutes les 18x58= ~1ms 
-  cup++;cdo++;
+    DoCligno();  // durée <2us
-  if (cpf++ > 35) { cpf=0; // toutes les 35x58= 2ms 
-    DoPfm ();  //durée 2us
   }
 } 
 
@@ -14,7 +19,6 @@ void SetupInter2() {  // initialisation
   TCCR2A = 0; //default
   TCCR2B = 0b00000010;  //  2MHz
   TIMSK2 = 0b00000001;  // TOIE2
-  //TIFR2  flag  TOV2
+  sei();  // Interrupt enabled
-  sei();
 }
 

src/Pfm.h

@@ -1,7 +1,14 @@
 //Pfm.h  avec table vit
 //#include "Pfm.h"  SetupPfm();  dans le pp
-volatile int8_t  pfmL, pfmR;  // -80 .. +80
+volatile char vitL, vitR;  // -15..+15 saturé dans inter
+volatile char pfmL, pfmR;  // -80 .. +80
+//#define MaxVit 15
 #define MaxPfm 80 
+char taVitR []= {-80,-70,-60,-51,-43,-35,-28,-22,-18,-14,-11,-8,-5,-2,0,\
+                  0,0,2,5,8,11,14,18,22,28,35,43,51,60,70,80};
+char taVitL []= {-80,-70,-60,-51,-43,-35,-28,-22,-18,-14,-11,-8,-5,-2,0,\
+                  0,0,2,5,8,11,14,18,22,28,35,43,51,60,70,80};
+
 volatile byte pfmCntL;
 volatile byte pfmCntR;
 void DoPfm () {

src/Witty.h

@@ -1,9 +1,6 @@
-//Witty.h 190124  voir www.didel.com/Witty.pdf 
+//Witty.h 190331  ref voir www.didel.com/WittySoft.pdf 
 //Dans PP  #include "Witty.h"  SetupWitty(); 
-//Strip RGB  - voir Apa102.h et www.didel.com/ApaWitty.pdf 
+
-//Gy521 - voir Gy521.h www.didel.com/Gy521Witty.pdf 
-//Simple teled control  
-//Push et Led  - voir GetPush.h et https://www.didel.com/diduino/Poussoir.pdf
 #define bLed 1 // PORTC
 #define bPush 0  // actif à zero
 #define PushOn (!(PINC&(1<<bPush)))  // pull-up int 
@@ -58,17 +55,13 @@ void Delus (uint16_t dm) {  // 182-152
      for (uint16_t i=0; i<dm; i++) {nop;nop;nop;}
 }
 
-void Cli(byte nn) {   // do not use
+void Cligno(byte nn,int dd) {
-  for (byte i=0; i<2*nn; i++) { LedToggle; DelMs(300);}
-}
-void Cligno(byte nn,byte dd) {
   for (byte i=0; i<2*nn; i++) { LedToggle, DelMs(dd);}
 }
-void CliErr (byte ct,byte dd) {
+void CliErr (byte ct,int dd, int ww) {
   while(1) {
      Cligno (ct,dd);
-     DelMs (1000);
+     DelMs (ww);
   }
 }
-