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ignore the blurring for now...

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This commit is contained in:
Felix Pankratz 2024-12-10 19:17:51 +01:00
parent bdde96e5ed
commit 79586fbc66
1 changed files with 36 additions and 24 deletions
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60
organism/src/main.cpp
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@ -33,7 +33,7 @@
MatrixPanel_I2S_DMA *matrix = nullptr; MatrixPanel_I2S_DMA *matrix = nullptr;
#define NUM_AGENTS 64 #define NUM_AGENTS 128
#define AGENT_MOVE_DISTANCE 1 #define AGENT_MOVE_DISTANCE 1
#define AGENT_DROP_AMOUNT 1 #define AGENT_DROP_AMOUNT 1
#define AGENT_ANGLE 0.175 #define AGENT_ANGLE 0.175
@ -44,18 +44,18 @@ typedef struct {
float heading; float heading;
} SlimeAgent; } SlimeAgent;
uint8_t attractant[PANEL_WIDTH][PANEL_HEIGHT] = {}; float attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
int iterations = 0; int iterations = 0;
SlimeAgent agents[NUM_AGENTS]; SlimeAgent agents[NUM_AGENTS];
void init_attractant() { void init_attractant() {
memset(attractant, (uint8_t) 0, sizeof attractant); memset(attractant, 0.0, sizeof attractant);
// draw a circle out of attractant // draw a circle out of attractant
//for (int p = 0; p < 64; p++) { //for (int p = 0; p < 64; p++) {
// float angle = ((PI * 2) / 64) * p; // float angle = ((PI * 2) / 64) * p;
// int x = 31 + round(10 * sin(angle)); // int x = 31 + round(10 * sin(angle));
// int y = 15 + round(10 * cos(angle)); // int y = 15 + round(10 * cos(angle));
// attractant[x][y] = 15; // attractant[x][y] = 15.0;
//} //}
} }
@ -66,8 +66,10 @@ void init_agents() {
//agents[a].y_position = 15 + round(10*cos(angle)); //agents[a].y_position = 15 + round(10*cos(angle));
// agents[a].heading = ((PI * 2) / NUM_AGENTS) * ); // agents[a].heading = ((PI * 2) / NUM_AGENTS) * );
agents[a].x_position = random(12, 52); //agents[a].x_position = random(12, 52);
agents[a].y_position = random(12, 20); //agents[a].y_position = random(12, 20);
agents[a].x_position = random(0, 64);
agents[a].y_position = random(0, 32);
agents[a].heading = (random(0, 100) / 100.0) * (PI*2); agents[a].heading = (random(0, 100) / 100.0) * (PI*2);
} }
} }
@ -76,6 +78,9 @@ void init_agents() {
void setup(){ void setup(){
Serial.begin(BAUD_RATE); Serial.begin(BAUD_RATE);
//while (!Serial) {
// ; // wait for serial port to connect. Needed for native USB
//}
pinMode(ONBOARD_LED, OUTPUT); pinMode(ONBOARD_LED, OUTPUT);
// redefine pins if required // redefine pins if required
@ -118,11 +123,11 @@ void draw_bg() {
void draw_attractant() { void draw_attractant() {
for(int x = 0; x<PANEL_WIDTH; x++) { for(int x = 0; x<PANEL_WIDTH; x++) {
for(int y = 0; y<PANEL_HEIGHT; y++){ for(int y = 0; y<PANEL_HEIGHT; y++){
if (attractant[x][y] > 0) { if (attractant[x][y] > 20.0) {
matrix->drawPixel(x, y, matrix->color565( matrix->drawPixel(x, y, matrix->color565(
int((255.0 / 255.0) * attractant[x][y]), int((255.0 / 255.0) * round(attractant[x][y])),
int((80.0 / 255.0) * attractant[x][y]), int((80.0 / 255.0) * round(attractant[x][y])),
int((83.0 / 255.0) * attractant[x][y]) int((83.0 / 255.0) * round(attractant[x][y]))
) )
); );
} }
@ -145,7 +150,7 @@ void setupGaussianKernel(float* kernel, int width, float sigma) {
#define GAUSS_WIDTH 5 #define GAUSS_WIDTH 5
#define GAUSS_SIGMA 1.0 #define GAUSS_SIGMA 1.0
#define DECAY_FACTOR 0.9 #define DECAY_FACTOR 0.95
void gaussian_blur() { void gaussian_blur() {
float kernel[GAUSS_WIDTH]; float kernel[GAUSS_WIDTH];
uint8_t first_pass[PANEL_WIDTH][PANEL_HEIGHT]; uint8_t first_pass[PANEL_WIDTH][PANEL_HEIGHT];
@ -184,20 +189,22 @@ void gaussian_blur() {
additions++; additions++;
} }
} }
attractant[x][y] = (int) round((sum/GAUSS_WIDTH) * DECAY_FACTOR); attractant[x][y] = (sum/GAUSS_WIDTH) * DECAY_FACTOR;
} }
} }
} }
#define BLUR_KERNEL_SIZE 3 #define BLUR_KERNEL_SIZE 3
float first_pass[PANEL_WIDTH][PANEL_HEIGHT];
void box_blur() { void box_blur() {
uint8_t first_pass[PANEL_WIDTH][PANEL_HEIGHT]; //Serial.println("memset: starting");
memset(first_pass, (uint8_t) 0, sizeof first_pass); memset(first_pass, 0.0, sizeof first_pass);
//Serial.println("memset: passed");
// horizontal pass // horizontal pass
for (int x = 0; x < PANEL_WIDTH; x++) { for (int x = 0; x < PANEL_WIDTH; x++) {
for(int y = 0; y < PANEL_HEIGHT; y++) { for(int y = 0; y < PANEL_HEIGHT; y++) {
int sum = attractant[x][y]; //0.0; float sum;
sum = attractant[x][y]; //0.0;
int additions = 1; int additions = 1;
for (int x_offset = 1; x_offset < BLUR_KERNEL_SIZE; x_offset++) { for (int x_offset = 1; x_offset < BLUR_KERNEL_SIZE; x_offset++) {
if (is_in_bounds(x+x_offset, y)) { if (is_in_bounds(x+x_offset, y)) {
@ -209,7 +216,7 @@ void box_blur() {
additions++; additions++;
} }
} }
first_pass[x][y] = (int) round((sum/additions) * DECAY_FACTOR); first_pass[x][y] = (sum/additions);
} }
} }
// vertical pass // vertical pass
@ -227,7 +234,11 @@ void box_blur() {
additions++; additions++;
} }
} }
attractant[x][y] = (int) round((sum/additions) * DECAY_FACTOR);
float result = (sum/additions); // * DECAY_FACTOR;
//Serial.printf("result: %f", result); //additions: %d\n", sum, additions);
attractant[x][y] = (((8.0*attractant[x][y]) + result) / 9.0);
attractant[x][y] = attractant[x][y] * DECAY_FACTOR;
} }
} }
} }
@ -252,7 +263,7 @@ void loop() {
if (is_in_bounds(move_x, move_y)) { if (is_in_bounds(move_x, move_y)) {
agents[a].x_position = move_x; agents[a].x_position = move_x;
agents[a].y_position = move_y; agents[a].y_position = move_y;
if (attractant[move_x][move_y] != 255) { if (attractant[move_x][move_y] < 254.0) {
attractant[move_x][move_y] += AGENT_DROP_AMOUNT; attractant[move_x][move_y] += AGENT_DROP_AMOUNT;
} }
} else { } else {
@ -265,9 +276,9 @@ void loop() {
int left_y = round(agents[a].y_position + sin(agents[a].heading - (AGENT_ANGLE * (PI * 2)))); int left_y = round(agents[a].y_position + sin(agents[a].heading - (AGENT_ANGLE * (PI * 2))));
int right_x = round(agents[a].x_position + cos(agents[a].heading + (AGENT_ANGLE * (PI * 2)))); int right_x = round(agents[a].x_position + cos(agents[a].heading + (AGENT_ANGLE * (PI * 2))));
int right_y = round(agents[a].y_position + sin(agents[a].heading + (AGENT_ANGLE * (PI * 2)))); int right_y = round(agents[a].y_position + sin(agents[a].heading + (AGENT_ANGLE * (PI * 2))));
int front_value = attractant[front_x][front_y]; float front_value = attractant[front_x][front_y];
int left_value = attractant[left_x][left_y]; float left_value = attractant[left_x][left_y];
int right_value = attractant[right_x][right_y]; float right_value = attractant[right_x][right_y];
if (front_value > right_value and front_value > left_value) { if (front_value > right_value and front_value > left_value) {
; ;
} else if (front_value < right_value and front_value < left_value) { } else if (front_value < right_value and front_value < left_value) {
@ -280,9 +291,10 @@ void loop() {
} }
delay(10); delay(10);
iterations++; iterations++;
if (iterations % 64 == 0) { if (iterations > 64 && iterations % 64 == 0) { // (( == 0) {
//gaussian_blur(); //gaussian_blur();
box_blur(); //box_blur();
;
} }
if (iterations >= NUM_ITERATIONS) { if (iterations >= NUM_ITERATIONS) {
init_attractant(); init_attractant();