playing around, agents are now stored in a vector
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@ -5,6 +5,8 @@
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#include "main.h"
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#include "main.h"
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#include "overlay.h"
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#include "overlay.h"
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#include <vector>
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#define R1 42
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#define R1 42
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#define G1 40
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#define G1 40
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#define BL1 41
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#define BL1 41
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@ -34,18 +36,20 @@
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MatrixPanel_I2S_DMA *matrix = nullptr;
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MatrixPanel_I2S_DMA *matrix = nullptr;
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#define NUM_AGENTS 128
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//#define NUM_AGENTS 300
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//#define AGENT_MOVE_DISTANCE 1
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//#define AGENT_MOVE_DISTANCE 1
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#define AGENT_DROP_AMOUNT 1
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#define AGENT_DROP_AMOUNT 1 //5
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//#define AGENT_ANGLE 0.175
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//#define AGENT_ANGLE 0.175
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#define NUM_ITERATIONS 1000
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#define NUM_ITERATIONS 1000
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typedef struct {
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struct SlimeAgent {
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int x_position;
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int x_position;
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int y_position;
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int y_position;
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float heading;
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float heading;
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} SlimeAgent;
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};
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int NUM_AGENTS;
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int AGENT_MOVE_DISTANCE;
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int AGENT_MOVE_DISTANCE;
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float AGENT_SENSOR_DISTANCE;
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float AGENT_SENSOR_DISTANCE;
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float AGENT_MOVE_ANGLE;
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float AGENT_MOVE_ANGLE;
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@ -53,7 +57,8 @@ float AGENT_SENSOR_ANGLE;
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float attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
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float attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
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int iterations = 0;
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int iterations = 0;
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SlimeAgent agents[NUM_AGENTS];
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//SlimeAgent agents[NUM_AGENTS];
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std::vector<SlimeAgent> agents;
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void init_attractant() {
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void init_attractant() {
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memset(attractant, 0.0, sizeof attractant);
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memset(attractant, 0.0, sizeof attractant);
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@ -70,7 +75,7 @@ void init_attractant() {
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// for(int y = 0; y < PANEL_HEIGHT; y++) {
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// for(int y = 0; y < PANEL_HEIGHT; y++) {
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// int pixel_num = (y * PANEL_WIDTH) + x;
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// int pixel_num = (y * PANEL_WIDTH) + x;
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// if(overlay[ pixel_num / 8 ] & (1 << (7 - (pixel_num % 8)) ) ){
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// if(overlay[ pixel_num / 8 ] & (1 << (7 - (pixel_num % 8)) ) ){
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// attractant[x][y] = 15.0;
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// attractant[x][y] = 255.0;
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// }
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// }
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// }
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// }
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//}
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//}
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@ -78,10 +83,21 @@ void init_attractant() {
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void init_agents() {
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void init_agents() {
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AGENT_MOVE_DISTANCE = 1; //random(1, 3);
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AGENT_MOVE_DISTANCE = 1; //random(1, 3);
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AGENT_MOVE_ANGLE = random(0, 334) / 1000.0;
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//AGENT_MOVE_ANGLE = random(0, 334) / 1000.0;
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AGENT_SENSOR_ANGLE = random(0, 334) / 1000.0;
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AGENT_MOVE_ANGLE = 0.175;//random(0, 334) / 1000.0;
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//AGENT_SENSOR_ANGLE = random(0, 334) / 1000.0;
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if (random(0, 2) > 0) {
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AGENT_SENSOR_ANGLE = 0.175;
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} else {
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AGENT_SENSOR_ANGLE = 0.0875;
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}
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//AGENT_SENSOR_DISTANCE = random(100, 400) / 1000.0;
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//AGENT_SENSOR_DISTANCE = random(100, 400) / 1000.0;
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AGENT_SENSOR_DISTANCE = random(3000, 5000) / 1000.0;
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//AGENT_SENSOR_DISTANCE = random(3000, 5000) / 1000.0;
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AGENT_SENSOR_DISTANCE = random(2000, 3500) / 1000.0;
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NUM_AGENTS = random(64, 301);
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agents.clear();
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for(int a = 0; a < NUM_AGENTS; a++) {
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for(int a = 0; a < NUM_AGENTS; a++) {
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float angle = ((PI * 2) / NUM_AGENTS) * a;
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float angle = ((PI * 2) / NUM_AGENTS) * a;
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//agents[a].x_position = 31 + round(10*sin(angle));
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//agents[a].x_position = 31 + round(10*sin(angle));
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@ -90,9 +106,14 @@ void init_agents() {
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//agents[a].x_position = random(12, 52);
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//agents[a].x_position = random(12, 52);
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//agents[a].y_position = random(12, 20);
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//agents[a].y_position = random(12, 20);
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agents[a].x_position = random(0, 64);
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agents.push_back({
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agents[a].y_position = random(0, 32);
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random(0,64),
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agents[a].heading = (random(0, 100) / 100.0) * (PI*2);
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random(0,32),
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(random(0, 100) / 100.0) * (PI*2)
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});
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//agents[a].x_position = random(0, 64);
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//agents[a].y_position = random(0, 32);
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//agents[a].heading = (random(0, 100) / 100.0) * (PI*2);
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}
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}
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}
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}
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@ -170,7 +191,7 @@ void setupGaussianKernel(float* kernel, int width, float sigma) {
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Serial.printf("%f %f %f\n", kernel[0], kernel[1], kernel[2]);
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Serial.printf("%f %f %f\n", kernel[0], kernel[1], kernel[2]);
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}
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}
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#define GAUSS_WIDTH 5
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#define GAUSS_WIDTH 1
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#define GAUSS_SIGMA 1.0
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#define GAUSS_SIGMA 1.0
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#define DECAY_FACTOR 0.9
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#define DECAY_FACTOR 0.9
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float first_pass[PANEL_WIDTH][PANEL_HEIGHT];
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float first_pass[PANEL_WIDTH][PANEL_HEIGHT];
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@ -217,7 +238,7 @@ void gaussian_blur() {
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}
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}
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}
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}
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#define BLUR_KERNEL_SIZE 3
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#define BLUR_KERNEL_SIZE 1
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void box_blur() {
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void box_blur() {
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//Serial.println("memset: starting");
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//Serial.println("memset: starting");
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memset(first_pass, 0.0, sizeof first_pass);
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memset(first_pass, 0.0, sizeof first_pass);
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@ -259,7 +280,8 @@ void box_blur() {
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float result = (sum/additions); // * DECAY_FACTOR;
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float result = (sum/additions); // * DECAY_FACTOR;
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//Serial.printf("result: %f", result); //additions: %d\n", sum, additions);
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//Serial.printf("result: %f", result); //additions: %d\n", sum, additions);
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attractant[x][y] = (((8.0*attractant[x][y]) + result) / 9.0);
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//attractant[x][y] = (((8.0*attractant[x][y]) + result) / 9.0);
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attractant[x][y] = result;
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}
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}
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}
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}
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}
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}
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@ -285,11 +307,12 @@ void loop() {
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if (is_in_bounds(move_x, move_y)) {
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if (is_in_bounds(move_x, move_y)) {
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agents[a].x_position = move_x;
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agents[a].x_position = move_x;
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agents[a].y_position = move_y;
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agents[a].y_position = move_y;
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if (attractant[move_x][move_y] < 254.0) {
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if (attractant[move_x][move_y] < 255.0 - AGENT_DROP_AMOUNT) {
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attractant[move_x][move_y] += AGENT_DROP_AMOUNT;
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attractant[move_x][move_y] += AGENT_DROP_AMOUNT;
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}
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}
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} else {
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} else {
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agents[a].heading += (random(-1,2) *2 - 1 ) * 30 / 100.0 * PI*2;
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agents[a].heading = (random(0, 100)/100.0) * (PI*2);
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// agents[a].heading = (2*PI) - agents[a].heading;//(random(0, 100)/100.0) * (PI*2);
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}
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}
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}
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}
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// sample step
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// sample step
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@ -315,9 +338,9 @@ void loop() {
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}
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}
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}
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}
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iterations++;
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iterations++;
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if (iterations > 64 && iterations % 64 == 0) { // (( == 0) {
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if (iterations % 4 == 0) { //64 && iterations % 64 == 0) { // (( == 0) {
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//gaussian_blur();
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//box_blur();
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//box_blur();
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//gaussian_blur();
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;
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;
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}
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}
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if (iterations >= NUM_ITERATIONS) {
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if (iterations >= NUM_ITERATIONS) {
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