🧹 add cleanup routine
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@ -36,12 +36,9 @@
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MatrixPanel_I2S_DMA *matrix = nullptr;
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//#define NUM_AGENTS 300
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//#define AGENT_MOVE_DISTANCE 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 NUM_ITERATIONS 1000
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#define AGENT_DROP_AMOUNT 10
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#define NUM_ITERATIONS 500
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struct SlimeAgent {
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int x_position;
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int y_position;
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@ -57,7 +54,6 @@ float AGENT_SENSOR_ANGLE;
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float attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
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int iterations = 0;
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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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@ -107,10 +103,15 @@ void init_agents() {
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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.push_back({
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random(0,64),
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random(0,32),
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random(2,63),
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random(2,31),
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(random(0, 100) / 100.0) * (PI*2)
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});
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//agents.push_back({
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// random(6,58),
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// random(4,28),
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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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@ -166,7 +167,7 @@ void draw_bg() {
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void draw_attractant() {
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for(int x = 0; x<PANEL_WIDTH; x++) {
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for(int y = 0; y<PANEL_HEIGHT; y++){
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if (attractant[x][y] > 20.0) {
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if (attractant[x][y] > 17.0) {
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matrix->drawPixel(x, y, matrix->color565(
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int((255.0 / 255.0) * round(attractant[x][y])),
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int((80.0 / 255.0) * round(attractant[x][y])),
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@ -188,7 +189,6 @@ void setupGaussianKernel(float* kernel, int width, float sigma) {
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for(int i; i < width; i++) {
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kernel[i] = sum/width;
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}
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Serial.printf("%f %f %f\n", kernel[0], kernel[1], kernel[2]);
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}
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#define GAUSS_WIDTH 1
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@ -197,7 +197,6 @@ void setupGaussianKernel(float* kernel, int width, float sigma) {
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float first_pass[PANEL_WIDTH][PANEL_HEIGHT];
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void gaussian_blur() {
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float kernel[GAUSS_WIDTH];
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// first_pass[PANEL_WIDTH][PANEL_HEIGHT];
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memset(first_pass, 0.0, sizeof first_pass);
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setupGaussianKernel(kernel, GAUSS_WIDTH, GAUSS_SIGMA);
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// horizontal pass
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@ -279,17 +278,41 @@ void box_blur() {
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}
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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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//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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int cleanup_x = 0;
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void cleanup() {
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int progress = iterations - NUM_ITERATIONS;
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matrix->drawFastVLine(cleanup_x, 0, PANEL_HEIGHT, matrix->color565(254, 242, 255));
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if (cleanup_x > 0) {
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matrix->fillRect(0, 0, cleanup_x, PANEL_HEIGHT, matrix->color565(16, 0, 16));
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}
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int h_lines = round(PANEL_HEIGHT / 7);
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int v_lines = round(cleanup_x / 7);
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for(int v = 0; v < cleanup_x; v++) {
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if (v%7 == 2) {
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matrix->drawFastVLine(v, 0, PANEL_HEIGHT, matrix->color565(41, 17, 76));
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}
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}
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for(int h = 0; h <= h_lines; h++) {
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matrix->drawFastHLine(0, 7*h + 1, cleanup_x-1, matrix->color565(41, 17, 76));
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}
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cleanup_x++;
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if (cleanup_x > PANEL_WIDTH) {
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iterations = 0;
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cleanup_x = 0;
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init_attractant();
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init_agents();
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}
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}
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void loop() {
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matrix ->flipDMABuffer();
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delay(10);
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//matrix->clearScreen();
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matrix->fillScreenRGB888(15, 0, 10);
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// draw background and organism
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@ -298,8 +321,8 @@ void loop() {
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for(int a = 0; a < NUM_AGENTS; a++) {
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//matrix->drawPixel(agents[a].x_position, agents[a].y_position, matrix->color565(0, 0, attractant[agents[a].x_position][agents[a].y_position]));
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// motor step
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// check if agent can move forward
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// motor step: check if agent can move forward
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// if yes, do so, if not, turn randomly
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float target_x = agents[a].x_position + cos(agents[a].heading) * AGENT_MOVE_DISTANCE;
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float target_y = agents[a].y_position + sin(agents[a].heading) * AGENT_MOVE_DISTANCE;
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int move_x = round(target_x);
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@ -312,10 +335,9 @@ void loop() {
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}
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} else {
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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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// sample step
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// sample step - check the 3 positions
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for(int a = 0; a < NUM_AGENTS; a++) {
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//matrix->drawPixel(agents[a].x_position, agents[a].y_position, matrix->color565(0, 0, attractant[agents[a].x_position][agents[a].y_position]));
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int front_x = round(agents[a].x_position + cos(agents[a].heading) * AGENT_SENSOR_DISTANCE);
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@ -338,15 +360,13 @@ void loop() {
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}
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}
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iterations++;
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if (iterations % 4 == 0) { //64 && iterations % 64 == 0) { // (( == 0) {
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//box_blur();
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if (iterations % 2 == 0) { //64 && iterations % 64 == 0) { // (( == 0) {
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box_blur();
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//gaussian_blur();
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;
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}
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if (iterations >= NUM_ITERATIONS) {
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init_attractant();
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init_agents();
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iterations = 0;
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cleanup();
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}
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}
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