organism/src/main.cpp

@@ -33,7 +33,7 @@
 
 MatrixPanel_I2S_DMA *matrix = nullptr;
 
-#define NUM_AGENTS 64
+#define NUM_AGENTS 128
 #define AGENT_MOVE_DISTANCE 1
 #define AGENT_DROP_AMOUNT 1
 #define AGENT_ANGLE 0.175
@@ -44,18 +44,18 @@ typedef struct {
   float heading;
 } SlimeAgent;
 
-uint8_t attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
+float attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
 int iterations = 0;
 SlimeAgent agents[NUM_AGENTS];
 
 void init_attractant() {
-  memset(attractant, (uint8_t) 0, sizeof attractant);
+  memset(attractant, 0.0, sizeof attractant);
   // draw a circle out of attractant
   //for (int p = 0; p < 64; p++) {
   //  float angle = ((PI * 2) / 64) * p;
   //  int x = 31 + round(10 * sin(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].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);
   }
 }
@@ -76,6 +78,9 @@ void init_agents() {
 
 void setup(){
   Serial.begin(BAUD_RATE);
+  //while (!Serial) {
+  //  ; // wait for serial port to connect. Needed for native USB
+  //}
   pinMode(ONBOARD_LED, OUTPUT);
 
   // redefine pins if required
@@ -118,11 +123,11 @@ void draw_bg() {
 void draw_attractant() {
   for(int x = 0; x<PANEL_WIDTH; x++) {
     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(
-              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_SIGMA 1.0
-#define DECAY_FACTOR 0.9
+#define DECAY_FACTOR 0.95
 void gaussian_blur() {
   float kernel[GAUSS_WIDTH];
   uint8_t first_pass[PANEL_WIDTH][PANEL_HEIGHT];
@@ -184,20 +189,22 @@ void gaussian_blur() {
           additions++;
         }
       }
-      attractant[x][y] = (int) round((sum/GAUSS_WIDTH) * DECAY_FACTOR);
+      attractant[x][y] = (sum/GAUSS_WIDTH) * DECAY_FACTOR;
     } 
   }
 }
 
 #define BLUR_KERNEL_SIZE 3
+float first_pass[PANEL_WIDTH][PANEL_HEIGHT];
 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
   for (int x = 0; x < PANEL_WIDTH; x++) {
     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;
       for (int x_offset = 1; x_offset < BLUR_KERNEL_SIZE; x_offset++) {
         if (is_in_bounds(x+x_offset, y)) {
@@ -209,7 +216,7 @@ void box_blur() {
           additions++;
         }
       }
-      first_pass[x][y] = (int) round((sum/additions) * DECAY_FACTOR);
+      first_pass[x][y] = (sum/additions);
     }
   }
   // vertical pass
@@ -227,7 +234,11 @@ void box_blur() {
           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)) {
       agents[a].x_position = move_x;
       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;
       }
     } else {
@@ -265,9 +276,9 @@ void loop() {
     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_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) {
       ;
     } else if (front_value < right_value and front_value < left_value) {
@@ -280,9 +291,10 @@ void loop() {
   }
   delay(10);
   iterations++;
-  if (iterations % 64 == 0) {
+  if (iterations > 64 && iterations % 64 == 0) { // (( == 0) {
     //gaussian_blur();
-    box_blur();
+    //box_blur();
+    ;
   }
   if (iterations >= NUM_ITERATIONS) {
     init_attractant();