organism #3
21
organism/Makefile
Normal file
21
organism/Makefile
Normal file
@ -0,0 +1,21 @@
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# Uncomment lines below if you have problems with $PATH
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#SHELL := /bin/bash
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#PATH := /usr/local/bin:$(PATH)
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all:
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pio.exe -f -c vim run
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upload:
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pio.exe -f -c vim run --target upload
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clean:
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pio.exe -f -c vim run --target clean
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program:
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pio.exe -f -c vim run --target program
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uploadfs:
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pio.exe -f -c vim run --target uploadfs
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update:
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pio.exe -f -c vim update
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22
organism/platformio.ini
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22
organism/platformio.ini
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; PlatformIO Project Configuration File
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;
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; Build options: build flags, source filter
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; Upload options: custom upload port, speed and extra flags
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; Library options: dependencies, extra library storages
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; Advanced options: extra scripting
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;
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; Please visit documentation for the other options and examples
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; https://docs.platformio.org/page/projectconf.html
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[env:adafruit_matrixportal_esp32s3]
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platform = espressif32
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board = adafruit_matrixportal_esp32s3
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framework = arduino
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monitor_speed = 115200
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lib_deps =
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adafruit/Adafruit GFX Library
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adafruit/Adafruit BusIO
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Wire
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fastled/FastLED
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https://github.com/mrfaptastic/ESP32-HUB75-MatrixPanel-I2S-DMA.git
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105
organism/src/blur.cpp
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105
organism/src/blur.cpp
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@ -0,0 +1,105 @@
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#include <Arduino.h>
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#include "constants.h"
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#include "config.h"
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#include "util.h"
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void setupGaussianKernel(float* kernel, int width, float sigma) {
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float sum = 0.0;
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for(int i = 0; i < width; i++) {
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//kernel[width+i] = exp( -(i*i) / (2 * sigma * sigma)) / (PI * 2 * sigma * sigma);
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kernel[i] = exp(-0.5f * (i * i) / (sigma * sigma));
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sum += kernel[width];
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}
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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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}
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//float first_pass[PANEL_WIDTH][PANEL_HEIGHT];
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void gaussian_blur(float *field[PANEL_WIDTH][PANEL_HEIGHT]) {
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float kernel[GAUSS_WIDTH];
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float 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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for (int x = 0; x < PANEL_WIDTH; x++) {
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for(int y = 0; y < PANEL_HEIGHT; y++) {
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float sum = *field[x][y] * DECAY_FACTOR * kernel[0]; //0.0;
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int additions = 1;
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for (int x_offset = 1; x_offset < GAUSS_WIDTH; x_offset++) {
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if (is_in_bounds(x+x_offset, y)) {
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sum += *field[x + x_offset][y] * kernel[x_offset];
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additions++;
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}
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if (is_in_bounds(x-x_offset, y)) {
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sum += *field[x - x_offset][y] * kernel[x_offset];
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additions++;
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}
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}
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first_pass[x][y] = sum/GAUSS_WIDTH;
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}
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}
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// vertical pass
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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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float sum = first_pass[x][y] * kernel[0]; //0.0;
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int additions = 1;
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for (int y_offset = 1; y_offset < GAUSS_WIDTH; y_offset++) {
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if (is_in_bounds(x, y + y_offset)) {
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sum += first_pass[x][y + y_offset] * kernel[y_offset];
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additions++;
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}
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if (is_in_bounds(x, y - y_offset)) {
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sum += first_pass[x][y - y_offset] * kernel[y_offset];
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additions++;
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}
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}
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*field[x][y] = sum/GAUSS_WIDTH;
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}
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}
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}
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void box_blur(float field[PANEL_WIDTH][PANEL_HEIGHT]) {
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auto first_pass = new float[PANEL_WIDTH][PANEL_HEIGHT]();
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// horizontal pass
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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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float sum;
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sum = field[x][y] * DECAY_FACTOR; //0.0;
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int additions = 1;
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for (int x_offset = 1; x_offset < BLUR_KERNEL_SIZE; x_offset++) {
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if (is_in_bounds(x+x_offset, y)) {
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sum += field[x + x_offset][y];
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additions++;
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}
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if (is_in_bounds(x-x_offset, y)) {
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sum += field[x - x_offset][y];
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additions++;
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}
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}
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first_pass[x][y] = (sum/additions);
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}
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}
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// vertical pass
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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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float sum = first_pass[x][y]; //0.0;
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int additions = 1;
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for (int y_offset = 1; y_offset < BLUR_KERNEL_SIZE; y_offset++) {
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if (is_in_bounds(x, y + y_offset)) {
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sum += first_pass[x][y + y_offset];
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additions++;
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}
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if (is_in_bounds(x, y - y_offset)) {
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sum += first_pass[x][y - y_offset];
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additions++;
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}
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}
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float result = (sum/additions); // * DECAY_FACTOR;
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//attractant[x][y] = (((8.0*attractant[x][y]) + result) / 9.0);
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field[x][y] = result;
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}
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}
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delete[] first_pass;
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}
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3
organism/src/blur.h
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3
organism/src/blur.h
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#include "constants.h"
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void gaussian_blur(float *field[PANEL_WIDTH][PANEL_HEIGHT]);
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void box_blur(float field[PANEL_WIDTH][PANEL_HEIGHT]);
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18
organism/src/config.h
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18
organism/src/config.h
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@ -0,0 +1,18 @@
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// gaussian blur
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#define GAUSS_WIDTH 1
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#define GAUSS_SIGMA 1.0
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#define DECAY_FACTOR 0.9
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// box blur
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#define BLUR_KERNEL_SIZE 1
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// agent params
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#define NUM_AGENTS_MIN 64
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#define NUM_AGENTS_MAX 301
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#define AGENT_DROP_AMOUNT 10
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#define AGENT_SENSOR_DISTANCE_MIN 2.0
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#define AGENT_SENSOR_DISTANCE_MAX 3.5
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// general params
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#define NUM_ITERATIONS 500
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#define SPAWN_MIN_X 2
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#define SPAWN_MAX_X 63
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#define SPAWN_MIN_Y 2
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#define SPAWN_MAX_Y 31
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26
organism/src/constants.h
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26
organism/src/constants.h
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#define R1 42
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#define G1 40
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#define BL1 41
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#define R2 38
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#define G2 37
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#define BL2 39
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#define CH_A 45
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#define CH_B 36
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#define CH_C 48
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#define CH_D 35
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#define CH_E 21
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#define CLK 2
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#define LAT 47
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#define OE 14
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#define PIN_E 21
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#define PANEL_WIDTH 64
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#define PANEL_HEIGHT 32 // Panel height of 64 will required PIN_E to be defined.
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#define PANELS_NUMBER 1
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#define PANE_WIDTH PANEL_WIDTH * PANELS_NUMBER
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#define PANE_HEIGHT PANEL_HEIGHT
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#define NUM_LEDS PANE_WIDTH*PANE_HEIGHT
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#define ONBOARD_LED 13
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177
organism/src/main.cpp
Normal file
177
organism/src/main.cpp
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@ -0,0 +1,177 @@
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#include <Arduino.h>
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#include "xtensa/core-macros.h"
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#include <ESP32-HUB75-MatrixPanel-I2S-DMA.h>
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#include "main.h"
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#include "constants.h"
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#include "config.h"
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#include "overlay.h"
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#include "util.h"
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#include "visual.h"
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#include "blur.h"
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#include <vector>
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MatrixPanel_I2S_DMA *matrix = nullptr;
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struct SlimeAgent {
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int x_position;
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int y_position;
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float heading;
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};
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int NUM_AGENTS;
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int AGENT_MOVE_DISTANCE;
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float AGENT_SENSOR_DISTANCE;
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float AGENT_MOVE_ANGLE;
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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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std::vector<SlimeAgent> agents;
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void init_attractant() {
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memset(attractant, 0.0, sizeof attractant);
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// draw a circle out of attractant
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//for (int p = 0; p < PANEL_WIDTH; p++) {
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// float angle = ((PI * 2) / PANEL_WIDTH) * p;
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// int x = PANEL_WIDTH/2 + round(10 * sin(angle));
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// int y = PANEL_WIDTH/2 + round(10 * cos(angle));
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// attractant[x][y] = 15.0;
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//}
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// draw a bitmap
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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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// 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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// 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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void init_agents() {
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AGENT_MOVE_DISTANCE = 1;
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AGENT_MOVE_ANGLE = 0.175;//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(AGENT_SENSOR_DISTANCE_MIN * 1000.0, AGENT_SENSOR_DISTANCE_MAX * 1000.0) / 1000.0;
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NUM_AGENTS = random(NUM_AGENTS_MIN, NUM_AGENTS_MAX);
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agents.clear();
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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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//agents[a].x_position = 31 + round(10*sin(angle));
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//agents[a].y_position = 15 + round(10*cos(angle));
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// agents[a].heading = ((PI * 2) / NUM_AGENTS) * );
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agents.push_back({
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random(SPAWN_MIN_X, SPAWN_MAX_X),
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random(SPAWN_MIN_Y, SPAWN_MAX_Y),
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(random(0, 100) / 100.0) * (PI*2)
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});
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}
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}
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void setup(){
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Serial.begin(BAUD_RATE);
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//while (!Serial) {
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// ; // wait for serial port to connect. Needed for native USB
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//}
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pinMode(ONBOARD_LED, OUTPUT);
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// redefine pins if required
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HUB75_I2S_CFG::i2s_pins _pins={R1, G1, BL1, R2, G2, BL2, CH_A, CH_B, CH_C, CH_D, CH_E, LAT, OE, CLK};
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HUB75_I2S_CFG mxconfig(PANEL_WIDTH, PANEL_HEIGHT, PANELS_NUMBER, _pins);
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mxconfig.gpio.e = PIN_E;
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mxconfig.driver = HUB75_I2S_CFG::FM6126A; // for panels using FM6126A chips
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mxconfig.latch_blanking = 4;
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mxconfig.i2sspeed = HUB75_I2S_CFG::HZ_10M;
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mxconfig.clkphase = false;
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mxconfig.double_buff = true;
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matrix = new MatrixPanel_I2S_DMA(mxconfig);
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matrix->begin();
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matrix->setBrightness8(64);
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matrix->fillScreenRGB888(0, 0, 0);
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init_agents();
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init_attractant();
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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->fillScreenRGB888(15, 0, 10);
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// draw background and organism
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draw_bg(matrix);
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draw_attractant(matrix, attractant);
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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: 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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int move_y = round(target_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].y_position = move_y;
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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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}
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} else {
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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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// 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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int front_y = round(agents[a].y_position + sin(agents[a].heading) * AGENT_SENSOR_DISTANCE);
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int left_x = round(agents[a].x_position + cos(agents[a].heading - (AGENT_SENSOR_ANGLE * (PI * 2))) * AGENT_SENSOR_DISTANCE);
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int left_y = round(agents[a].y_position + sin(agents[a].heading - (AGENT_SENSOR_ANGLE * (PI * 2))) * AGENT_SENSOR_DISTANCE);
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int right_x = round(agents[a].x_position + cos(agents[a].heading + (AGENT_SENSOR_ANGLE * (PI * 2))) * AGENT_SENSOR_DISTANCE);
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int right_y = round(agents[a].y_position + sin(agents[a].heading + (AGENT_SENSOR_ANGLE * (PI * 2))) * AGENT_SENSOR_DISTANCE);
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float front_value = attractant[front_x][front_y];
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float left_value = attractant[left_x][left_y];
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float right_value = attractant[right_x][right_y];
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if (front_value > right_value and front_value > left_value) {
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;
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} else if (front_value < right_value and front_value < left_value) {
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agents[a].heading += (random(0, 2) * 2 - 1) * (AGENT_MOVE_ANGLE / 100.0) * (PI*2) ;
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} else if (left_value > right_value) {
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agents[a].heading -= AGENT_MOVE_ANGLE * (PI * 2);
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} else {
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agents[a].heading += AGENT_MOVE_ANGLE * (PI * 2);
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||||
}
|
||||
}
|
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iterations++;
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if (iterations % 2 == 0) { //64 && iterations % 64 == 0) { // (( == 0) {
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box_blur(attractant);
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//gaussian_blur();
|
||||
;
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||||
}
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||||
if (iterations >= NUM_ITERATIONS) {
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//cleanup();
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||||
if (cleanup(matrix, &iterations)) {
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||||
init_attractant();
|
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init_agents();
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||||
}
|
||||
}
|
||||
}
|
||||
|
||||
10
organism/src/main.h
Normal file
10
organism/src/main.h
Normal file
@ -0,0 +1,10 @@
|
||||
#include <FastLED.h>
|
||||
|
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#define BAUD_RATE 115200 // serial debug port baud rate
|
||||
|
||||
void buffclear(CRGB *buf);
|
||||
uint16_t XY16( uint16_t x, uint16_t y);
|
||||
void mxfill(CRGB *leds);
|
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uint16_t colorWheel(uint8_t pos);
|
||||
void drawText(int colorWheelOffset);
|
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|
||||
19
organism/src/overlay.h
Normal file
19
organism/src/overlay.h
Normal file
@ -0,0 +1,19 @@
|
||||
const unsigned char overlay [] PROGMEM = {
|
||||
// 'bw2, 64x32px
|
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00,
|
||||
0x01, 0xf8, 0x00, 0x00, 0x00, 0x1c, 0x03, 0x80, 0x01, 0xfe, 0x00, 0x00, 0x00, 0x1c, 0x03, 0x80,
|
||||
0x01, 0xff, 0x00, 0x00, 0x00, 0x1c, 0x03, 0x80, 0x01, 0xc7, 0x80, 0x00, 0x00, 0x1c, 0x00, 0x00,
|
||||
0x01, 0xc3, 0x80, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x01, 0xc3, 0x8f, 0xe1, 0xbe, 0x1c, 0x7b, 0x80,
|
||||
0x01, 0xc3, 0x8f, 0xe1, 0xff, 0x1c, 0x73, 0x80, 0x01, 0xc3, 0x88, 0x71, 0xe7, 0x1c, 0xe3, 0x80,
|
||||
0x01, 0xc3, 0x80, 0x71, 0xc3, 0x9d, 0xe3, 0x80, 0x01, 0xff, 0x00, 0x71, 0xc3, 0x9d, 0xc3, 0x80,
|
||||
0x01, 0xff, 0x03, 0xf1, 0xc3, 0x9f, 0x83, 0x80, 0x01, 0xfc, 0x0f, 0xf1, 0xc3, 0x9f, 0xc3, 0x80,
|
||||
0x01, 0xc0, 0x1f, 0x71, 0xc3, 0x9f, 0xc3, 0x80, 0x01, 0xc0, 0x3c, 0x71, 0xc3, 0x9d, 0xe3, 0x80,
|
||||
0x01, 0xc0, 0x38, 0x71, 0xc3, 0x9c, 0xe3, 0x80, 0x01, 0xc0, 0x38, 0x71, 0xc3, 0x9c, 0xf3, 0x80,
|
||||
0x01, 0xc0, 0x1c, 0xf1, 0xc3, 0x9c, 0x73, 0x80, 0x01, 0xc0, 0x1f, 0xf1, 0xc3, 0x9c, 0x7b, 0x80,
|
||||
0x01, 0xc0, 0x0f, 0xb1, 0x83, 0x9c, 0x3b, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
|
||||
};
|
||||
5
organism/src/util.cpp
Normal file
5
organism/src/util.cpp
Normal file
@ -0,0 +1,5 @@
|
||||
#include "constants.h"
|
||||
|
||||
bool is_in_bounds(int x, int y) {
|
||||
return (x < PANEL_WIDTH) and (y < PANEL_HEIGHT) and (x >= 0) and (y >= 0);
|
||||
}
|
||||
2
organism/src/util.h
Normal file
2
organism/src/util.h
Normal file
@ -0,0 +1,2 @@
|
||||
bool is_in_bounds(int x, int y);
|
||||
|
||||
54
organism/src/visual.cpp
Normal file
54
organism/src/visual.cpp
Normal file
@ -0,0 +1,54 @@
|
||||
#include "constants.h"
|
||||
#include "visual.h"
|
||||
|
||||
void draw_bg(MatrixPanel_I2S_DMA *matrix) {
|
||||
int h_lines = round(PANEL_HEIGHT / 7);
|
||||
int v_lines = round(PANEL_WIDTH / 7);
|
||||
for(int v = 0; v <= v_lines; v++) {
|
||||
matrix->drawFastVLine(v*7+2, 0, PANEL_HEIGHT, matrix->color565(41, 17, 76));
|
||||
}
|
||||
for(int h = 0; h <= h_lines; h++) {
|
||||
matrix->drawFastHLine(0, 7*h + 1, PANEL_WIDTH, matrix->color565(41, 17, 76));
|
||||
}
|
||||
}
|
||||
|
||||
void draw_attractant(MatrixPanel_I2S_DMA *matrix, float attractant[PANEL_WIDTH][PANEL_HEIGHT]) {
|
||||
for(int x = 0; x<PANEL_WIDTH; x++) {
|
||||
for(int y = 0; y<PANEL_HEIGHT; y++){
|
||||
if (attractant[x][y] > 15.0) {
|
||||
matrix->drawPixel(x, y, matrix->color565(
|
||||
int((255.0 / 255.0) * round(attractant[x][y])),
|
||||
int((80.0 / 255.0) * round(attractant[x][y])),
|
||||
int((83.0 / 255.0) * round(attractant[x][y]))
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int cleanup_x = 0;
|
||||
bool cleanup(MatrixPanel_I2S_DMA *matrix, int* iterations) {
|
||||
int progress = *iterations - NUM_ITERATIONS;
|
||||
matrix->drawFastVLine(cleanup_x, 0, PANEL_HEIGHT, matrix->color565(254, 242, 255));
|
||||
if (cleanup_x > 0) {
|
||||
matrix->fillRect(0, 0, cleanup_x, PANEL_HEIGHT, matrix->color565(16, 0, 16));
|
||||
}
|
||||
int h_lines = round(PANEL_HEIGHT / 7);
|
||||
int v_lines = round(cleanup_x / 7);
|
||||
for(int v = 0; v < cleanup_x; v++) {
|
||||
if (v%7 == 2) {
|
||||
matrix->drawFastVLine(v, 0, PANEL_HEIGHT, matrix->color565(41, 17, 76));
|
||||
}
|
||||
}
|
||||
for(int h = 0; h <= h_lines; h++) {
|
||||
matrix->drawFastHLine(0, 7*h + 1, cleanup_x-1, matrix->color565(41, 17, 76));
|
||||
}
|
||||
cleanup_x++;
|
||||
if (cleanup_x > PANEL_WIDTH) {
|
||||
*iterations = 0;
|
||||
cleanup_x = 0;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
6
organism/src/visual.h
Normal file
6
organism/src/visual.h
Normal file
@ -0,0 +1,6 @@
|
||||
#include <ESP32-HUB75-MatrixPanel-I2S-DMA.h>
|
||||
#include "constants.h"
|
||||
#include "config.h"
|
||||
void draw_bg(MatrixPanel_I2S_DMA *matrix);
|
||||
void draw_attractant(MatrixPanel_I2S_DMA *matrix, float attractant[PANEL_WIDTH][PANEL_HEIGHT]);
|
||||
bool cleanup(MatrixPanel_I2S_DMA *matrix, int* iterations);
|
||||
Loading…
Reference in New Issue
Block a user