distance.c File Reference

Detailed Description

Low Sensitivity

#include "cubelet.h"
 
void setup()
{
 
}
 
void loop()
{
    uint8_t tmp_block_value = get_distance();
 
    if (tmp_block_value < 128){
        tmp_block_value = 0;    
    }
    else {
        tmp_block_value = (tmp_block_value - 128) * 2; //Half sensitivity
    }
 
    block_value = tmp_block_value;
 
}
 
 

Motion

#include "cubelet.h"
#include <math.h>
 
//Implements a BUF_SIZE value buffer to utilize a boxcar filter of 200ms window to minimize noise.
 
#define BUF_SIZE 4 //number of block values to remember for the boxcar filter
#define MOTION_MULTIPLE 10 //multiple of the difference to convert to a motion block value
#define MOTION_OFFSET 1 //offsets the difference down by this number to create a noise gate. Any difference in the running average less than this amount  will result in zero motion being output.
 
uint8_t block_values[BUF_SIZE] = {0};
uint8_t last_running_average = 0;
unsigned int counter = 0;
 
 
void setup()
{
    //initialize the filter to current block value (to avoid false motion values on startup)
    uint8_t current_block_value = get_distance();
 
    for (unsigned int i=0; i<BUF_SIZE; i++){
        block_values[i] = current_block_value;
    }
 
    last_running_average = current_block_value;
}
 
void loop()
{
    //add the current value into the buffer and update the counter
    block_values[counter] = get_distance();
 
    counter++;
    if (counter >= BUF_SIZE) counter = 0;
 
    //computes current running average
    int current_running_average = 0;
    for (unsigned int i=0; i<BUF_SIZE; i++){
        current_running_average += block_values[i];
    }
 
    current_running_average /= BUF_SIZE;
 
    //compare the current running average to the previous one to calculate the difference between them
    int difference = abs(current_running_average - last_running_average);
 
    //apply offset and multiple
    difference -= MOTION_OFFSET;
    difference *= MOTION_MULTIPLE;
 
    //enforce valid block value boundaries
    if (difference < 0) difference = 0;
    else if (difference > 255) difference = 255;
 
    //sets the block value
    block_value = difference;
 
    last_running_average = current_running_average; //remember this running average for next time through loop()
 
    wait(50); //updates approximately 20 times per second
}
 
 

Swipe

#include "cubelet.h"
#include <stdbool.h>
 
#define TRIGGER_VALUE 50
#define RESET_VALUE 10
 
bool output_value_on = false;
bool trigger_armed = true;
 
void setup()
{
 
}
 
void loop()
{
    uint8_t  current_distance = get_distance();
 
    if (trigger_armed && current_distance >= TRIGGER_VALUE){
        output_value_on = !output_value_on;
        trigger_armed = false;
    }
    else if (!trigger_armed && current_distance <= RESET_VALUE){
        trigger_armed = true;
    }
 
    //set block values
    if (output_value_on) block_value = 255;
    else block_value = 0;
 
}