Add LED class

Led.cpp

@@ -0,0 +1,88 @@
+#include "Led.h"
+#include <assert.h>
+
+#define MIN_VALUE 0
+#define MAX_VALUE 255
+
+
+Led::Led() :
+	RED_PIN{ 0 },
+	GREEN_PIN{ 0 },
+	BLUE_PIN{ 0 }
+{}
+
+
+
+Led::Led( int RED_PIN, int GREEN_PIN, int BLUE_PIN ) :
+	RED_PIN{ RED_PIN },
+	GREEN_PIN{ GREEN_PIN },
+	BLUE_PIN{ BLUE_PIN }
+{
+	pinMode( RED_PIN, OUTPUT );
+	pinMode( GREEN_PIN, OUTPUT );
+	pinMode( BLUE_PIN, OUTPUT );
+}
+
+
+
+void Led::setRGB( int red, int green, int blue )
+{
+	assert( red >= MIN_VALUE && red <= MAX_VALUE );
+	assert( green >= MIN_VALUE && green <= MAX_VALUE );
+	assert( blue >= MIN_VALUE && blue <= MAX_VALUE );
+
+	analogWrite( RED_PIN, red );
+	analogWrite( GREEN_PIN, green );
+	analogWrite( BLUE_PIN, blue );
+}
+
+
+
+void Led::setRGB( float red, float green, float blue )
+{
+	setRGB( int( red * MAX_VALUE ), int( green * MAX_VALUE ), int( blue * MAX_VALUE ) );
+}
+
+
+
+void Led::setHSV( float hue, float sat, float val )
+{
+	float chroma = sat * val;
+	int h = int( hue * 6 );
+	float x = chroma * ( 1 - abs( h % 2 - 1 ) );
+
+	float r = 0.0f, g = 0.0f, b = 0.0f;
+
+	switch( h )
+	{
+	case 0:
+		r = chroma;
+		g = x;
+		break;
+	case 1:
+		r = x;
+		g = chroma;
+		break;
+	case 2:
+		g = chroma;
+		b = x;
+		break;
+	case 3:
+		g = x;
+		b = chroma;
+		break;
+	case 4:
+		r = x;
+		b = chroma;
+		break;
+	case 5:
+		r = chroma;
+		b = x;
+		break;
+
+	default: assert( false ); break;
+	}
+
+	float m = val - chroma;
+	setRGB( r + m, g + m, b + m );
+}

Led.h

@@ -0,0 +1,27 @@
+#pragma once
+
+class Led
+{
+public:
+
+	Led();
+
+	Led( int RED_PIN, int GREEN_PIN, int BLUE_PIN );
+
+	// red, green, blue in range [0,255]
+	void setRGB( int red, int green, int blue );
+
+	// red, green, blue in range [0,1]
+	void setRGB( float red, float green, float blue );
+
+	// hue, sat, val in range [0,1]
+	void setHSV( float hue, float sat, float val );
+
+private:
+	const int RED_PIN;
+	const int GREEN_PIN;
+	const int BLUE_PIN;
+};
+
+
+

line-follower.vcxproj

@@ -83,6 +83,7 @@
     </None>
   </ItemGroup>
   <ItemGroup>
+    <ClInclude Include="Led.h" />
     <ClInclude Include="AveragingQueue.h" />
     <ClInclude Include="Constants.h" />
     <ClInclude Include="LineFollower.h" />
@@ -100,6 +101,7 @@
     <ClCompile Include="PIDController.cpp" />
     <ClCompile Include="SensorArray.cpp" />
     <ClCompile Include="Sensor.cpp" />
+    <ClCompile Include="Led.cpp" />
   </ItemGroup>
   <PropertyGroup>
     <DebuggerFlavor>VisualMicroDebugger</DebuggerFlavor>