Added reverse light and police flashing.

QuadLightsV3.ino

@@ -7,6 +7,7 @@ constexpr int KEEPALIVE_TIMEOUT = 5000; // ms
 constexpr int LEDS_TAIL_PIN = PA6;
 constexpr int LEDS_TAIL_LENGTH = 10;
 constexpr int LEDS_TAIL_BRIGHTNESS = 255;
+constexpr int LEDS_TAIL_SIDE_LENGTH = 3;
 
 constexpr int LEDS_LEFT_PIN = PA5;
 constexpr int LEDS_RIGHT_PIN = PA7;
@@ -30,9 +31,9 @@ constexpr int PIN_PEDAL = PA0;
 constexpr int PIN_PEDAL_FORWARD = PA3;
 constexpr int PIN_PEDAL_REVERSE = PA4;
 
-constexpr int PIN_BUTTON_MODE = PB8;
-constexpr int PIN_BUTTON_LEFT = PB7;
-constexpr int PIN_BUTTON_RIGHT = PB9;
+constexpr int PIN_BUTTON_MODE = PA9;
+constexpr int PIN_BUTTON_LEFT = PA8;
+constexpr int PIN_BUTTON_RIGHT = PA10;
 
 constexpr int LED_ON = LOW;
 constexpr int LED_OFF = HIGH;
@@ -61,6 +62,8 @@ Adafruit_NeoPixel ledsDash(LEDS_DASH_LENGTH, LEDS_DASH_PIN, NEO_GRBW + NEO_KHZ80
 
 const uint32_t COLOR_OFF = ledsTail.Color(0, 0, 0, 0);
 const uint32_t COLOR_WHITE = ledsTail.Color(0, 0, 0, 255);
+const uint32_t COLOR_WHITE_FULL = ledsTail.Color(255, 255, 255, 255);
+const uint32_t COLOR_WHITE_DIM = ledsTail.Color(0, 0, 0, 100);
 const uint32_t COLOR_RED = ledsTail.Color(255, 0, 0, 0);
 const uint32_t COLOR_AMBER = ledsTail.Color(255, 50, 0, 0);
 const uint32_t COLOR_POLICE_BLUE = ledsTail.Color(0, 0, 255, 0);
@@ -82,12 +85,15 @@ unsigned long animationFrame = 0;
 unsigned long lastFrame = 0;
 
 unsigned long lastPedalPress = millis();
+bool isReversing = false;
 
 unsigned long indicatorLeftStart = 0;
 unsigned long indicatorRightStart = 0;
 bool indicatorLeftActive = false;
 bool indicatorRightActive = false;
 
+bool policeActive = false;
+
 void setup() {
   // initialize digital pin LED_BUILTIN as an output.
   pinMode(LED_BUILTIN, OUTPUT);
@@ -138,6 +144,14 @@ void animateHeadlights() {
   ledsHeadRight.fill(COLOR_WHITE);
 }
 
+void animateTailLight() {
+  ledsTail.fill(COLOR_RED);
+}
+
+void animateReverse() {
+  ledsTail.fill(COLOR_WHITE);
+}
+
 constexpr int INDICATOR_DURATION = 3000; // total ms
 constexpr int INDICATOR_HOLD_FRAMES = 15;
 constexpr int INDICATOR_OFF_FRAMES = 20;
@@ -186,24 +200,60 @@ void animateIndicator(Direction direction) {
       ledsDash.fill(COLOR_OFF);
   }
 }
+constexpr float POLICE_SPEED = 0.75;
 
-void animate(long now) {
-  if (pedalForward.read() == Button::PRESSED) {
-    ledsTail.fill(ledsTail.Color(255, 0, 0, 0));
-    lastPedalPress = now;
+enum PoliceStates { POLICE_LEFT, POLICE_RIGHT, POLICE_OFF };
 
-    Serial.println("PEDAL FORWARD");
-  } else if (pedalReverse.read() == Button::PRESSED) {
-    ledsTail.fill(ledsTail.Color(0, 0, 0, 255));
-    lastPedalPress = now;
+const PoliceStates policeBeaconFrames[12] = {
+  POLICE_LEFT,
+  POLICE_OFF,
+  POLICE_LEFT,
+  POLICE_OFF,
+  POLICE_OFF,
+  POLICE_OFF,
+  POLICE_RIGHT,
+  POLICE_OFF,
+  POLICE_RIGHT,
+  POLICE_OFF,
+  POLICE_OFF,
+  POLICE_OFF,
+};
 
-    Serial.println("PEDAL REVERSE");
+void animatePolice() {
+  const long policeFrame = lround(animationFrame * POLICE_SPEED) % 12;
+
+  if (policeBeaconFrames[policeFrame] == POLICE_LEFT) {
+    ledsHeadLeft.fill(COLOR_POLICE_BLUE, 0, LEDS_EDGE_LENGTH);
+    ledsHeadRight.fill(COLOR_OFF, 0, LEDS_EDGE_LENGTH);
+  } else if (policeBeaconFrames[policeFrame] == POLICE_RIGHT) {
+    ledsHeadLeft.fill(COLOR_OFF, 0, LEDS_EDGE_LENGTH);
+    ledsHeadRight.fill(COLOR_POLICE_BLUE, 0, LEDS_EDGE_LENGTH);
   } else {
-    ledsTail.fill(ledsTail.Color(100, 0, 0, 0));
+    ledsHeadLeft.fill(COLOR_OFF, 0, LEDS_EDGE_LENGTH);
+    ledsHeadRight.fill(COLOR_OFF, 0, LEDS_EDGE_LENGTH);
   }
 
+  if (policeFrame < 6) {
+    ledsHeadLeft.fill(COLOR_WHITE_DIM, LEDS_EDGE_LENGTH, LEDS_EDGE_LENGTH + LEDS_RING_LENGTH);
+    ledsHeadRight.fill(COLOR_WHITE, LEDS_EDGE_LENGTH, LEDS_EDGE_LENGTH + LEDS_RING_LENGTH);
+  } else {
+    ledsHeadLeft.fill(COLOR_WHITE, LEDS_EDGE_LENGTH, LEDS_EDGE_LENGTH + LEDS_RING_LENGTH);
+    ledsHeadRight.fill(COLOR_WHITE_DIM, LEDS_EDGE_LENGTH, LEDS_EDGE_LENGTH + LEDS_RING_LENGTH);
+  }
+}
+
+void animate(long now) {
   // always animate headlights, let other modes override
   animateHeadlights();
+  animateTailLight();
+
+  if (isReversing) {
+    animateReverse();
+  }
+
+  if (activeMode == MODE_POLICE) {
+    animatePolice();
+  }
 
   // we need the boolean to prevent the indicators from turning on right after boot
   if (indicatorLeftActive && now - indicatorLeftStart < INDICATOR_DURATION) {
@@ -227,16 +277,15 @@ void loop() {
   const unsigned long now = millis();
 
   if (buttonMode.pressed()) {
-    ledsTail.fill(ledsTail.Color(0, 0, 255, 0));
-
     activeMode = (Mode)((activeMode + 1) % MODE_COUNT);
+    animationFrame = 0; // ensures animations start cleanly instead of halfway
 
     Serial.print("BUTTON MODE ");
     Serial.println(activeMode);
   }
 
   if (buttonLeft.pressed()) {
-    animationFrame = 0; // ensures animations start cleanly instead of halfway
+    animationFrame = 0;
     
     indicatorLeftActive = true;
     indicatorLeftStart = now;
@@ -248,7 +297,7 @@ void loop() {
   }
 
   if (buttonRight.pressed()) {
-    animationFrame = 0; // ensures animations start cleanly instead of halfway
+    animationFrame = 0;
 
     indicatorRightActive = true;
     indicatorRightStart = now;
@@ -259,6 +308,21 @@ void loop() {
     Serial.println("BUTTON RIGHT");
   }
 
+  if (pedalReverse.read() == Button::PRESSED && pedalForward.read() != Button::PRESSED) {
+    lastPedalPress = now;
+    isReversing = true;
+
+    Serial.println("PEDAL REVERSE");
+  } else {
+    isReversing = false;
+  }
+
+  if (pedalForward.read() == Button::PRESSED) {
+    lastPedalPress = now;
+
+    Serial.println("PEDAL FORWARD");
+  }
+
   if (now - lastFrame >= ANIMATION_INTERVAL) {
     lastFrame += ANIMATION_INTERVAL;
     animationFrame += 1;