Code issues

[dumDumPerson]

Hi, I am fairly new to creating projects with esp-boards, though I have some experience with Arduinos. I wanted to gift my girlfriend a nice birthday present, a little pet robot. It's supposed to look at faces and show a blinking eye on the screen. I followed an instruction on instructables ( https://www.instructables.com/WatchEye/ ) but I used a different screen. Instead of the Adafruit LED Backpack I used an LED Matrix and a shift register. I tried around for a bit but it doesn't seem to be working.

Does this line "LedControl lc = LedControl(14, 15, 16, 1); // Pins: DIN,CLK,CS, # of Display connected" even work like that?

Any help would be greatly appreciated, I included the code below!

Best regards

dumDumPerson

Code: [Select all] [Expand/Collapse]

1. /*
2.    WatchEye - One-eyed Pet With Face Tracking
3.    ==========================================
4.    Markus opitz 2022
5.    www.instructables.com
6. */
7.  
8.  
9. // Camera
10. #include "camera_index.h"
11. #include "fb_gfx.h"
12. #include "esp_camera.h"
13. #include "fd_forward.h"
14. #include "soc/rtc_cntl_reg.h"  //disable brownout problems
15. #include "soc/soc.h"           //disable brownout problems
16.  
17. // LED matrix
18. #include "LedControl.h"
19.  
20. LedControl lc = LedControl(14, 15, 16, 1); // Pins: DIN,CLK,CS, # of Display connected
21. unsigned long delayTime = 400; // Delay between Frames
22. // Put values in arrays
23.  
24. byte one[] =
25. {
26.   B00011000,
27.   B00111100,
28.   B01111110,
29.   B11000011,
30.   B11000011,
31.   B01111110,
32.   B00111100,
33.   B00011000
34. };
35. byte two[] =
36. {
37.   B00000000,
38.   B00000000,
39.   B01111110,
40.   B11100111,
41.   B11100111,
42.   B01111110,
43.   B00000000,
44.   B00000000
45. };
46. byte three[] =
47. {
48.   B00000000,
49.   B00000000,
50.   B00011000,
51.   B11111111,
52.   B11111111,
53.   B00011000,
54.   B00000000,
55.   B00000000
56. };
57. byte four[] =
58. {
59.   B00000000,
60.   B00000000,
61.   B01111110,
62.   B11100111,
63.   B11100111,
64.   B01111110,
65.   B00000000,
66.   B00000000
67. };
68.  
69.  
70. // Arduino like analogWrite  === SERVOS =================
71. // value has to be between 0 and valueMax
72. void ledcAnalogWrite(uint8_t channel, uint32_t value, uint32_t valueMax = 180)
73. {
74.     // calculate duty, 8191 from 2 ^ 13 - 1
75.     uint32_t duty = (8191 / valueMax) * min(value, valueMax);
76.     ledcWrite(channel, duty);
77. }
78.  
79. int pan_center = 90; // center the pan servo
80. int tilt_center = 90; // center the tilt servo
81. RTC_DATA_ATTR int pan_center_old;  //remember old value in RTC
82. int i;
83. unsigned long runTime, newTime;
84.  
85. // ===== CAMERA_MODEL_AI_THINKER =========
86. #define PWDN_GPIO_NUM     32
87. #define RESET_GPIO_NUM    -1
88. #define XCLK_GPIO_NUM      0
89. #define SIOD_GPIO_NUM     26
90. #define SIOC_GPIO_NUM     27
91. #define Y9_GPIO_NUM       35
92. #define Y8_GPIO_NUM       34
93. #define Y7_GPIO_NUM       39
94. #define Y6_GPIO_NUM       36
95. #define Y5_GPIO_NUM       21
96. #define Y4_GPIO_NUM       19
97. #define Y3_GPIO_NUM       18
98. #define Y2_GPIO_NUM        5
99. #define VSYNC_GPIO_NUM    25
100. #define HREF_GPIO_NUM     23
101. #define PCLK_GPIO_NUM     22
102.  
103.  
104. bool initCamera() {
105.     camera_config_t config;
106.     config.ledc_channel = LEDC_CHANNEL_0;
107.     config.ledc_timer = LEDC_TIMER_0;
108.     config.pin_d0 = Y2_GPIO_NUM;
109.     config.pin_d1 = Y3_GPIO_NUM;
110.     config.pin_d2 = Y4_GPIO_NUM;
111.     config.pin_d3 = Y5_GPIO_NUM;
112.     config.pin_d4 = Y6_GPIO_NUM;
113.     config.pin_d5 = Y7_GPIO_NUM;
114.     config.pin_d6 = Y8_GPIO_NUM;
115.     config.pin_d7 = Y9_GPIO_NUM;
116.     config.pin_xclk = XCLK_GPIO_NUM;
117.     config.pin_pclk = PCLK_GPIO_NUM;
118.     config.pin_vsync = VSYNC_GPIO_NUM;
119.     config.pin_href = HREF_GPIO_NUM;
120.     config.pin_sscb_sda = SIOD_GPIO_NUM;
121.     config.pin_sscb_scl = SIOC_GPIO_NUM;
122.     config.pin_pwdn = PWDN_GPIO_NUM;
123.     config.pin_reset = RESET_GPIO_NUM;
124.     config.xclk_freq_hz = 20000000;
125.     config.pixel_format = PIXFORMAT_JPEG;
126.     /*
127.       XGA(1024x768)
128.       SVGA(800x600)
129.       VGA(640x480)
130.       CIF(400x296)
131.       QVGA(320x240)
132.       HQVGA(240x176)
133.       QQVGA(160x120)
134.     */
135.     if (psramFound()) {
136.         config.frame_size = FRAMESIZE_VGA;
137.         config.jpeg_quality = 10;
138.         config.fb_count = 2;
139.     }
140.     else {
141.         config.frame_size = FRAMESIZE_CIF;
142.         config.jpeg_quality = 12;
143.         config.fb_count = 1;
144.     }
145.  
146.     esp_err_t result = esp_camera_init(&config);
147.  
148.     if (result != ESP_OK) {
149.         return false;
150.     }
151.  
152.     return true;
153. }
154.  
155. mtmn_config_t mtmn_config = { 0 };
156. int detections = 0;
157. int counter = 0;
158.  
159.  
160. void setup() {   // ================ setup =====================
161.  
162.     WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); //disable brownout detector
163.     Serial.begin(115200);
164.  
165.     esp_sleep_enable_ext0_wakeup(GPIO_NUM_2, 1);
166.  
167.     // LED matrix
168.     lc.shutdown(0, false); // Wake up display
169.     lc.setIntensity(0, 5); // Set intensity level
170.     lc.clearDisplay(0); // Clear Displays
171.  
172.     // Ai-Thinker: pins 13 and 12 ===== Servos =====
173.     ledcSetup(2, 50, 16); //channel, freq, resolution
174.     ledcAttachPin(13, 2); // pin, channel
175.  
176.     ledcSetup(4, 50, 16);
177.     ledcAttachPin(12, 4);
178.     delay(5);
179.     ledcAnalogWrite(2, 110); // pan   start position
180.     ledcAnalogWrite(4, 90);  // tilt
181.     delay(500);
182.  
183.  
184.     if (!initCamera()) {
185.         Serial.printf("Failed to initialize camera...");
186.         return;
187.     }
188.  
189.     mtmn_config = mtmn_init_config();
190.     Serial.println("Setup complete");
191.  
192. } // ================ setup end =====================
193.  
194.  
195.  
196.  
197.  
198. static void draw_face_boxes(dl_matrix3du_t* image_matrix, box_array_t* boxes)
199. {
200.     int x, y, w, h, i, half_width, half_height;
201.     fb_data_t fb;
202.     fb.width = image_matrix->w;
203.     fb.height = image_matrix->h;
204.     fb.data = image_matrix->item;
205.     fb.bytes_per_pixel = 3;
206.     fb.format = FB_BGR888;
207.  
208.     for (i = 0; i < boxes->len; i++) {
209.  
210.         // Convoluted way of finding face centre...
211.         x = ((int)boxes->box[i].box_p[0]);
212.         w = (int)boxes->box[i].box_p[2] - x + 1;
213.         half_width = w / 2;
214.         int face_center_pan = x + half_width; // image frame face centre x co-ordinate
215.  
216.         y = (int)boxes->box[i].box_p[1];
217.         h = (int)boxes->box[i].box_p[3] - y + 1;
218.         half_height = h / 2;
219.         int face_center_tilt = y + half_height;  // image frame face centre y co-ordinate
220.  
221.         //    assume QVGA 320x240         CIF(400x296)              VGA(640x480)        SVGA(800x600)
222.         //    int sensor_width = 320;         400                     640                   800
223.         //    int sensor_height = 240;        296                     480                   600
224.         //    int lens_fov = 45               45                      45                    45
225.         //    float diagonal = sqrt(sq(sensor_width) + sq(sensor_height)); // pixels along the diagonal
226.         //    float pixels_per_degree = diagonal / lens_fov;
227.         //    400/45 = 8.89                   498/45 = 11.05       800/45 = 17.78     1000/45 = 22.22
228.  
229.         // QVGA 320x240
230.         //  float move_to_x = pan_center - ((-160 + face_center_pan) / 8.89 -5) ;     // -5    correct that the lens is not centered
231.         //  float move_to_y = tilt_center + ((-120 + face_center_tilt) / 8.89) ;
232.  
233.         // CIF(400x296)
234.         //  float move_to_x = pan_center - ((-200 + face_center_pan) / 11.05 -5) ;
235.         //  float move_to_y = tilt_center + ((-148 + face_center_tilt) / 11.05) ;
236.  
237.         // VGA(640x480)
238.         float move_to_x = pan_center - ((-320 + face_center_pan) / 17.78 - 5);
239.         float move_to_y = tilt_center + ((-240 + face_center_tilt) / 17.78);
240.  
241.         // SVGA(800x600)
242.         // float move_to_x = pan_center - ((-400 + face_center_pan) / 22.22 -5) ;
243.         // float move_to_y = tilt_center + ((-300 + face_center_tilt) / 22.22) ;
244.  
245.  
246.         Serial.print("box is drawn      ");
247.         pan_center = (pan_center + move_to_x) / 2;
248.         //pan_center = 180 - pan_center;
249.         if ((pan_center_old - pan_center < 10) && (pan_center_old - pan_center > -10)) {
250.             sone();
251.             delay(300);
252.             stwo();
253.             delay(300);
254.             sthree();
255.             delay(300);
256.             sfour();
257.             delay(300);
258.         }
259.  
260.  
261.         pan_center_old = pan_center;  // save servo position
262.  
263.         Serial.print(pan_center); Serial.print("    x "); Serial.print(move_to_x); Serial.print("   ");
264.         ledcAnalogWrite(2, pan_center); // channel, 0-180
265.         delay(2);
266.  
267.         tilt_center = (tilt_center + move_to_y) / 2;
268.         int reversed_tilt_center = map(tilt_center, 60, 130, 130, 60);
269.         reversed_tilt_center = 180 - reversed_tilt_center;
270.         Serial.print(reversed_tilt_center); Serial.print("    y "); Serial.print(move_to_y);
271.         Serial.println("");
272.         ledcAnalogWrite(4, reversed_tilt_center); // channel, 50-140
273.         delay(2);
274.     }
275. }
276.  
277. void sone()
278. {
279.     for (int i = 0; i < 8; i++)
280.     {
281.         lc.setRow(0, i, one[i]);
282.     }
283. }
284. void stwo()
285. {
286.     for (int i = 0; i < 8; i++)
287.     {
288.         lc.setRow(0, i, two[i]);
289.     }
290. }
291. void sthree()
292. {
293.     for (int i = 0; i < 8; i++)
294.     {
295.         lc.setRow(1, i, three[i]);
296.     }
297. }
298. void sfour()
299. {
300.     for (int i = 0; i < 8; i++)
301.     {
302.         lc.setRow(1, i, four[i]);
303.     }
304. }
305. void loop() {
306.  
307.     // camera and servos ==========================
308.     camera_fb_t* frame;
309.     frame = esp_camera_fb_get();
310.  
311.     dl_matrix3du_t* image_matrix = dl_matrix3du_alloc(1, frame->width, frame->height, 3);
312.     fmt2rgb888(frame->buf, frame->len, frame->format, image_matrix->item);
313.  
314.     esp_camera_fb_return(frame);
315.  
316.     box_array_t* boxes = face_detect(image_matrix, &mtmn_config);
317.  
318.     // if there is no face, look for it
319.  
320.     if (boxes != NULL) {
321.         Serial.printf("Faces detected");
322.         draw_face_boxes(image_matrix, boxes);  // draw boxes and move servos
323.         runTime = millis();
324.     }
325.     newTime = millis();
326.     if (newTime - runTime > 15000) {   // no action for more than 15 sec --> sleep;    15000 = 15sec
327.         ledcAnalogWrite(2, 110); // pan,  channel, 0-180
328.         ledcAnalogWrite(4, 110); // tilt
329.         delay(200);
330.         stwo();
331.         delay(200);
332.         sthree();
333.  
334.  
335.         esp_deep_sleep_start();
336.     }
337.  
338.  
339.     dl_matrix3du_free(image_matrix);
340.  
341.     delay(1);
342. }

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Code: [Select all] [Expand/Collapse]

1. /*
2.  * WatchEye - One-eyed Pet With Face Tracking
3.  * ==========================================
4.  * Markus opitz 2022
5.  * www.instructables.com
6.  */
7.  
8.  
9. // Camera
10. #include "camera_index.h"
11. #include "fb_gfx.h"
12. #include "esp_camera.h"
13. #include "fd_forward.h"
14. #include "soc/rtc_cntl_reg.h"  //disable brownout problems
15. #include "soc/soc.h"           //disable brownout problems
16.  
17. // LED matrix
18. #include <Wire.h>
19. #include "Adafruit_LEDBackpack.h"
20. #include "Adafruit_GFX.h"
21. #include "blink.h"
22. Adafruit_8x8matrix matrix = Adafruit_8x8matrix();
23.     uint8_t
24.     blinkIndex[] = {
25.       1, 2, 3, 4, 3, 2, 1 },
26.     // Blink bitmap sequence
27.     blinkCountdown = 100, // 100    Countdown to next blink (in frames)
28.     gazeCountdown  =  75, // 75    Countdown to next eye movement
29.     gazeFrames     =  50; // 50    Duration of eye movement (smaller = faster)
30.     int8_t
31.     eyeX = 3, eyeY = 3,   // Current eye position
32.     newX = 3, newY = 3,   // Next eye position
33.     dX   = 0, dY   = 0;   // Distance from prior to new position
34.  
35.  
36.  
37.  
38. // Arduino like analogWrite  === SERVOS =================
39. // value has to be between 0 and valueMax
40. void ledcAnalogWrite(uint8_t channel, uint32_t value, uint32_t valueMax = 180)
41. {
42.   // calculate duty, 8191 from 2 ^ 13 - 1
43.   uint32_t duty = (8191 / valueMax) * min(value, valueMax);
44.   ledcWrite(channel, duty);
45. }
46.  
47. int pan_center = 90; // center the pan servo
48. int tilt_center = 90; // center the tilt servo
49. RTC_DATA_ATTR int pan_center_old;  //remember old value in RTC
50. int i;
51. unsigned long runTime, newTime;
52.  
53. // ===== CAMERA_MODEL_AI_THINKER =========
54. #define PWDN_GPIO_NUM     32
55. #define RESET_GPIO_NUM    -1
56. #define XCLK_GPIO_NUM      0
57. #define SIOD_GPIO_NUM     26
58. #define SIOC_GPIO_NUM     27
59. #define Y9_GPIO_NUM       35
60. #define Y8_GPIO_NUM       34
61. #define Y7_GPIO_NUM       39
62. #define Y6_GPIO_NUM       36
63. #define Y5_GPIO_NUM       21
64. #define Y4_GPIO_NUM       19
65. #define Y3_GPIO_NUM       18
66. #define Y2_GPIO_NUM        5
67. #define VSYNC_GPIO_NUM    25
68. #define HREF_GPIO_NUM     23
69. #define PCLK_GPIO_NUM     22
70.  
71.  
72. bool initCamera() {
73.   camera_config_t config;
74.   config.ledc_channel = LEDC_CHANNEL_0;
75.   config.ledc_timer = LEDC_TIMER_0;
76.   config.pin_d0 = Y2_GPIO_NUM;
77.   config.pin_d1 = Y3_GPIO_NUM;
78.   config.pin_d2 = Y4_GPIO_NUM;
79.   config.pin_d3 = Y5_GPIO_NUM;
80.   config.pin_d4 = Y6_GPIO_NUM;
81.   config.pin_d5 = Y7_GPIO_NUM;
82.   config.pin_d6 = Y8_GPIO_NUM;
83.   config.pin_d7 = Y9_GPIO_NUM;
84.   config.pin_xclk = XCLK_GPIO_NUM;
85.   config.pin_pclk = PCLK_GPIO_NUM;
86.   config.pin_vsync = VSYNC_GPIO_NUM;
87.   config.pin_href = HREF_GPIO_NUM;
88.   config.pin_sscb_sda = SIOD_GPIO_NUM;
89.   config.pin_sscb_scl = SIOC_GPIO_NUM;
90.   config.pin_pwdn = PWDN_GPIO_NUM;
91.   config.pin_reset = RESET_GPIO_NUM;
92.   config.xclk_freq_hz = 20000000;
93.   config.pixel_format = PIXFORMAT_JPEG;
94.               /*
95.       XGA(1024x768)
96.       SVGA(800x600)
97.       VGA(640x480)
98.       CIF(400x296)
99.       QVGA(320x240)
100.       HQVGA(240x176)
101.       QQVGA(160x120)
102.      */
103.   if (psramFound()) {
104.     config.frame_size = FRAMESIZE_VGA;
105.     config.jpeg_quality = 10;
106.     config.fb_count = 2;
107.   } else {
108.     config.frame_size = FRAMESIZE_CIF;
109.     config.jpeg_quality = 12;
110.     config.fb_count = 1;
111.   }
112.  
113.   esp_err_t result = esp_camera_init(&config);
114.  
115.   if (result != ESP_OK) {
116.     return false;
117.   }
118.  
119.   return true;
120. }
121.  
122. mtmn_config_t mtmn_config = {0};
123. int detections = 0;
124. int counter = 0;
125.  
126.  
127. void setup() {   // ================ setup =====================
128.  
129.   WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); //disable brownout detector
130.   Serial.begin(115200);
131.  
132.   esp_sleep_enable_ext0_wakeup(GPIO_NUM_2, 1);
133.    
134. // LED matrix
135.   Wire.begin(14, 15);//SDA, SCL = GPIO14, GPIO15
136.       matrix.begin(0x70);
137.       matrix.setRotation(3);
138.       matrix.setBrightness(4);
139.       matrix.setTextColor(LED_ON);
140.       matrix.clear();
141.       matrix.writeDisplay();
142.   blinkblink();      
143.  
144. // Ai-Thinker: pins 13 and 12 ===== Servos =====
145.   ledcSetup(2, 50, 16); //channel, freq, resolution
146.   ledcAttachPin(13, 2); // pin, channel
147.  
148.   ledcSetup(4, 50, 16);
149.   ledcAttachPin(12, 4);
150.   delay(5);
151.   ledcAnalogWrite(2, 110); // pan   start position
152.   ledcAnalogWrite(4, 90);  // tilt
153.   delay(500);
154.  
155.  
156.   if (!initCamera()) {
157.     Serial.printf("Failed to initialize camera...");
158.     return;
159.   }
160.  
161.   mtmn_config = mtmn_init_config();
162.   Serial.println("Setup complete");
163.  
164. } // ================ setup end =====================
165.  
166.  
167.  
168.  
169. static void draw_face_boxes(dl_matrix3du_t *image_matrix, box_array_t *boxes)
170. {
171.   int x, y, w, h, i, half_width, half_height;
172.   fb_data_t fb;
173.   fb.width = image_matrix->w;
174.   fb.height = image_matrix->h;
175.   fb.data = image_matrix->item;
176.   fb.bytes_per_pixel = 3;
177.   fb.format = FB_BGR888;
178.  
179.   for (i = 0; i < boxes->len; i++) {
180.  
181.     // Convoluted way of finding face centre...
182.     x = ((int)boxes->box[i].box_p[0]);
183.     w = (int)boxes->box[i].box_p[2] - x + 1;
184.     half_width = w / 2;
185.     int face_center_pan = x + half_width; // image frame face centre x co-ordinate
186.  
187.     y = (int)boxes->box[i].box_p[1];
188.     h = (int)boxes->box[i].box_p[3] - y + 1;
189.     half_height = h / 2;
190.     int face_center_tilt = y + half_height;  // image frame face centre y co-ordinate
191.  
192.     //    assume QVGA 320x240         CIF(400x296)              VGA(640x480)        SVGA(800x600)
193.     //    int sensor_width = 320;         400                     640                   800
194.     //    int sensor_height = 240;        296                     480                   600
195.     //    int lens_fov = 45               45                      45                    45
196.     //    float diagonal = sqrt(sq(sensor_width) + sq(sensor_height)); // pixels along the diagonal
197.     //    float pixels_per_degree = diagonal / lens_fov;
198.     //    400/45 = 8.89                   498/45 = 11.05       800/45 = 17.78     1000/45 = 22.22
199.  
200.    // QVGA 320x240
201.   //  float move_to_x = pan_center - ((-160 + face_center_pan) / 8.89 -5) ;     // -5    correct that the lens is not centered
202.   //  float move_to_y = tilt_center + ((-120 + face_center_tilt) / 8.89) ;
203.  
204.    // CIF(400x296)
205.   //  float move_to_x = pan_center - ((-200 + face_center_pan) / 11.05 -5) ;
206.   //  float move_to_y = tilt_center + ((-148 + face_center_tilt) / 11.05) ;
207.  
208.    // VGA(640x480)
209.     float move_to_x = pan_center - ((-320 + face_center_pan) / 17.78 -5) ;
210.     float move_to_y = tilt_center + ((-240 + face_center_tilt) / 17.78) ;
211.    
212.    // SVGA(800x600)
213.   // float move_to_x = pan_center - ((-400 + face_center_pan) / 22.22 -5) ;
214.   // float move_to_y = tilt_center + ((-300 + face_center_tilt) / 22.22) ;
215.    
216.    
217.     Serial.print("box is drawn      ");
218.     pan_center = (pan_center + move_to_x) / 2 ;
219.     //pan_center = 180 - pan_center;
220.     if ((pan_center_old - pan_center < 10) && (pan_center_old - pan_center > -10)){
221.       blinkblink();
222.     }
223.  
224.    
225.     pan_center_old = pan_center;  // save servo position
226.    
227.     Serial.print(pan_center); Serial.print("    x "); Serial.print(move_to_x);Serial.print("   ");
228.     ledcAnalogWrite(2, pan_center); // channel, 0-180
229.     delay(2);
230.    
231.     tilt_center = (tilt_center + move_to_y) / 2;
232.     int reversed_tilt_center = map(tilt_center, 60, 130, 130, 60);
233.     reversed_tilt_center = 180 - reversed_tilt_center;
234.     Serial.print(reversed_tilt_center); Serial.print("    y "); Serial.print(move_to_y);
235.     Serial.println("");
236.     ledcAnalogWrite(4, reversed_tilt_center); // channel, 50-140
237.     delay(2);
238.   }
239. }
240.  
241.  
242. void loop() {
243.        
244. // camera and servos ==========================  
245.   camera_fb_t * frame;
246.   frame = esp_camera_fb_get();
247.  
248.   dl_matrix3du_t *image_matrix = dl_matrix3du_alloc(1, frame->width, frame->height, 3);
249.   fmt2rgb888(frame->buf, frame->len, frame->format, image_matrix->item);
250.  
251.   esp_camera_fb_return(frame);
252.  
253.   box_array_t *boxes = face_detect(image_matrix, &mtmn_config);
254.  
255.   // if there is no face, look for it
256.   while (boxes == NULL) {
257.     Serial.printf("look for faces");    
258.     // add a searching modus here
259.     // searching();
260.   }
261.  
262.   if (boxes != NULL) {
263.     Serial.printf("Faces detected");
264.     draw_face_boxes(image_matrix, boxes);  // draw boxes and move servos
265.     runTime = millis();
266.   }
267.   newTime = millis();
268.   if (newTime-runTime > 15000) {   // no action for more than 15 sec --> sleep;    15000 = 15sec
269.     ledcAnalogWrite(2, 110); // pan,  channel, 0-180
270.     ledcAnalogWrite(4, 110); // tilt
271.     matrix.clear();
272.     matrix.writeDisplay();
273.     delay(100);
274.    
275.     esp_deep_sleep_start();
276.   }
277.  
278.  
279.   dl_matrix3du_free(image_matrix);
280.  
281. // camera and servos === END ========================  
282.  
283.    delay(1);
284. }
285.  
286.  
287. void blinkblink()
288. {
289. // eye + blink =======================
290.        for (int i = 0; i < 28; i++) {
291.        
292.        matrix.clear();
293.         matrix.drawBitmap(0, 0,
294.         blinkImg[
295.           (blinkCountdown < sizeof(blinkIndex)) ? // Currently blinking?
296.         blinkIndex[blinkCountdown] :            // Yes, look up bitmap #
297.         0                                       // No, show bitmap 0
298.         ], 8, 8, LED_ON);
299.  
300.         // Decrement blink counter.  At end, set random time for next blink.
301.         if(--blinkCountdown == 0) blinkCountdown = random(5, 180);
302.      
303.         // Add a pupil (2x2 black square) atop the blinky eyeball bitmap.
304.         // Periodically, the pupil moves to a new position...
305.         if(--gazeCountdown <= gazeFrames) {
306.           // Eyes are in motion - draw pupil at interim position
307.           matrix.fillRect(
308.              newX - (dX * gazeCountdown / gazeFrames),
309.              newY - (dY * gazeCountdown / gazeFrames),
310.              2, 2, LED_OFF);
311.           if(gazeCountdown == 0) {    // Last frame?
312.  
313.             eyeX = newX;
314.             eyeY = newY; // Yes.  What's new is old, then...
315.             do { // Pick random positions until one is within the eye circle
316.               newX = random(7);
317.               newY = random(7);
318.               dX   = newX - 3;  
319.               dY   = newY - 3;
320.             }
321.             while((dX * dX + dY * dY) >= 10);      // Thank you Pythagoras
322.             dX            = newX - eyeX;             // Horizontal distance to move
323.             dY            = newY - eyeY;             // Vertical distance to move
324.             gazeFrames    = random(5, 20);           // Duration of eye movement
325.             gazeCountdown = random(gazeFrames, 120); // Count to end of next movement
326.           }
327.         }
328.         else {
329.           // Not in motion yet -- draw pupil at current static position
330.           matrix.fillRect(eyeX, eyeY, 2, 2, LED_OFF);
331.         }
332.         delay(5);
333.         matrix.writeDisplay();
334.      }
335. }
336. void searching(void) {
337. }

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