Signed-off-by: myperworld <myperworld@126.com>

V1.0/遥控器/Minicontroller_pro2/test/README

@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html

V1.0/遥控器/Minicontroller_pro2/test/main.cpp

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+#include <Arduino.h>
+#include "mapdata.h"
+#include "espnow.h"
+#include "ws2812_FASTLED.h"
+#include "wemos_oled.h"     //注意可能需要改屏幕的地址0x3C或0x3D等，若屏幕不亮可以试试用wire库中的示例程序扫描地址
+#include "esp_wifi.h"        // 添加WiFi库以设置信道
+
+// 函数声明
+// void coordinates_to_Leds();
+// void joy1_map_led();
+// void joy2_map_led();
+// void joy1_led_blink();
+// void joy2_led_blink();
+void zero_test();
+void eeprom_ini();
+void eeprom_broadcastAddress();
+
+unsigned long previousMillis1 = 0;
+unsigned long previousMillis2 = 0;
+unsigned long previousMillis3 = 0;
+const long LEDdelay=40;               //(milliseconds)LED变化时间间隔
+int fade = 1;  //呼吸效果
+
+
+  //摇杆坐标转化为离原点距离
+  int J1_dis = 0;
+  int J2_dis = 0;
+  //摇杆坐标转化为0-360的角度
+  int J1_angle = 0;  
+  int J2_angle = 0;
+
+  //摇杆角度转化为左右摇杆LED序号
+  int J1_led_num = 0;
+  int J2_led_num = 0;
+  //摇杆离原点距离转化为左右摇杆LED亮度
+  int J1_led_bright = 0;
+  int J2_led_bright = 0; 
+
+//**********************Setup*************************
+void setup() {    
+  pinmode_pullup();
+  FastLED_ini();          //FastLED初始化  
+  Serial.begin(115200); 
+  delay(100);
+  eeprom_ini();   //EEPROM初始化
+  Serial.print(" LX_zero: ");Serial.print(EEPROM.read(1));
+  Serial.print(" LY_zero: ");Serial.print(EEPROM.read(2));
+  Serial.print(" RX_zero: ");Serial.print(EEPROM.read(3));
+  Serial.print(" RY_zero: ");Serial.println(EEPROM.read(4)); 
+  
+  // 初始化 ESP-NOW
+  Serial.println("Initializing ESP-NOW...");
+  delay(100);
+  WiFi.mode(WIFI_STA);
+
+  // 设置WiFi信道为6
+  esp_wifi_set_channel(6, WIFI_SECOND_CHAN_NONE);
+  Serial.println("Set WiFi channel to 6");
+  
+  Serial.println("InitESPNow");
+  // This is the mac address of the Master in Station Mode
+  Serial.print("STA MAC: "); Serial.println(WiFi.macAddress());
+  // Init ESPNow with a fallback logic
+  InitESPNow();
+
+  // 设置发送数据回调函数
+  // Once ESPNow is successfully Init, we will register for Send CB to
+  // get the status of Trasnmitted packet
+  esp_now_register_send_cb(OnDataSent);
+  
+  // 设置接收数据回调函数
+  // Once ESPNow is successfully Init, we will register for recv CB to
+  // get recv packer info.
+//  esp_now_register_recv_cb(OnDataRecv);
+
+  //配对连接pair with another ESP-NOW device
+//  pair_device();
+
+  BroadcastMode();//启动时默认为广播模式
+
+//  // In the loop we scan for slave
+//  ScanForSlave();
+//  // If Slave is found, it would be populate in `slave` variable
+//  // We will check if `slave` is defined and then we proceed further
+//  
+  // `slave` is defined
+  // Add slave as peer if it has not been added already
+  manageSlave();
+  // pair success or already paired         
+  
+  resetData();
+  // Serial.print("Data Size: "); Serial.print(sizeof(data));Serial.println(" Bytes");
+  // Serial.print(" LX: ");Serial.print(data.j1PotX);
+  // Serial.print(" LY: ");Serial.print(data.j1PotY);
+  // Serial.print(" RX: ");Serial.print(data.j2PotX);
+  // Serial.print(" RY: ");Serial.print(data.j2PotY);
+  // Serial.print(" // R1: ");Serial.print(data.buttonR1);
+  // Serial.print(" R2: ");Serial.print(data.buttonR2);
+  // Serial.print(" J1: ");Serial.print(data.j1Button);
+  // Serial.print(" J2: ");Serial.print(data.j2Button);
+  // Serial.print(" LB: ");Serial.print(data.buttonLB);
+  // Serial.print(" RB: ");Serial.print(data.buttonRB);
+  // Serial.print(" T1: ");Serial.println(data.tSwitch1);
+
+  run_OLED_on_Core_0();//在CORE0上运行OLED相关程序避免延迟影响
+     
+}
+
+void loop() {
+   
+  read_joydata();  
+  
+/*********************************************************************************************/
+
+  LX_to_send = map_normal(LX_read, 0, LX_zero, 255, LX_inverted);    
+  LY_to_send = map_normal(LY_read, 0, LY_zero, 255, LY_inverted);     
+  RX_to_send = map_normal(RX_read, 0, RX_zero, 255, RX_inverted);    
+  RY_to_send = map_normal(RY_read, 0, RY_zero, 255, RY_inverted);    
+  
+/*********************************************************************************************/  
+     
+  LX_to_send = constrain(LX_to_send,0,255);
+  LY_to_send = constrain(LY_to_send,0,255);
+  RX_to_send = constrain(RX_to_send,0,255);  
+  RY_to_send = constrain(RY_to_send,0,255);
+  
+  data.j1PotX = LX_to_send;
+  data.j1PotY = LY_to_send;
+  data.j2PotX = RX_to_send;  
+  data.j2PotY = RY_to_send;   
+  data.buttonR1 = digitalRead(R1);
+  data.buttonR2 = digitalRead(R2);
+  data.j1Button = digitalRead(LS);
+  data.j2Button = digitalRead(RS);
+  data.buttonLB = digitalRead(LB);
+  data.buttonRB = digitalRead(RB);
+  data.tSwitch1 = digitalRead(BK);
+
+  // coordinates_to_Leds();  //坐标转换为LED控制
+
+/************************************************/
+//同时按下四键及拨动开关3秒后进行摇杆原点纠偏，此时不要碰摇杆 
+  // if (!data.buttonR1&&!data.buttonR2&&!data.buttonLB&&!data.buttonRB&&!data.tSwitch1){
+  //   delay (3000);
+  //   if (!data.buttonR1&&!data.buttonR2&&!data.buttonLB&&!data.buttonRB&&!data.tSwitch1){
+  //     zero_test();
+  //   }
+  // }
+
+//同时按下四键后变换背光RGB模式 
+  // if (!data.j1Button&&!data.j2Button&&!data.buttonLB&&!data.buttonRB){
+  //   delay (300);
+  //   if (!data.j1Button&&!data.j2Button&&!data.buttonLB&&!data.buttonRB){
+  //     lightState += 1;
+  //     if (lightState>3) lightState = 0;
+  //   }
+  // } 
+
+
+/************************************************/ 
+
+/*
+  Serial.print(EEPROM.read(0));
+  Serial.print("   ");Serial.print(EEPROM.read(1));
+  Serial.print("   ");Serial.print(EEPROM.read(2));
+  Serial.print("   ");Serial.print(EEPROM.read(3));
+  Serial.print("   ");Serial.print(EEPROM.read(4));
+/*  
+  Serial.print(" LX: ");Serial.print(data.j1PotX);
+  Serial.print(" LY: ");Serial.print(data.j1PotY);
+  Serial.print(" RX: ");Serial.print(data.j2PotX);
+  Serial.print(" RY: ");Serial.print(data.j2PotY);
+  Serial.print(" // R1: ");Serial.print(data.buttonR1);
+  Serial.print(" R2: ");Serial.print(data.buttonR2);
+  Serial.print(" J1: ");Serial.print(data.j1Button);
+  Serial.print(" J2: ");Serial.print(data.j2Button);
+  Serial.print(" LB: ");Serial.print(data.buttonLB);
+  Serial.print(" RB: ");Serial.print(data.buttonRB);
+  Serial.print(" T1: ");Serial.println(data.tSwitch1);
+ /* 
+  Serial.print(" J1_dis: ");Serial.print(J1_dis);Serial.print(" J2_dis: ");Serial.print(J2_dis);
+  Serial.print("  //  J1_angle: ");Serial.print(J1_angle);Serial.print(" J2_angle: ");Serial.println(J2_angle);
+  Serial.print(" J1_led_num: ");Serial.print(J1_led_num);Serial.print(" J2_led_num ");Serial.print(J2_led_num);
+  Serial.print("  //  J1_led_bright: ");Serial.print(J1_led_bright);Serial.print(" J2_led_bright: ");Serial.println(J2_led_bright);
+ */ 
+  
+  
+//*****************************************************  
+  unsigned long currentMillis = millis();    
+  if (currentMillis - previousMillis1 >= LEDdelay) {    
+    previousMillis1 = currentMillis;
+        
+    runLED();
+
+    if (J1_dis<10&&J2_dis<10){
+      if (voltage>3.50){    //电池电压高于3.5V时星闪模式
+        // joy1_led_blink();
+        // joy2_led_blink(); 
+      } else {              //否则省电关灯
+        fill_solid (leds1,NUM_LEDS,CRGB::Black);     //关灯
+        fill_solid (leds2,NUM_LEDS,CRGB::Black);     //关灯
+        FastLED.show();  
+      }
+    } else {
+      // joy1_map_led();
+      // joy2_map_led();
+    }    
+    
+  }
+    
+  if (currentMillis - previousMillis2 >= 100) {//每100ms发送一次
+    previousMillis2 = currentMillis;
+   // ESP-NOW发送数据
+    sendData();
+  } 
+  
+  if (currentMillis - previousMillis3 >= 5000) {//每5秒更新一次电量
+    previousMillis3 = currentMillis;
+    batteryLevel();         //读电池电量
+  } 
+  
+}
+
+// void coordinates_to_Leds(){
+//   //摇杆坐标转化为离原点距离
+//   J1_dis = joy_distance((data.j1PotX-127),(data.j1PotY-127));
+//   J2_dis = joy_distance((data.j2PotX-127),(data.j2PotY-127));
+//   //摇杆坐标转化为0-360的角度
+//   J1_angle = coordinates_to_angle(((J1_dis<15) ? 0 :(data.j1PotX-127)),((J1_dis<15) ? 0 :(data.j1PotY-127)));  
+//   J2_angle = coordinates_to_angle(((J2_dis<15) ? 0 :(data.j2PotX-127)),((J2_dis<15) ? 0 :(data.j2PotY-127)));
+
+//   //摇杆角度转化为左右摇杆LED序号
+//   J1_led_num = angle_to_lednum1(J1_angle);
+//   J2_led_num = angle_to_lednum2(J2_angle);
+//   //摇杆离原点距离转化为左右摇杆LED亮度
+//   J1_led_bright = (J1_dis<15)? 0 : (map (J1_dis,0,127,0,max_bright));
+//   J2_led_bright = (J2_dis<15)? 0 : (map (J2_dis,0,127,0,max_bright)); 
+// } 
+
+// void joy1_map_led(){
+//   fill_solid (leds1,NUM_LEDS,CRGB::Black);     //关灯
+//   leds1[J1_led_num] = ColorFromPalette( RainbowColors_p, beatsin8(1, 0, 255), J1_led_bright, LINEARBLEND); 
+//   leds1[(J1_led_num+1)>7 ? 0 : (J1_led_num+1)] = ColorFromPalette( RainbowColors_p, beatsin8(1, 0, 255), J1_led_bright/8, LINEARBLEND); 
+//   leds1[(J1_led_num-1)<0 ? 7 : (J1_led_num-1)] = ColorFromPalette( RainbowColors_p, beatsin8(1, 0, 255), J1_led_bright/8, LINEARBLEND);
+//   FastLED.show();                    
+// }
+// void joy2_map_led(){
+//   fill_solid (leds2,NUM_LEDS,CRGB::Black);     //关灯
+//   leds2[J2_led_num] = ColorFromPalette( RainbowColors_p, beatsin8(1, 0, 255), J2_led_bright, LINEARBLEND); 
+//   leds2[(J2_led_num+1)>7 ? 0 : (J2_led_num+1)] = ColorFromPalette( RainbowColors_p, beatsin8(1, 0, 255), J2_led_bright/8, LINEARBLEND); 
+//   leds2[(J2_led_num-1)<0 ? 7 : (J2_led_num-1)] = ColorFromPalette( RainbowColors_p, beatsin8(1, 0, 255), J2_led_bright/8, LINEARBLEND); 
+//   FastLED.show();                   
+// }
+
+//void eeprom_ini(){ 
+//  EEPROM.begin(EEPROM_SIZE);
+//   
+//  if( EEPROM.read(0) != 55){     //判断是否首次使用（新的所有地址貌似是255的值）
+//    
+//      zero_test();    //启动一次自动纠偏，但此时大多没有将开发板装到遥控器上，所以数据不对
+//      eeprom_broadcastAddress();     //存入广播模式MAC地址
+//        
+//      EEPROM.write(0, 55);
+//      EEPROM.commit();
+//    }
+//
+//  LX_zero = EEPROM.read(1);
+//  LY_zero = EEPROM.read(2);
+//  RX_zero = EEPROM.read(3);
+//  RY_zero = EEPROM.read(4);
+//
+//  Serial.print("已储存并用来配对的MAC地址：");  
+//  for (int i = 0; i < 6; i++) {
+//    broadcastAddress[i]=EEPROM.read(MAC_ADDRESS_OFFSET + i);  
+//    Serial.print(EEPROM.read(MAC_ADDRESS_OFFSET + i), HEX); // 以16进制格式打印MAC地址  
+//    if (i < 5) {  
+//      Serial.print(":"); // 每2个字节之间用"-"分隔  
+//    }  
+//  }  
+//  Serial.println(); 
+//  
+//}
+//
+//void eeprom_broadcastAddress(){
+//  for (int i = 0; i < 6; i++) {  
+//    EEPROM.write(MAC_ADDRESS_OFFSET + i, broadcastAddress[i]);
+//  }  
+//}

V1.0/遥控器/Minicontroller_pro2/test/mapdata.h

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+#ifndef MAPDATA_H
+#define MAPDATA_H
+
+#include <EEPROM.h>
+#define EEPROM_SIZE 64
+
+// TRIGGER BUTTONS
+#define LB 19
+#define RB 25
+
+// LEFT-JOYSTICK
+#define LH 34
+#define LV 35
+#define LS 5
+
+// RIGHT-JOYSTICK
+#define RH 36
+#define RV 32
+#define RS 4
+
+#define R1 2
+#define R2 13
+
+// BATTERY VOLTAGE
+#define ADC 39  //电池ADC
+
+// RGB
+//#define DATA_PIN 17
+
+//OTHERS
+#define BK 23  //拨动开关
+
+int buttons[7] = {R1,R2,LS,RS,LB,RB,BK};
+
+
+const int numberOfPotSamples = 5;     // Number of pot samples to take (to smooth the values)
+const int delayBetweenSamples = 2;    // Delay in milliseconds between pot samples
+
+int LX_read = 0;
+int LY_read = 0;
+int RX_read = 0;
+int RY_read = 0;
+
+byte LX_zero = 127;
+byte LY_zero = 127;
+byte RX_zero = 127;
+byte RY_zero = 127;
+
+int LX_to_send = 0;
+int LY_to_send = 0;
+int RX_to_send = 0;
+int RY_to_send = 0;
+
+bool LY_inverted = false; 
+bool LX_inverted = false; 
+bool RY_inverted = false; 
+bool RX_inverted = false; 
+
+int counter = 0;
+int invert_counter = 0;
+
+float voltage = 3.00;
+int percentage = 0;
+
+void pinmode_pullup(){
+  for (int i = 0; i < 7; i++) {
+    pinMode(buttons[i], INPUT_PULLUP);
+  }
+}
+
+  
+/**************************************************/
+int map_normal(int val, int lower, int middle, int upper, bool reverse)
+{
+  val = constrain(val, lower, upper);
+  if ( val < middle )
+    val = map(val, lower, middle, 0, 127);
+  else
+    val = map(val, middle, upper, 127, 255);
+  return ( reverse ? 255 - val : val );
+}
+
+// Returns a corrected value for a joystick position that takes into account
+// the values of the outer extents and the middle of the joystick range.
+int map_exponential(int val, bool reverse)
+{
+  val = constrain(val, 0, 1023);
+  float cube = ((pow((val - 512),3)/520200) + 258.012) / 2; 
+  return ( reverse ? 255 - cube : cube );
+}
+/**************************************************/
+
+void read_joydata(){
+  int potValues[numberOfPotSamples];
+    for (int i = 0 ; i < numberOfPotSamples ; i++) {
+      potValues[i] = analogRead(LH);
+      delay(delayBetweenSamples);
+    }
+    int potValue = 0;
+    for (int i = 0 ; i < numberOfPotSamples ; i++) {
+      potValue += potValues[i];
+    }
+    potValue = potValue / numberOfPotSamples;
+    LX_read = map(potValue, 0, 4095, 255, 0);
+
+
+    int potValues2[numberOfPotSamples];
+    for (int i = 0 ; i < numberOfPotSamples ; i++) {
+      potValues2[i] = analogRead(LV);
+      delay(delayBetweenSamples);
+    }
+    int potValue2 = 0;
+    for (int i = 0 ; i < numberOfPotSamples ; i++) {
+      potValue2 += potValues2[i];
+    }
+    potValue2 = potValue2 / numberOfPotSamples;
+    LY_read = map(potValue2, 0, 4095, 255, 0);
+
+
+    int potValues3[numberOfPotSamples];
+    for (int i = 0 ; i < numberOfPotSamples ; i++) {
+      potValues3[i] = analogRead(RH);
+      delay(delayBetweenSamples);
+    }
+    int potValue3 = 0;
+    for (int i = 0 ; i < numberOfPotSamples ; i++) {
+      potValue3 += potValues3[i];
+    }
+    potValue3 = potValue3 / numberOfPotSamples;
+    RX_read = map(potValue3, 0, 4095, 255, 0);
+
+
+    int potValues4[numberOfPotSamples];
+    for (int i = 0 ; i < numberOfPotSamples ; i++) {
+      potValues4[i] = analogRead(RV);
+      delay(delayBetweenSamples);
+    }
+    int potValue4 = 0;
+    for (int i = 0 ; i < numberOfPotSamples ; i++) {
+      potValue4 += potValues4[i];
+    }
+    potValue4 = potValue4 / numberOfPotSamples;
+    RY_read = map(potValue4, 0, 4095, 255, 0);
+}
+
+
+void zero_test(){   //摇杆原点纠偏程序
+  Serial.println(" joy_zero_testing... ");
+  read_joydata();
+  delay (300);
+  
+  LX_to_send = map_normal(LX_read, 0, 127, 255, 0);    
+  LY_to_send = map_normal(LY_read, 0, 127, 255, 0);     
+  RX_to_send = map_normal(RX_read, 0, 127, 255, 0);    
+  RY_to_send = map_normal(RY_read, 0, 127, 255, 0);
+       
+  LX_to_send = constrain(LX_to_send,0,255);
+  LY_to_send = constrain(LY_to_send,0,255);
+  RX_to_send = constrain(RX_to_send,0,255);  
+  RY_to_send = constrain(RY_to_send,0,255);
+
+  LX_zero = LX_to_send;
+  LY_zero = LY_to_send;
+  RX_zero = RX_to_send;
+  RY_zero = RY_to_send;
+
+  Serial.println(" Writing in EEPROM... ");
+  delay (300);
+  
+  if( EEPROM.read(1) != LX_zero) EEPROM.write(1, LX_zero);
+  if( EEPROM.read(2) != LY_zero) EEPROM.write(2, LY_zero);
+  if( EEPROM.read(3) != RX_zero) EEPROM.write(3, RX_zero);
+  if( EEPROM.read(4) != RY_zero) EEPROM.write(4, RY_zero);
+  EEPROM.commit();
+
+  Serial.println(" Done... ");
+  Serial.print(" LX_zero: ");Serial.print(EEPROM.read(1));
+  Serial.print(" LY_zero: ");Serial.print(EEPROM.read(2));
+  Serial.print(" RX_zero: ");Serial.print(EEPROM.read(3));
+  Serial.print(" RY_zero: ");Serial.println(EEPROM.read(4));  
+}
+  
+void eeprom_ini(){ 
+  EEPROM.begin(EEPROM_SIZE);
+   
+  if( EEPROM.read(0) != 55){     //判断是否首次使用（新的所有地址貌似是255的值）
+    
+      zero_test();      
+        
+      EEPROM.write(0, 55);
+      EEPROM.commit();
+    }
+
+  LX_zero = EEPROM.read(1);
+  LY_zero = EEPROM.read(2);
+  RX_zero = EEPROM.read(3);
+  RY_zero = EEPROM.read(4);
+  
+}
+
+
+void batteryLevel() {
+  int sensorValue = analogRead(ADC);
+  voltage = sensorValue/4095.0 * 7.27;   //7.23乘数具体数值用万用表实测纠偏    
+  percentage = (voltage-3.2) * 100;
+//  percentage = 2808.3808 * pow(voltage,4) - 43560.9157 * pow(voltage,3) + 252848.5888 * pow(voltage,2)
+//                   - 650767.4615 * voltage + 626532.5703; //这段计算公式参考https://www.youtube.com/watch?v=qKUrXwkr3cc
+if (voltage>4.19) percentage = 100;     //限制到0-100范围
+  if (voltage<3.20) percentage = 0;
+  if (voltage>3.00){
+//    Serial.print("Lipo: ");Serial.print(voltage);Serial.print("V || ");
+//    Serial.print(percentage);Serial.println("%");
+  }
+  
+//  bleGamepad.setBatteryLevel(percentage);
+//  if (percentage < 60) {
+//    Serial.println("LOW battery");
+//    for (uint8_t i = 30; i < 220; i++) {
+//      for (int j = 0; j < 6; j++) {
+//        leds[j] = CHSV( HUE_RED, 255, i);
+//      }
+//      FastLED.show();
+//      delay(15);
+//    }
+//    for (uint8_t i = 220; i > 30; i--) {
+//      for (int j = 0; j < 6; j++) {
+//        leds[j] = CHSV( HUE_RED, 255, i);
+//      }
+//      FastLED.show();
+//      delay(15);
+//    }
+//  }
+}
+
+//摇杆坐标转化为离原点距离
+int joy_distance(float coord_x,float coord_y){
+  int joy_dis=0;
+  joy_dis=sqrt(sq(coord_x)+sq(coord_y));
+  if (joy_dis < 5) joy_dis=0;      //消除一些摇杆误差
+  return joy_dis;
+}
+//摇杆坐标转化为0-360的角度
+int coordinates_to_angle(float coord_x,float coord_y){  
+  int joy_angle=0;
+  if (coord_x>0&&coord_y>0){        //第一象限
+    joy_angle=asin(coord_y/sqrt(sq(coord_x)+sq(coord_y)))*180/3.14159;
+  }
+  if (coord_x<0&&coord_y>0){        //第二象限
+    joy_angle=180-asin(coord_y/sqrt(sq(coord_x)+sq(coord_y)))*180/3.14159;
+  }
+  if (coord_x<0&&coord_y<0){        //第三象限
+    joy_angle=180-asin(coord_y/sqrt(sq(coord_x)+sq(coord_y)))*180/3.14159;  //此时Y坐标为负数
+  }
+  if (coord_x>0&&coord_y<0){        //第四象限
+    joy_angle=360+asin(coord_y/sqrt(sq(coord_x)+sq(coord_y)))*180/3.14159;  //此时Y坐标为负数
+  }
+  return joy_angle;
+}
+//摇杆角度转化为左摇杆LED序号
+int angle_to_lednum1(int angle){ 
+  int led_num=0;
+  if ((0<=angle&&angle<23)||(338<=angle&&angle<360)) led_num=0;
+  if (23<=angle&&angle<68) led_num=7;
+  if (68<=angle&&angle<113) led_num=6;
+  if (113<=angle&&angle<158) led_num=5;
+  if (158<=angle&&angle<203) led_num=4;
+  if (203<=angle&&angle<248) led_num=3;
+  if (248<=angle&&angle<293) led_num=2;
+  if (293<=angle&&angle<338) led_num=1;
+  return led_num;
+}
+//摇杆角度转化为右摇杆LED序号
+int angle_to_lednum2(int angle){ 
+  int led_num=0;
+  if ((0<=angle&&angle<23)||(338<=angle&&angle<360)) led_num=4;
+  if (23<=angle&&angle<68) led_num=3;
+  if (68<=angle&&angle<113) led_num=2;
+  if (113<=angle&&angle<158) led_num=1;
+  if (158<=angle&&angle<203) led_num=0;
+  if (203<=angle&&angle<248) led_num=7;
+  if (248<=angle&&angle<293) led_num=6;
+  if (293<=angle&&angle<338) led_num=5;
+  return led_num;
+}
+
+#endif