Re-ordered constructor arguments to make them more consistent. Updated code to match.

Added RotateReturn behaviour

LEDBehaviours.h

@@ -10,7 +10,7 @@ class NumLEDs : public Behaviour {
   uint32_t _color;
 
 public:
-  NumLEDs(Adafruit_NeoPixel* strip, uint32_t color, String name = "num_leds") :
+  NumLEDs(Adafruit_NeoPixel* strip, String name = "num_leds", uint32_t color=0xFFFFFFFF) :
       Behaviour(name), _strip(strip), _color(color){ }
   char* args() {return "<int num_leds>"; };
 
@@ -33,7 +33,7 @@ class BrightnessLEDs : public Behaviour {
   uint32_t _sat;
 
 public:
-  BrightnessLEDs(Adafruit_NeoPixel* strip, uint32_t hue, uint32_t sat=255, String name = "num_leds") :
+  BrightnessLEDs(Adafruit_NeoPixel* strip, String name = "num_leds", uint32_t hue=0, uint32_t sat=0) :
       Behaviour(name), _strip(strip), _hue(hue), _sat(sat){ }
   char* args() {return "<int brightness>"; };
 
@@ -58,7 +58,7 @@ class BreathingLEDs : public Behaviour {
   int _direction = 1;
 
 public:
-  BreathingLEDs(Adafruit_NeoPixel* strip, uint32_t hue, uint32_t sat=255, String name = "breathe_leds") :
+  BreathingLEDs(Adafruit_NeoPixel* strip, String name = "breathe_leds", uint32_t hue=0, uint32_t sat=0) :
       Behaviour(name), _strip(strip), _hue(hue * 255), _sat(sat) { }
   char* args() {return "<int rate (1-255ish)>"; };
 

ServoBehaviours.h

@@ -60,4 +60,45 @@ public:
 
 };
 
+class RotateReturn : public Behaviour {
+  Servo _servo;
+  int _start_angle = 0;
+  int _end_angle = 180;
+  int _delay = 30;
+  int _num_rotations = 1;
+  int _rotations = 0;
+  int _pause = 500;
+
+public:
+  RotateReturn(Servo servo, String name="rotate", int delay=30, int pause=500, int start_angle = 2, int end_angle=178 ) :
+        Behaviour(name), _servo(servo),_delay(delay), _pause(pause), _start_angle(start_angle), _end_angle(end_angle) {}
+  char* args() {return "<int number_of_cycles>"; };
+  String start(String args) {
+    _num_rotations = args.toInt();
+    _rotations = 0;
+    _running = true;
+  }
+
+  void update() {
+    _servo.write(_start_angle);
+    delay(_pause);
+    for(int i = 0; i < _end_angle; i++) {
+      _servo.write(i);
+      delay(_delay);
+    }
+    _servo.write(_end_angle);
+    delay(_pause);
+    for(int i = 180; i >= _start_angle; i--) {
+      _servo.write(i);
+      delay(_delay/2);
+    }
+    _servo.write(_start_angle);
+    _rotations++;
+    if( _rotations >= _num_rotations ) {
+      _running = false;
+    }
+  }
+
+};
+
 #endif

WallVis.h

@@ -29,6 +29,7 @@ class WallVis {
   Adafruit_MQTT_Publish* _my_announce;
   WiFiClient* _client;
   String _my_announce_channel;
+  boolean _wifi;
 
 public:
   WallVis(char* id, char* ssid="WallVisNet", char* wifi_pass="wallvisAP",
@@ -39,6 +40,7 @@ public:
     Serial.println(data);
   }
 
+  void set_wifi(boolean v ) { _wifi = v; }
 
 
   /*
@@ -50,38 +52,42 @@ public:
     Serial.println(F("WallVis Node starting up"));
     Serial.println("Initialising " + String(_id));
 
-    WiFi.mode(WIFI_STA);
+    if( _wifi ) {
 
-    // Connect to WiFi access point.
-    Serial.println();
-    Serial.print("Connecting to ");
-    Serial.println(_ssid);
-
-    WiFi.begin(_ssid, _wifi_pass);
-    while (WiFi.status() != WL_CONNECTED) {
-     delay(500);
-     Serial.print(".");
-    }
-    Serial.println();
-
-    Serial.println("WiFi connected");
-    Serial.println("IP address: "); Serial.println(WiFi.localIP());
-    // Done Wifi
+      WiFi.mode(WIFI_STA);
 
-    // Setup MQTT
-    _client = new WiFiClient();
-    _mqtt = new Adafruit_MQTT_Client(_client, _server, _port, "" /* mqttt username */, "" /* mqtt pass*/);
-    _device_subscription = new Adafruit_MQTT_Subscribe(_mqtt, _id);
-    _announce = new Adafruit_MQTT_Publish(_mqtt, "announce");
-    _my_announce_channel = String("announce/") + String(_id);
-    _my_announce = new Adafruit_MQTT_Publish(_mqtt, _my_announce_channel.c_str());
+      // Connect to WiFi access point.
+      Serial.println();
+      Serial.print("Connecting to ");
+      Serial.println(_ssid);
 
-    // Setup MQTT subscription for this device
-    _mqtt->subscribe(_device_subscription);
-    // This *would* setup a callback, but we're not doing this right now...
-    //_device_subscription->setCallback(test_callback);
+      WiFi.begin(_ssid, _wifi_pass);
+      while (WiFi.status() != WL_CONNECTED) {
+       delay(500);
+       Serial.print(".");
+      }
+      Serial.println();
+
+      Serial.println("WiFi connected");
+      Serial.println("IP address: "); Serial.println(WiFi.localIP());
+      // Done Wifi
+
+      // Setup MQTT
+      _client = new WiFiClient();
+      _mqtt = new Adafruit_MQTT_Client(_client, _server, _port, "" /* mqttt username */, "" /* mqtt pass*/);
+      _device_subscription = new Adafruit_MQTT_Subscribe(_mqtt, _id);
+      _announce = new Adafruit_MQTT_Publish(_mqtt, "announce");
+      _my_announce_channel = String("announce/") + String(_id);
+      _my_announce = new Adafruit_MQTT_Publish(_mqtt, _my_announce_channel.c_str());
+
+      // Setup MQTT subscription for this device
+      _mqtt->subscribe(_device_subscription);
+      // This *would* setup a callback, but we're not doing this right now...
+      //_device_subscription->setCallback(test_callback);
+
+      MQTT_connect();
+    }
 
-    MQTT_connect();
     announce_capabilities();
     Serial.println("Init finished");
 
@@ -104,7 +110,7 @@ public:
   void vis_loop() {
     int loop_start_time = millis();
     serial_command();
-    mqtt_command();
+    if( _wifi ) { mqtt_command(); }
     if( _active ) {
       //Serial.println("Updating "+_active->name());
       _active -> update();
@@ -211,16 +217,15 @@ public:
   void announce_capabilities() {
     Serial.print("Node ");
     Serial.println(_id);
-    if( _announce->publish(_id) ) {
-      for( int i = 0; i < _behaviours.get_num_behaviours(); i++ ) {
-        Behaviour* b = _behaviours.get_by_num(i);
-        String doc = b->name() + ": " + b->args();
-        _my_announce->publish(doc.c_str());
-        Serial.print("-->");
-        Serial.println(doc);
-      }
-    } else {
-      Serial.println("Couldn't make announcement");
+    if( _wifi ) {
+      if( ! _announce->publish(_id) ) { Serial.println("Couldn't make announcement"); }
+    }
+    for( int i = 0; i < _behaviours.get_num_behaviours(); i++ ) {
+      Behaviour* b = _behaviours.get_by_num(i);
+      String doc = b->name() + ": " + b->args();
+      if( _wifi ) { _my_announce->publish(doc.c_str()); }
+      Serial.print("-->");
+      Serial.println(doc);
     }
   }
 

examples/ExampleNode/ExampleNode.ino

@@ -47,15 +47,20 @@ void setup()
   //Add in a behaviour that just goes to a certain angle, with the default name 'goto'
   node.add(new ServoGoto(s1) );
 
+  //Add in a behaviour that rotates from 0 to 180 and back again (e.g. dropping a ball trustball style)
+  node.add(new RotateReturn(s1,"drop",1,500, 3, 175) );
+
   //A few useful LED behaviours
-  node.add(new NumLEDs(&strip, strip.Color(10, 255, 15), "green_leds" ) );
-  node.add(new NumLEDs(&strip, strip.Color(255, 30, 40), "red_leds" ));
-  node.add(new BrightnessLEDs(&strip, 0, 255, "red" ));
-  node.add(new BrightnessLEDs(&strip, 120, 255, "green" ));
-  node.add(new BreathingLEDs(&strip, 120, 0, "breathe" ));
-  node.add(new BreathingLEDs(&strip, 170, 255, "breathe_blue" ));
+  node.add(new NumLEDs(&strip, "green_leds", strip.Color(10, 255, 15) ) );
+  node.add(new NumLEDs(&strip, "red_leds", strip.Color(255, 30, 40) ));
+  node.add(new NumLEDs(&strip, "leds"));
+  node.add(new BrightnessLEDs(&strip, "red", 0, 255 ));
+  node.add(new BrightnessLEDs(&strip, "green", 120, 255 ));
+  node.add(new BreathingLEDs(&strip, "breathe", 120, 0 ));
+  node.add(new BreathingLEDs(&strip, "breathe_blue", 170, 255 ));
  
   //Initialise the whole infrastructure
+  node.set_wifi(false);
   node.init();
 }