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bada_g2's Introduction

Robotics Engineer

  • Robotics Engineer & Co-Founder @ Floatic
  • B.S. Robotics @ Hanyang University. ERICA
  • [Previous] Robotics Control Software Intern @ NAVER LABS
  • [Previous] Research Intern at AIRO Lab @ Hanyang University. ERICA

Interest

  • Human-Robot Interaction
  • Natural Robot Movement & Control
  • Emotion created by Robot Motion
  • Robot Control System

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bada_g2's Issues

test

#include <Adafruit_GFX.h>
#include <Adafruit_NeoMatrix.h>
#include <Adafruit_NeoPixel.h>

#include <ros.h>
#include <std_msgs/Int16.h>

#define PIN 6

// Define matrix width and height.
#define mw 16
#define mh 16

// Max is 255, 32 is a conservative value to not overload
// a USB power supply (500mA) for 12x12 pixels.
#define BRIGHTNESS 30

#define LED_BLACK 0

#define LED_RED_VERYLOW (3 << 11)
#define LED_RED_LOW (7 << 11)
#define LED_RED_MEDIUM (15 << 11)
#define LED_RED_HIGH (31 << 11)

#define LED_GREEN_VERYLOW (1 << 5)
#define LED_GREEN_LOW (15 << 5)
#define LED_GREEN_MEDIUM (31 << 5)
#define LED_GREEN_HIGH (63 << 5)

#define LED_BLUE_VERYLOW 3
#define LED_BLUE_LOW 7
#define LED_BLUE_MEDIUM 15
#define LED_BLUE_HIGH 31

#define LED_ORANGE_VERYLOW (LED_RED_VERYLOW + LED_GREEN_VERYLOW)
#define LED_ORANGE_LOW (LED_RED_LOW + LED_GREEN_LOW)
#define LED_ORANGE_MEDIUM (LED_RED_MEDIUM + LED_GREEN_MEDIUM)
#define LED_ORANGE_HIGH (LED_RED_HIGH + LED_GREEN_HIGH)

#define LED_PURPLE_VERYLOW (LED_RED_VERYLOW + LED_BLUE_VERYLOW)
#define LED_PURPLE_LOW (LED_RED_LOW + LED_BLUE_LOW)
#define LED_PURPLE_MEDIUM (LED_RED_MEDIUM + LED_BLUE_MEDIUM)
#define LED_PURPLE_HIGH (LED_RED_HIGH + LED_BLUE_HIGH)

#define LED_CYAN_VERYLOW (LED_GREEN_VERYLOW + LED_BLUE_VERYLOW)
#define LED_CYAN_LOW (LED_GREEN_LOW + LED_BLUE_LOW)
#define LED_CYAN_MEDIUM (LED_GREEN_MEDIUM + LED_BLUE_MEDIUM)
#define LED_CYAN_HIGH (LED_GREEN_HIGH + LED_BLUE_HIGH)

#define LED_WHITE_VERYLOW (LED_RED_VERYLOW + LED_GREEN_VERYLOW + LED_BLUE_VERYLOW)
#define LED_WHITE_LOW (LED_RED_LOW + LED_GREEN_LOW + LED_BLUE_LOW)
#define LED_WHITE_MEDIUM (LED_RED_MEDIUM + LED_GREEN_MEDIUM + LED_BLUE_MEDIUM)
#define LED_WHITE_HIGH (LED_RED_HIGH + LED_GREEN_HIGH + LED_BLUE_HIGH)

  • / --------------------------------* /

std_msgs::Int16 displayImg;

uint8_t display_cmd;
void displayCb( const std_msgs::Int16& display_msg) {
display_cmd = display_msg.data;
}

static const uint16_t PROGMEM RGB_bmp[][16 * 16] = {
{ //bada 0
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0f00, 0x0f00, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0f00, 0x0f00, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0000, 0x0000,
0x0000, 0x0f00, 0x0f00, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0000,
0x0000, 0x0f00, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0x0f00, 0x0000,
0x0f00, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0x0f00,
0x0f00, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0x0f00,
0x0f00, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0x0f00,
0x0f00, 0xffff, 0xffff, 0x0f00, 0x0f00, 0xffff, 0xffff, 0xffff, 0x0f00, 0x0f00, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0x0f00,
0x0f00, 0x0f00, 0xffff, 0xffff, 0x0f00, 0x0f00, 0xffff, 0xffff, 0xffff, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00,
0x0f00, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0f00, 0x0f00,
0x0000, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0000,
0x0000, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0000,
0x0000, 0x0000, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000
},
{ // bell 1 0x0F0 GREEN, 0x00FF YELLOW
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x00FF, 0x00FF, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x00FF, 0x00FF, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000
},

// fire 2
{ 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x000F, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x000F, 0x000F, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x000F, 0x000F, 0x000F, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x000F, 0x000F, 0x000F, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x000F, 0x000F, 0x000F, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x000F, 0x000F, 0x000F, 0x000F, 0x0000, 0x0000, 0x0000, 0x000F, 0x000F, 0x0000, 0x0000,
0x0000, 0x0000, 0x000F, 0x000F, 0x0000, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x0000, 0x000F, 0x000F, 0x000F, 0x0000, 0x0000,
0x0000, 0x0000, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x0000, 0x0000,
0x0000, 0x0000, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x0000,
0x0000, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x0000,
0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x00FF, 0x00FF, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F,
0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x00FF, 0x00FF, 0x00FF, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F,
0x000F, 0x000F, 0x000F, 0x000F, 0x000F, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x000F, 0x000F, 0x000F, 0x000F, 0x000F,
0x0000, 0x000F, 0x000F, 0x000F, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x000F, 0x000F, 0x000F, 0x0000,
0x0000, 0x0000, 0x000F, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x000F, 0x000F, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x000F, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x00FF, 0x000F, 0x0000, 0x0000, 0x0000
},

// baby 3
{ 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0000, 0xffff, 0xffff, 0xffff, 0xffff,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0555, 0xffff, 0xffff, 0x0555, 0xffff, 0xffff,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0x0555, 0x0555, 0x0555, 0xffff, 0xffff, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0555, 0x0555, 0xffff, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0555, 0x0555, 0xffff, 0x0000,
0x0000, 0x0000, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0xffff, 0x0000, 0x0000,
0x0000, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xffff, 0x0000, 0x0000, 0x0000,
0x0000, 0xffff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xffff, 0x0000, 0x0000, 0xffff, 0x0000, 0x0000, 0x0000,
0xffff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xffff, 0x0000, 0x0000, 0xffff, 0x0000, 0xffff, 0x0000, 0x0000, 0x0000,
0xffff, 0x0333, 0x0333, 0x0333, 0x0333, 0x0333, 0x0333, 0x0333, 0xffff, 0x0333, 0x0333, 0xffff, 0x0000, 0x0000, 0x0000, 0x0000,
0xffff, 0xffff, 0x0333, 0x0333, 0x0333, 0xffff, 0x0333, 0x0333, 0x0333, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0xffff, 0x0333, 0x0333, 0x0333, 0x0333, 0xffff, 0x0333, 0x0333, 0xffff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0xffff, 0x0333, 0x0333, 0x0333, 0x0333, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0333, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000
},

{ //DOOR 4
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0x0f00, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0x0f00, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xffff, 0xffff, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0xffff, 0xffff, 0x0000, 0x0000, 0x0000,
0x0000, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0x0000,
0x0000, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0xffff, 0x0000
},

{ //water 5
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000,
0x0000, 0x0000, 0x0f00, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000,
0x0000, 0x0000, 0x0f00, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000,
0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0f00, 0x0f00, 0x0f00, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000
},
};

Adafruit_NeoMatrix *matrix = new Adafruit_NeoMatrix(
mw, mh, PIN,
NEO_MATRIX_TOP + NEO_MATRIX_LEFT + NEO_MATRIX_ROWS + NEO_MATRIX_ZIGZAG,
NEO_GRB + NEO_KHZ800);

void setup() {
displayInit();
nh.subscribe(displayCb);
}

void loop() {
// put your main code here, to run repeatedly:
// loop back to the top left corner
// 8x8 => 1, 16x8 => 2, 17x9 => 6

for (int i = 0; i < 6 ; i++) {
display_rgbBitmap(i); //0 - bell, 3 - fire, 4- fire, 5
delay(1000);
}
}

void fixdrawRGBBitmap(int16_t x, int16_t y, const uint16_t *bitmap, int16_t w, int16_t h) {
uint16_t RGB_bmp_fixed[w * h];
for (uint16_t pixel = 0; pixel < w * h; pixel++) {
uint8_t r, g, b;
uint16_t color = pgm_read_word(bitmap + pixel);

//Serial.print(color, HEX);
b = (color & 0xF00) >> 8;
g = (color & 0x0F0) >> 4;
r = color & 0x00F;
b = map(b, 0, 15, 0, 31);
g = map(g, 0, 15, 0, 63);
r = map(r, 0, 15, 0, 31);
RGB_bmp_fixed[pixel] = (r << 11) + (g << 5) + b;

}
matrix->drawRGBBitmap(x, y, RGB_bmp_fixed, w, h);
}

void display_rgbBitmap(uint8_t bmp_num) {
static uint16_t bmx, bmy;

fixdrawRGBBitmap(bmx, bmy, RGB_bmp[bmp_num], 16, 16);
matrix->show();
}

void displayInit() {
matrix->begin();
matrix->setTextWrap(false);
matrix->setBrightness(BRIGHTNESS);
delay(1000);
matrix->clear();
delay(1000);
}

void displayClean() {
matrix->clear();
matrix->show();
}

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