inf sachen

INF/libraries/PCA9685/examples/FrequencySweep/Constants.cpp

@@ -0,0 +1,18 @@
+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 100;
+const uint16_t frequency_increment = 10;
+}

INF/libraries/PCA9685/examples/FrequencySweep/Constants.h

@@ -0,0 +1,21 @@
+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+extern const uint16_t frequency_increment;
+}
+#endif

INF/libraries/PCA9685/examples/FrequencySweep/FrequencySweep.ino

@@ -0,0 +1,41 @@
+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint16_t frequency_min;
+uint16_t frequency_max;
+uint16_t frequency;
+
+void setup()
+{
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setOutputsNotInverted();
+
+  uint16_t time_min = pca9685.getTimeMin();
+  uint16_t time_max = pca9685.getTimeMax();
+  pca9685.setAllChannelsOnAndOffTime(time_min,time_max/4);
+
+  frequency_min = pca9685.getFrequencyMin();
+  frequency_max = pca9685.getFrequencyMax();
+
+  frequency = frequency_min;
+}
+
+void loop()
+{
+  if (frequency > frequency_max)
+  {
+    frequency = frequency_min;
+  }
+  pca9685.setToFrequency(frequency);
+  frequency += constants::frequency_increment;
+  delay(constants::loop_delay);
+}

INF/libraries/PCA9685/examples/OffTimeSweepSingleDevice/Constants.cpp

@@ -0,0 +1,21 @@
+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 100;
+const uint16_t frequency = 200;
+const uint16_t time_increment = 100;
+
+const uint8_t channel = 0;
+}

INF/libraries/PCA9685/examples/OffTimeSweepSingleDevice/Constants.h

@@ -0,0 +1,24 @@
+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+extern const uint16_t frequency;
+extern const uint16_t time_increment;
+
+extern const uint8_t channel;
+}
+#endif

INF/libraries/PCA9685/examples/OffTimeSweepSingleDevice/OffTimeSweepSingleDevice.ino

@@ -0,0 +1,41 @@
+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint16_t time_min;
+uint16_t time_max;
+uint16_t off_time;
+
+void setup()
+{
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setOutputsNotInverted();
+
+  pca9685.setToFrequency(constants::frequency);
+
+  time_min = pca9685.getTimeMin();
+  time_max = pca9685.getTimeMax();
+
+  off_time = time_min;
+
+  pca9685.setChannelOnTime(constants::channel,time_min);
+}
+
+void loop()
+{
+  if (off_time > time_max)
+  {
+    off_time = time_min;
+  }
+  pca9685.setChannelOffTime(constants::channel,off_time);
+  off_time += constants::time_increment;
+  delay(constants::loop_delay);
+}

INF/libraries/PCA9685/examples/OnTimeSweepMultipleDevices/Constants.cpp

@@ -0,0 +1,28 @@
+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_addresses[DEVICE_COUNT] =
+{
+  0x40,
+  0x41,
+  0x42
+};
+const uint8_t device_index = 0;
+
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 100;
+const uint16_t frequency = 200;
+const uint16_t time_increment = 100;
+
+const uint8_t channel = 0;
+}

INF/libraries/PCA9685/examples/OnTimeSweepMultipleDevices/Constants.h

@@ -0,0 +1,27 @@
+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+enum{DEVICE_COUNT=3};
+extern const uint8_t device_addresses[DEVICE_COUNT];
+extern const uint8_t device_index;
+
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+extern const uint16_t frequency;
+extern const uint16_t time_increment;
+
+extern const uint8_t channel;
+}
+#endif

INF/libraries/PCA9685/examples/OnTimeSweepMultipleDevices/OnTimeSweepMultipleDevices.ino

@@ -0,0 +1,46 @@
+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint16_t time_min;
+uint16_t time_max;
+uint16_t on_time;
+
+void setup()
+{
+  pca9685.setWire(Wire);
+  for (uint8_t device_index=0; device_index<constants::DEVICE_COUNT; ++device_index)
+  {
+    pca9685.addDevice(constants::device_addresses[device_index]);
+  }
+  pca9685.resetAllDevices();
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setAllDevicesOutputsNotInverted();
+
+  pca9685.setAllDevicesToFrequency(constants::frequency);
+
+  time_min = pca9685.getTimeMin();
+  time_max = pca9685.getTimeMax();
+
+  on_time = time_min;
+
+  pca9685.setAllDeviceChannelsOffTime(PCA9685::DEVICE_ADDRESS_ALL,time_max);
+}
+
+void loop()
+{
+  if (on_time > time_max)
+  {
+    on_time = time_min;
+  }
+  pca9685.setAllDeviceChannelsOnTime(constants::device_addresses[constants::device_index],on_time);
+  on_time += constants::time_increment;
+  delay(constants::loop_delay);
+}

INF/libraries/PCA9685/examples/ServoController/Constants.cpp

@@ -0,0 +1,23 @@
+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 100;
+
+const uint8_t channel = 0;
+
+const uint16_t servo_pulse_duration_min = 900;
+const uint16_t servo_pulse_duration_max = 2100;
+const uint16_t servo_pulse_duration_increment = 100;
+}

INF/libraries/PCA9685/examples/ServoController/Constants.h

@@ -0,0 +1,26 @@
+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+
+extern const uint8_t channel;
+
+extern const uint16_t servo_pulse_duration_min;
+extern const uint16_t servo_pulse_duration_max;
+extern const uint16_t servo_pulse_duration_increment;
+}
+#endif

INF/libraries/PCA9685/examples/ServoController/ServoController.ino

@@ -0,0 +1,32 @@
+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint16_t servo_pulse_duration;
+
+void setup()
+{
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setToServoFrequency();
+
+  servo_pulse_duration = constants::servo_pulse_duration_min;
+}
+
+void loop()
+{
+  if (servo_pulse_duration > constants::servo_pulse_duration_max)
+  {
+    servo_pulse_duration = constants::servo_pulse_duration_min;
+  }
+  pca9685.setChannelServoPulseDuration(constants::channel,servo_pulse_duration);
+  servo_pulse_duration += constants::servo_pulse_duration_increment;
+  delay(constants::loop_delay);
+}

INF/libraries/PCA9685/examples/SetChannelDutyCycle/Constants.cpp

@@ -0,0 +1,41 @@
+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 8000;
+const uint16_t frequency = 200;
+const uint8_t channel = 0;
+
+const Example examples[EXAMPLE_COUNT] =
+{
+  {
+    20.0, // DUTY_CYCLE
+    10.0, // PERCENT_DELAY
+  },
+  {
+    90.0, // DUTY_CYCLE
+    90.0, // PERCENT_DELAY
+  },
+  {
+    // Always ON
+    100.0, // DUTY_CYCLE
+    0.0, // PERCENT_DELAY
+  },
+  {
+    // Always OFF
+    0.0, // DUTY_CYCLE
+    0.0, // PERCENT_DELAY
+  }
+};
+}

INF/libraries/PCA9685/examples/SetChannelDutyCycle/Constants.h

@@ -0,0 +1,32 @@
+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+extern const uint16_t frequency;
+extern const uint8_t channel;
+
+enum{EXAMPLE_COUNT=4};
+
+struct Example
+{
+  double duty_cycle;
+  double percent_delay;
+};
+
+extern const Example examples[EXAMPLE_COUNT];
+}
+#endif

INF/libraries/PCA9685/examples/SetChannelDutyCycle/SetChannelDutyCycle.ino

@@ -0,0 +1,33 @@
+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint8_t example_index;
+
+void setup()
+{
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setToFrequency(constants::frequency);
+
+  example_index = 0;
+}
+
+void loop()
+{
+  delay(constants::loop_delay);
+  if (example_index >= constants::EXAMPLE_COUNT)
+  {
+    example_index = 0;
+  }
+  constants::Example example = constants::examples[example_index++];
+
+  pca9685.setChannelDutyCycle(constants::channel,example.duty_cycle,example.percent_delay);
+}

INF/libraries/PCA9685/examples/SetChannelOnAndOffTime/Constants.cpp

@@ -0,0 +1,43 @@
+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 8000;
+const uint16_t frequency = 200;
+const uint8_t channel = 0;
+
+const Example examples[EXAMPLE_COUNT] =
+{
+  {
+    // ON_TIME < OFF_TIME
+    511, // ON_TIME
+    3071, // OFF_TIME
+  },
+  {
+    // ON_TIME < OFF_TIME
+    2047, // ON_TIME
+    767, // OFF_TIME
+  },
+  {
+    // Always ON
+    4096, // ON_TIME
+    0, // OFF_TIME
+  },
+  {
+    // Always OFF
+    0, // ON_TIME
+    4096, // OFF_TIME
+  }
+};
+}

INF/libraries/PCA9685/examples/SetChannelOnAndOffTime/Constants.h

@@ -0,0 +1,32 @@
+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+extern const uint16_t frequency;
+extern const uint8_t channel;
+
+enum{EXAMPLE_COUNT=4};
+
+struct Example
+{
+  uint16_t on_time;
+  uint16_t off_time;
+};
+
+extern const Example examples[EXAMPLE_COUNT];
+}
+#endif

INF/libraries/PCA9685/examples/SetChannelOnAndOffTime/SetChannelOnAndOffTime.ino

@@ -0,0 +1,33 @@
+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint8_t example_index;
+
+void setup()
+{
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setToFrequency(constants::frequency);
+
+  example_index = 0;
+}
+
+void loop()
+{
+  delay(constants::loop_delay);
+  if (example_index >= constants::EXAMPLE_COUNT)
+  {
+    example_index = 0;
+  }
+  constants::Example example = constants::examples[example_index++];
+
+  pca9685.setChannelOnAndOffTime(constants::channel,example.on_time,example.off_time);
+}

INF/libraries/PCA9685/examples/SetChannelPulseWidth/Constants.cpp

@@ -0,0 +1,41 @@
+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const size_t loop_delay = 8000;
+const uint16_t frequency = 200;
+const uint8_t channel = 0;
+
+const Example examples[EXAMPLE_COUNT] =
+{
+  {
+    819, // PULSE_WIDTH
+    409, // PHASE_SHIFT
+  },
+  {
+    3686, // PULSE_WIDTH
+    3685, // PHASE_SHIFT
+  },
+  {
+    // Always ON
+    4096, // PULSE_WIDTH
+    0, // PHASE_SHIFT
+  },
+  {
+    // Always OFF
+    0, // PULSE_WIDTH
+    0, // PHASE_SHIFT
+  }
+};
+}

INF/libraries/PCA9685/examples/SetChannelPulseWidth/Constants.h

@@ -0,0 +1,32 @@
+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const size_t loop_delay;
+extern const uint16_t frequency;
+extern const uint8_t channel;
+
+enum{EXAMPLE_COUNT=4};
+
+struct Example
+{
+  uint16_t pulse_width;
+  uint16_t phase_shift;
+};
+
+extern const Example examples[EXAMPLE_COUNT];
+}
+#endif

INF/libraries/PCA9685/examples/SetChannelPulseWidth/SetChannelPulseWidth.ino

@@ -0,0 +1,33 @@
+#include <Arduino.h>
+#include <PCA9685.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint8_t example_index;
+
+void setup()
+{
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setToFrequency(constants::frequency);
+
+  example_index = 0;
+}
+
+void loop()
+{
+  delay(constants::loop_delay);
+  if (example_index >= constants::EXAMPLE_COUNT)
+  {
+    example_index = 0;
+  }
+  constants::Example example = constants::examples[example_index++];
+
+  pca9685.setChannelPulseWidth(constants::channel,example.pulse_width,example.phase_shift);
+}

INF/libraries/PCA9685/examples/TestSetAndGet/Constants.cpp

@@ -0,0 +1,22 @@
+// ----------------------------------------------------------------------------
+// Constants.cpp
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#include "Constants.h"
+
+
+namespace constants
+{
+const uint8_t device_address = 0x40;
+const size_t output_enable_pin = 2;
+
+const long baud = 115200;
+
+const size_t loop_delay = 100;
+const uint16_t frequency = 200;
+const uint16_t time_increment = 400;
+const double epsilon = 0.001;
+}

INF/libraries/PCA9685/examples/TestSetAndGet/Constants.h

@@ -0,0 +1,24 @@
+// ----------------------------------------------------------------------------
+// Constants.h
+//
+//
+// Authors:
+// Peter Polidoro peterpolidoro@gmail.com
+// ----------------------------------------------------------------------------
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+#include <Arduino.h>
+
+
+namespace constants
+{
+extern const uint8_t device_address;
+extern const size_t output_enable_pin;
+
+extern const long baud;
+extern const size_t loop_delay;
+extern const uint16_t frequency;
+extern const uint16_t time_increment;
+extern const double epsilon;
+}
+#endif

INF/libraries/PCA9685/examples/TestSetAndGet/TestSetAndGet.ino

@@ -0,0 +1,105 @@
+#include <Arduino.h>
+#include <PCA9685.h>
+#include <Streaming.h>
+
+#include "Constants.h"
+
+
+PCA9685 pca9685;
+
+uint16_t time_min;
+uint16_t time_max;
+
+uint8_t channel;
+
+uint16_t on_time_set;
+uint16_t off_time_set;
+uint16_t on_time_get;
+uint16_t off_time_get;
+
+uint16_t pulse_width_set;
+uint16_t phase_shift_set;
+uint16_t pulse_width_get;
+uint16_t phase_shift_get;
+
+double duty_cycle_set;
+double percent_delay_set;
+double duty_cycle_get;
+double percent_delay_get;
+
+void setup()
+{
+  Serial.begin(constants::baud);
+
+  pca9685.setupSingleDevice(Wire,constants::device_address);
+
+  pca9685.setupOutputEnablePin(constants::output_enable_pin);
+  pca9685.enableOutputs(constants::output_enable_pin);
+
+  pca9685.setOutputsNotInverted();
+
+  pca9685.setToServoFrequency();
+
+  time_min = pca9685.getTimeMin();
+  time_max = pca9685.getTimeMax();
+
+  channel = 0;
+  on_time_set = time_min;
+  off_time_set = time_max;
+}
+
+void checkMatch(const char * s, bool match)
+{
+  if (match)
+  {
+    Serial << s << " get matches set.\n";
+  }
+  else
+  {
+    Serial << s << " get does not match set!\n";
+  }
+}
+
+void loop()
+{
+  if (on_time_set > off_time_set)
+  {
+    on_time_set = time_min;
+    off_time_set = time_max;
+  }
+  for (uint8_t channel=0; channel < pca9685.getChannelCount(); ++channel)
+  {
+    Serial << "frequency: " << pca9685.getFrequency() << "\n";
+    Serial << "channel: " << channel << ", on_time_set: " << on_time_set << ", off_time_set: " << off_time_set << "\n";
+    pca9685.setChannelOnAndOffTime(channel,on_time_set,off_time_set);
+    pca9685.getChannelOnAndOffTime(channel,on_time_get,off_time_get);
+    checkMatch("ChannelOnAndOffTime",((on_time_set == on_time_get) && (off_time_set == off_time_get)));
+
+    pca9685.setChannelOnTime(channel,on_time_set);
+    pca9685.getChannelOnTime(channel,on_time_get);
+    checkMatch("ChannelOnTime",(on_time_set == on_time_get));
+
+    pca9685.setChannelOffTime(channel,off_time_set);
+    pca9685.getChannelOffTime(channel,off_time_get);
+    checkMatch("ChannelOffTime",(off_time_set == off_time_get));
+
+    pulse_width_set = off_time_set - on_time_set;
+    phase_shift_set = on_time_set;
+    Serial << "channel: " << channel << ", pulse_width_set: " << pulse_width_set << ", phase_shift_set: " << phase_shift_set << "\n";
+    pca9685.setChannelPulseWidth(channel,pulse_width_set,phase_shift_set);
+    pca9685.getChannelPulseWidth(channel,pulse_width_get,phase_shift_get);
+    checkMatch("ChannelPulseWidth",((pulse_width_set == pulse_width_get) && (phase_shift_set == phase_shift_get)));
+
+    duty_cycle_set = (pulse_width_set * pca9685.getDutyCycleMax()) / pca9685.getTimeMax();
+    percent_delay_set = (phase_shift_set * pca9685.getPercentDelayMax()) / pca9685.getTimeMax();
+    Serial << "channel: " << channel << ", duty_cycle_set: " << duty_cycle_set << ", percent_delay_set: " << percent_delay_set << "\n";
+    pca9685.setChannelDutyCycle(channel,duty_cycle_set,percent_delay_set);
+    pca9685.getChannelDutyCycle(channel,duty_cycle_get,percent_delay_get);
+    checkMatch("ChannelDutyCycle",((abs(duty_cycle_set - duty_cycle_get) < constants::epsilon) && (abs(percent_delay_set - percent_delay_get) < constants::epsilon)));
+
+    Serial << "\n";
+    delay(constants::loop_delay);
+  }
+  on_time_set += constants::time_increment;
+  off_time_set -= constants::time_increment;
+}