Mirko Pavleski
NORTH MACEDONIA • + Follow
Components
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ESP32 Development Board |
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6 DOF Sensor - MPU6050 |
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16x16 Led matrix with WS2812B chips |
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Button |
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Tools, APP Software Used etc.
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Soldering Iron Kit |
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arduino IDEArduino
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Description
ESP32 Fluid simulation on 16x16 Led Matrix
Fluid simulation is a way of replicating the movement and behavior of liquids and gases in different environments. It’s widely used in fields like gaming, animation, engineering, and physics to create realistic visual effects and solve complex fluid-related problems.
This time I will present you a very simple way to make a fluid motion simulator using a few components. This is a simulator with a relatively low resolution of 256 dots and for that purpose a Display made of 16x16 LEDs with WS2812B LED chips is used.
Specifically, I am using a cheap ready-made module with 16x16 LEDs. However, on this small "Display" I will create some really cool visualizations.
The device is extremely simple to build and consists of only a few components.
- ESP32 Microcontroller Dev Board
- MPU6050 accelerometer module
- 16x16 Led module with WS2812B chips
- and Button
This project is sponsored by PCBWay. They has all the services you need to create your project at the best price, whether is a scool project, or complex professional project. On PCBWay you can share your experiences, or get inspiration for your next project. They also provide completed Surface mount SMT PCB assemblY service at a best price, and ISO9001 quality control. Visit pcbway.com for more services.
For this project I am using a box from one of my previous devices, for which I have also made a 3D printed grille for a better visual impression. Otherwise, even without this addition, the visual effect is impressive. It is important to note that the IMU sensor should be mounted in the way you see in the description, because otherwise you will get an undefined movement that does not comply with the laws of physics.
Now a few words about the software. The code is designed in a way that allows us to change multiple parameters, so we can simulate the movement of sand particles, liquids, gases, and other fluids.
First of all, we can change the number of active fluid particles and the light intensity of the LEDs. With the button, we can also choose one of the three colors for the LEDs that we have defined previously. At the beginning of the code, numerical values are given for some of the colors.
I will also present you a version of the code where the color of the particles changes dynamically depending on their location, which gives an even more interesting visual effect.
Then follow the basic physical quantities in the form of constants. By combining their values, various ways of moving fluids are obtained.
Now let's see how the device behaves in real conditions. I'll present you with just a few different situations, and you can experiment with many different combinations of physical constants.
And finally, a brief conclusion. This simple device serves only as a visual presentation of the way several different fluids move, i.e. primarily as a visually interesting toy for describing fluid dynamics.
Code
CODE Color palette
C/C++
// Pin definitions // Structures struct Vector2D { float x; float y; }; struct Particle { Vector2D position; Vector2D velocity; }; // Global variables CRGB leds[NUM_LEDS]; MPU6050 mpu; Particle particles[FLUID_PARTICLES]; Vector2D acceleration = {0, 0}; // Mutex for synchronization portMUX_TYPE dataMux = portMUX_INITIALIZER_UNLOCKED; // Adjusted constants for smoother motion const float GRAVITY = 0.3f; //0.03f const float DAMPING = 0.60f; // 0.98f const float MAX_VELOCITY = 0.7f; //0.3f const float MIN_MOVEMENT = 0.001f; //0.001f // Function prototypes void initMPU6050(); void initLEDs(); void initParticles(); void updateParticles(); void drawParticles(); void MPUTask(void *parameter); void LEDTask(void *parameter); // Function to convert x,y coordinates to LED index int xy(int x, int y) { x = constrain(x, 0, MATRIX_WIDTH - 1); y = constrain(y, 0, MATRIX_HEIGHT - 1); return (y & 1) ? (y * MATRIX_WIDTH + (MATRIX_WIDTH - 1 - x)) : (y * MATRIX_WIDTH + x); } void drawParticles() { FastLED.clear(); // Create occupancy grid bool occupied[MATRIX_WIDTH][MATRIX_HEIGHT] = {{false}}; // Get and smooth gravity direction static Vector2D lastGravityDir = {0, 1}; Vector2D currentGravityDir; portENTER_CRITICAL(&dataMux); currentGravityDir = acceleration; portEXIT_CRITICAL(&dataMux); const float GRAVITY_SMOOTHING = 0.95f; lastGravityDir.x = lastGravityDir.x * GRAVITY_SMOOTHING + currentGravityDir.x * (1 - GRAVITY_SMOOTHING); lastGravityDir.y = lastGravityDir.y * GRAVITY_SMOOTHING + currentGravityDir.y * (1 - GRAVITY_SMOOTHING); // Normalize gravity vector float gravMagnitude = sqrt(lastGravityDir.x * lastGravityDir.x + lastGravityDir.y * lastGravityDir.y); Vector2D gravityDir = {0, 1}; // Default down direction if (gravMagnitude > 0.1f) { gravityDir.x = lastGravityDir.x / gravMagnitude; gravityDir.y = lastGravityDir.y / gravMagnitude; } // Calculate heights and prepare for drawing float heights[FLUID_PARTICLES]; float minHeight = 1000; float maxHeight = -1000; for (int i = 0; i < FLUID_PARTICLES; i++) { heights[i] = -(particles[i].position.x * gravityDir.x + particles[i].position.y * gravityDir.y); minHeight = min(minHeight, heights[i]); maxHeight = max(maxHeight, heights[i]); } float heightRange = max(maxHeight - minHeight, 1.0f); // Draw particles int visibleCount = 0; for (int i = 0; i < FLUID_PARTICLES; i++) { int x = round(constrain(particles[i].position.x, 0, MATRIX_WIDTH - 1)); int y = round(constrain(particles[i].position.y, 0, MATRIX_HEIGHT - 1)); if (!occupied[x][y]) { int index = xy(x, y); if (index >= 0 && index < NUM_LEDS) { float relativeHeight = (heights[i] - minHeight) / heightRange; uint8_t hue = relativeHeight * 160; // Map from 0 (red) to 160 (blue) uint8_t sat = 255; // Full saturation for vibrant colors uint8_t val = 220 + (relativeHeight * 35); // Slightly brighter at top; leds[index] = CHSV(hue, sat, val); occupied[x][y] = true; visibleCount++; } } else { // Find nearest empty position for (int dx = -1; dx <= 1; dx++) { for (int dy = -1; dy <= 1; dy++) { if (dx == 0 && dy == 0) continue; int newX = x + dx; int newY = y + dy; if (newX >= 0 && newX < MATRIX_WIDTH && newY >= 0 && newY < MATRIX_HEIGHT && !occupied[newX][newY]) { int index = xy(newX, newY); if (index >= 0 && index < NUM_LEDS) { float relativeHeight = (heights[i] - minHeight) / heightRange; uint8_t hue = relativeHeight * 160; // Map from 0 (red) to 160 (blue) uint8_t sat = 255; // Full saturation for vibrant colors uint8_t val = 220 + (relativeHeight * 35); // Slightly brighter at top leds[index] = CHSV(hue, sat, val); occupied[newX][newY] = true; visibleCount++; goto particleDrawn; } } } } particleDrawn: continue; } } // Debug output static unsigned long lastDebugTime = 0; if (millis() - lastDebugTime > 1000) { Serial.printf("Visible particles: %d of %d\n", visibleCount, FLUID_PARTICLES); lastDebugTime = millis(); } FastLED.show(); } void updateParticles() { Vector2D currentAccel; portENTER_CRITICAL(&dataMux); currentAccel = acceleration; portEXIT_CRITICAL(&dataMux); // Reduce acceleration sensitivity currentAccel.x *= 0.3f; currentAccel.y *= 0.3f; // Update and constrain each particle for (int i = 0; i < FLUID_PARTICLES; i++) { // Update velocity with acceleration particles[i].velocity.x = particles[i].velocity.x * 0.95f + (currentAccel.x * GRAVITY); particles[i].velocity.y = particles[i].velocity.y * 0.95f + (currentAccel.y * GRAVITY); // Hard constrain velocity particles[i].velocity.x = constrain(particles[i].velocity.x, -MAX_VELOCITY, MAX_VELOCITY); particles[i].velocity.y = constrain(particles[i].velocity.y, -MAX_VELOCITY, MAX_VELOCITY); // Calculate new position float newX = particles[i].position.x + particles[i].velocity.x; float newY = particles[i].position.y + particles[i].velocity.y; // Strict boundary checking with bounce if (newX < 0.0f) { newX = 0.0f; particles[i].velocity.x = fabs(particles[i].velocity.x) * DAMPING; } else if (newX >= (MATRIX_WIDTH - 1.0f)) { newX = MATRIX_WIDTH - 1.0f; particles[i].velocity.x = -fabs(particles[i].velocity.x) * DAMPING; } if (newY < 0.0f) { newY = 0.0f; particles[i].velocity.y = fabs(particles[i].velocity.y) * DAMPING; } else if (newY >= (MATRIX_HEIGHT - 1.0f)) { newY = MATRIX_HEIGHT - 1.0f; particles[i].velocity.y = -fabs(particles[i].velocity.y) * DAMPING; } // Ensure positions are always within bounds particles[i].position.x = constrain(newX, 0.0f, MATRIX_WIDTH - 1.0f); particles[i].position.y = constrain(newY, 0.0f, MATRIX_HEIGHT - 1.0f); // Additional safety check if (isnan(particles[i].position.x) || isnan(particles[i].position.y)) { particles[i].position.x = MATRIX_WIDTH / 2; particles[i].position.y = MATRIX_HEIGHT / 2; particles[i].velocity.x = 0; particles[i].velocity.y = 0; } } // Particle collision detection and resolution for (int i = 0; i < FLUID_PARTICLES; i++) { for (int j = i + 1; j < FLUID_PARTICLES; j++) { float dx = particles[j].position.x - particles[i].position.x; float dy = particles[j].position.y - particles[i].position.y; float distSquared = dx * dx + dy * dy; if (distSquared < 1.0f && distSquared > 0.0f) { float dist = sqrt(distSquared); float nx = dx / dist; float ny = dy / dist; // Push particles apart float pushDistance = (1.0f - dist) * 0.5f; float pushX = nx * pushDistance; float pushY = ny * pushDistance; // Update positions while ensuring they stay in bounds particles[i].position.x = constrain(particles[i].position.x - pushX, 0.0f, MATRIX_WIDTH - 1.0f); particles[i].position.y = constrain(particles[i].position.y - pushY, 0.0f, MATRIX_HEIGHT - 1.0f); particles[j].position.x = constrain(particles[j].position.x + pushX, 0.0f, MATRIX_WIDTH - 1.0f); particles[j].position.y = constrain(particles[j].position.y + pushY, 0.0f, MATRIX_HEIGHT - 1.0f); // Exchange velocities with damping float tempVelX = particles[i].velocity.x; float tempVelY = particles[i].velocity.y; particles[i].velocity.x = particles[j].velocity.x * DAMPING; particles[i].velocity.y = particles[j].velocity.y * DAMPING; particles[j].velocity.x = tempVelX * DAMPING; particles[j].velocity.y = tempVelY * DAMPING; } } } } void initMPU6050() { Serial.println("Initializing MPU6050..."); mpu.initialize(); if (!mpu.testConnection()) { Serial.println("MPU6050 connection failed!"); while (1) { delay(100); } } mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2); Serial.println("MPU6050 initialized"); } void initLEDs() { Serial.println("Initializing LEDs..."); FastLED.addLeds<WS2812B, LED_PIN, GRB>(leds, NUM_LEDS); FastLED.setBrightness(BRIGHTNESS); FastLED.clear(true); Serial.println("LEDs initialized"); } void initParticles() { Serial.println("Initializing particles..."); int index = 0; for (int y = MATRIX_HEIGHT - 4; y < MATRIX_HEIGHT; y++) { for (int x = 0; x < MATRIX_WIDTH && index < FLUID_PARTICLES; x++) { Serial.printf("Initializing particle %d at x=%d, y=%d\n", index, x, y); particles[index].position = {static_cast<float>(x), static_cast<float>(y)}; particles[index].velocity = {0.0f, 0.0f}; index++; } } Serial.printf("Total particles initialized: %d\n", index); Serial.println("Particles initialized"); } void MPUTask(void *parameter) { while (true) { int16_t ax, ay, az; mpu.getAcceleration(&ax, &ay, &az); portENTER_CRITICAL(&dataMux); acceleration.x = -constrain(ax / 16384.0f, -1.0f, 1.0f); acceleration.y = constrain(ay / 16384.0f, -1.0f, 1.0f); portEXIT_CRITICAL(&dataMux); vTaskDelay(pdMS_TO_TICKS(10)); } } void LEDTask(void *parameter) { TickType_t xLastWakeTime = xTaskGetTickCount(); const TickType_t xFrequency = pdMS_TO_TICKS(16); while (true) { updateParticles(); drawParticles(); vTaskDelayUntil(&xLastWakeTime, xFrequency); } } void setup() { Serial.begin(115200); delay(1000); Serial.println("Starting initialization..."); Wire.begin(SDA_PIN, SCL_PIN); Wire.setClock(400000); initMPU6050(); initLEDs(); initParticles(); xTaskCreatePinnedToCore( MPUTask, "MPUTask", 4096, NULL, 2, NULL, 0 ); xTaskCreatePinnedToCore( LEDTask, "LEDTask", 4096, NULL, 1, NULL, 1 ); Serial.println("Setup complete"); } void loop() { vTaskDelete(NULL); }
CODE Colors Button
C/C++
// colors: 0 = Red, 32 = Orange, 64 = Yellow, 96 = Green, 128 = Aqua, 160 = Blue, 192 = Purple, 224 = Pink // Pin definitions // Structures struct Vector2D { float x; float y; }; struct Particle { Vector2D position; Vector2D velocity; }; // Global variables CRGB leds[NUM_LEDS]; MPU6050 mpu; Particle particles[FLUID_PARTICLES]; Vector2D acceleration = {0, 0}; // Color switching variables uint8_t currentColorIndex = 0; unsigned long lastDebounceTime = 0; const unsigned long debounceDelay = 200; // Define the colors (you can change these hue values) const uint8_t COLORS[NUM_COLORS] = { 160, // Blue 0, // Red 96 // Green }; // Mutex for synchronization portMUX_TYPE dataMux = portMUX_INITIALIZER_UNLOCKED; // Constants for physics const float GRAVITY = 0.08f; //0.3f /098f const float DAMPING = 0.92f; //0.99f /0.9f const float MAX_VELOCITY = 0.6f; //0.6f /2.9f // Function prototypes void initMPU6050(); void initLEDs(); void initParticles(); void updateParticles(); void drawParticles(); void MPUTask(void *parameter); void LEDTask(void *parameter); void checkButton(); // Function to convert x,y coordinates to LED index int xy(int x, int y) { x = constrain(x, 0, MATRIX_WIDTH - 1); y = constrain(y, 0, MATRIX_HEIGHT - 1); return (y & 1) ? (y * MATRIX_WIDTH + (MATRIX_WIDTH - 1 - x)) : (y * MATRIX_WIDTH + x); } void checkButton() { static bool lastButtonState = HIGH; bool buttonState = digitalRead(BUTTON_PIN); if (buttonState == LOW && lastButtonState == HIGH) { // Button pressed if ((millis() - lastDebounceTime) > debounceDelay) { currentColorIndex = (currentColorIndex + 1) % NUM_COLORS; lastDebounceTime = millis(); } } lastButtonState = buttonState; } void drawParticles() { FastLED.clear(); bool occupied[MATRIX_WIDTH][MATRIX_HEIGHT] = {{false}}; struct ParticleIndex { int index; float position; }; ParticleIndex sortedParticles[FLUID_PARTICLES]; for (int i = 0; i < FLUID_PARTICLES; i++) { sortedParticles[i].index = i; sortedParticles[i].position = particles[i].position.y * MATRIX_WIDTH + particles[i].position.x; } for (int i = 0; i < FLUID_PARTICLES - 1; i++) { for (int j = 0; j < FLUID_PARTICLES - i - 1; j++) { if (sortedParticles[j].position > sortedParticles[j + 1].position) { ParticleIndex temp = sortedParticles[j]; sortedParticles[j] = sortedParticles[j + 1]; sortedParticles[j + 1] = temp; } } } for (int i = 0; i < FLUID_PARTICLES; i++) { int particleIndex = sortedParticles[i].index; int x = round(particles[particleIndex].position.x); int y = round(particles[particleIndex].position.y); x = constrain(x, 0, MATRIX_WIDTH - 1); y = constrain(y, 0, MATRIX_HEIGHT - 1); if (!occupied[x][y]) { int index = xy(x, y); if (index >= 0 && index < NUM_LEDS) { float speed = sqrt( particles[particleIndex].velocity.x * particles[particleIndex].velocity.x + particles[particleIndex].velocity.y * particles[particleIndex].velocity.y ); uint8_t hue = COLORS[currentColorIndex]; uint8_t sat = 255; uint8_t val = constrain(180 + (speed * 50), 180, 255); leds[index] = CHSV(hue, sat, val); occupied[x][y] = true; } } else { for (int r = 1; r < 3; r++) { for (int dx = -r; dx <= r; dx++) { for (int dy = -r; dy <= r; dy++) { if (abs(dx) + abs(dy) == r) { int newX = x + dx; int newY = y + dy; if (newX >= 0 && newX < MATRIX_WIDTH && newY >= 0 && newY < MATRIX_HEIGHT && !occupied[newX][newY]) { int index = xy(newX, newY); if (index >= 0 && index < NUM_LEDS) { leds[index] = CHSV(COLORS[currentColorIndex], 255, 180); occupied[newX][newY] = true; goto nextParticle; } } } } } } nextParticle: continue; } } FastLED.show(); } void updateParticles() { Vector2D currentAccel; portENTER_CRITICAL(&dataMux); currentAccel = acceleration; portEXIT_CRITICAL(&dataMux); currentAccel.x *= 0.3f; currentAccel.y *= 0.3f; for (int i = 0; i < FLUID_PARTICLES; i++) { particles[i].velocity.x = particles[i].velocity.x * 0.9f + (currentAccel.x * GRAVITY); particles[i].velocity.y = particles[i].velocity.y * 0.9f + (currentAccel.y * GRAVITY); particles[i].velocity.x = constrain(particles[i].velocity.x, -MAX_VELOCITY, MAX_VELOCITY); particles[i].velocity.y = constrain(particles[i].velocity.y, -MAX_VELOCITY, MAX_VELOCITY); float newX = particles[i].position.x + particles[i].velocity.x; float newY = particles[i].position.y + particles[i].velocity.y; if (newX < 0.0f) { newX = 0.0f; particles[i].velocity.x = fabs(particles[i].velocity.x) * DAMPING; } else if (newX >= (MATRIX_WIDTH - 1)) { newX = MATRIX_WIDTH - 1; particles[i].velocity.x = -fabs(particles[i].velocity.x) * DAMPING; } if (newY < 0.0f) { newY = 0.0f; particles[i].velocity.y = fabs(particles[i].velocity.y) * DAMPING; } else if (newY >= (MATRIX_HEIGHT - 1)) { newY = MATRIX_HEIGHT - 1; particles[i].velocity.y = -fabs(particles[i].velocity.y) * DAMPING; } particles[i].position.x = constrain(newX, 0.0f, MATRIX_WIDTH - 1); particles[i].position.y = constrain(newY, 0.0f, MATRIX_HEIGHT - 1); particles[i].velocity.x *= 0.95f; particles[i].velocity.y *= 0.95f; } for (int i = 0; i < FLUID_PARTICLES; i++) { for (int j = i + 1; j < FLUID_PARTICLES; j++) { float dx = particles[j].position.x - particles[i].position.x; float dy = particles[j].position.y - particles[i].position.y; float distanceSquared = dx * dx + dy * dy; if (distanceSquared < 1.0f) { float distance = sqrt(distanceSquared); float angle = atan2(dy, dx); float repulsionX = cos(angle) * 0.5f; float repulsionY = sin(angle) * 0.5f; particles[i].position.x -= repulsionX * 0.3f; particles[i].position.y -= repulsionY * 0.3f; particles[j].position.x += repulsionX * 0.3f; particles[j].position.y += repulsionY * 0.3f; Vector2D avgVel = { (particles[i].velocity.x + particles[j].velocity.x) * 0.5f, (particles[i].velocity.y + particles[j].velocity.y) * 0.5f }; particles[i].velocity = avgVel; particles[j].velocity = avgVel; } } } } void initMPU6050() { Serial.println("Initializing MPU6050..."); mpu.initialize(); if (!mpu.testConnection()) { Serial.println("MPU6050 connection failed!"); while (1) { delay(100); } } mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2); Serial.println("MPU6050 initialized"); } void initLEDs() { Serial.println("Initializing LEDs..."); FastLED.addLeds<WS2812B, LED_PIN, GRB>(leds, NUM_LEDS); FastLED.setBrightness(BRIGHTNESS); FastLED.clear(true); Serial.println("LEDs initialized"); } void initParticles() { Serial.println("Initializing particles..."); int index = 0; for (int y = MATRIX_HEIGHT - 4; y < MATRIX_HEIGHT; y++) { for (int x = 0; x < MATRIX_WIDTH && index < FLUID_PARTICLES; x++) { particles[index].position = {static_cast<float>(x), static_cast<float>(y)}; particles[index].velocity = {0.0f, 0.0f}; index++; } } Serial.printf("Total particles initialized: %d\n", index); } void MPUTask(void *parameter) { while (true) { int16_t ax, ay, az; mpu.getAcceleration(&ax, &ay, &az); portENTER_CRITICAL(&dataMux); acceleration.x = -constrain(ax / 16384.0f, -1.0f, 1.0f); acceleration.y = constrain(ay / 16384.0f, -1.0f, 1.0f); portEXIT_CRITICAL(&dataMux); vTaskDelay(pdMS_TO_TICKS(10)); } } void LEDTask(void *parameter) { TickType_t xLastWakeTime = xTaskGetTickCount(); const TickType_t xFrequency = pdMS_TO_TICKS(16); while (true) { checkButton(); updateParticles(); drawParticles(); vTaskDelayUntil(&xLastWakeTime, xFrequency); } } void setup() { Serial.begin(115200); delay(1000); Serial.println("Starting initialization..."); // Initialize button pin pinMode(BUTTON_PIN, INPUT_PULLUP); Wire.begin(SDA_PIN, SCL_PIN); Wire.setClock(400000); initMPU6050(); initLEDs(); initParticles(); xTaskCreatePinnedToCore( MPUTask, "MPUTask", 4096, NULL, 2, NULL, 0 ); xTaskCreatePinnedToCore( LEDTask, "LEDTask", 4096, NULL, 1, NULL, 1 ); Serial.println("Setup complete"); } void loop() { vTaskDelete(NULL); }
Schematic and Layout
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Feb 20,2025
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ESP32 Fluid simulation on 16x16 Led Matrix
This is a simple visually interesting toy for describing fluid dynamics.
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Published: Feb 20,2025
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