public void updateConnected(bool connected)
{
String value = connected ? "Connected" : "No Gamepad";
if (cd_connected.valueChanged(value))
{
_labelConnected.SetText(value);
_labelConnected.SetColor(connected ? DisplayModule.Color.Green : DisplayModule.Color.Red);
}
}
public void DisplayInit()
{
if (displayModeRefresh == false)
{
image = display.AddResourceImageSprite(Properties.Resources.ResourceManager, Properties.Resources.BinaryResources.img, Bitmap.BitmapImageType.Jpeg, 44, 16);
title = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 36, 99, 100, 30);
title.SetText("TAS Robotics");
displayModeRefresh = true;
}
}
/* main functions */
private static void runForever() //runs forever
{
byte [] readData = new byte[4];
eeprom.ReadBytes(eepromAddr, readData, 4);
uint selectedAuton = (uint)(readData[0] % autonList.Length); //inialize the selected auton to 0
uint lastSelect = 0; //last selected auton
bool pressed = false; //button debounce stuff
bool lastPress = false; //button debounce stuff
DisplayModule.LabelSprite header = displayModule.AddLabelSprite(SMALLFONT, WHITE, 5, 5, 118, 16); //Makes text object for headers
header.SetText("Selected Actual"); //spaces for spacing
DisplayModule.LabelSprite[] list = new DisplayModule.LabelSprite[autonList.Length]; //array of text objects
for (int i = 0; i < autonList.Length; i++)
{
list[i] = displayModule.AddLabelSprite(SMALLFONT, WHITE, 18, 26 + 13 * i, 91, 13); //Makes text object for list of autons
list[i].SetText(autonList[i]); //sets text to the string on top
}
check = displayModule.AddResourceImageSprite(Properties.Resources.ResourceManager,
Properties.Resources.BinaryResources._checked,
Bitmap.BitmapImageType.Jpeg, 5, 29 + 13 * (int)selectedAuton); //generates a cursor arrow
retcheck = displayModule.AddResourceImageSprite(Properties.Resources.ResourceManager,
Properties.Resources.BinaryResources.green_check,
Bitmap.BitmapImageType.Jpeg, 110, 29 + 13 * (int)selectedAuton); //generates a green check from RIO
while (true) //loop forever
{
pressed = HeroButton.Read(); //checks for button press
if (pressed != lastPress && pressed == true)
{
selectedAuton++; //move to next auton
selectedAuton = selectedAuton % (uint)list.Length; //wraps the cursor around
byte [] toWrite = new byte[4];
toWrite[0] = (byte)selectedAuton;
eeprom.WriteBytes(eepromAddr, toWrite, 4);
}
lastPress = pressed; //debounce
sendAuton(selectedAuton, 1, 100); //send 1 byte every 100ms, 0-255 auton mode
uint rioAuton = (uint)loadAuton(1); //get 1 byte for RIO auton return
disp(list, selectedAuton, lastSelect, rioAuton);
lastSelect = selectedAuton;
}
}
public static void Main()
{
// Game Controller
GameController gamepad = new GameController(UsbHostDevice.GetInstance());
// NinaB Font
Font ninaB = Properties.Resources.GetFont(Properties.Resources.FontResources.NinaB);
// Initializing a display module: DisplayModule(port, orientation)
DisplayModule displayModule = new DisplayModule(CTRE.HERO.IO.Port8, DisplayModule.OrientationType.Landscape);
while (true)
{
// Connect the game controller first so that the sprites show up
if (gamepad.GetConnectionStatus() == UsbDeviceConnection.Connected)
{
// Erases everything on the display
displayModule.Clear();
// Adding labels: [Display Module Name].AddLabelSprite(font, colour, x_pos, y_pos, width, height)
DisplayModule.LabelSprite title = displayModule.AddLabelSprite(ninaB, DisplayModule.Color.White, 27, 17, 120, 15);
DisplayModule.LabelSprite x_label = displayModule.AddLabelSprite(ninaB, DisplayModule.Color.White, 80, 65, 80, 15);
DisplayModule.LabelSprite y_label = displayModule.AddLabelSprite(ninaB, DisplayModule.Color.White, 80, 85, 80, 15);
// Adding rectangles: [Display Module Name].AddRectSprite(colour, x_pos, y_pos, width, height)
DisplayModule.RectSprite x_rect = displayModule.AddRectSprite(DisplayModule.Color.White, 20, 55, 18, 55);
DisplayModule.RectSprite y_rect = displayModule.AddRectSprite(DisplayModule.Color.White, 47, 55, 18, 55);
// Everything gets cleared when the game controller is unplugged
while (gamepad.GetConnectionStatus() == UsbDeviceConnection.Connected)
{
// Declares and resets the joystick
double x_value = gamepad.GetAxis(0);
double y_value = -gamepad.GetAxis(1);
if (x_value < 0.05 && x_value > -0.05)
{
x_value = 0;
}
if (y_value < 0.05 && y_value > -0.05)
{
y_value = 0;
}
// Changes the color of the rectangle (x-value of the left joystick): [Rectangle Name].SetColor(colour)
if (x_value > 0.05)
{
x_rect.SetColor(DisplayModule.Color.Green);
}
else if (x_value < -0.05)
{
x_rect.SetColor(DisplayModule.Color.Red);
}
else
{
x_rect.SetColor(DisplayModule.Color.White);
}
// Changes the color of the rectangle (y-value of the left joystick): [Rectangle Name].SetColor(colour)
if (y_value > 0.05)
{
y_rect.SetColor(DisplayModule.Color.Green);
}
else if (y_value < -0.05)
{
y_rect.SetColor(DisplayModule.Color.Red);
}
else
{
y_rect.SetColor(DisplayModule.Color.White);
}
// Sets the text that the label displays: [Label Name].SetText(text: string)
title.SetText("Joystick Control");
x_label.SetText("X: " + x_value.ToString());
y_label.SetText("Y: " + y_value.ToString());
}
}
else
{
// Erases everything on the display
displayModule.Clear();
// Adding images: [Display Module Name].AddResourceImageSprite(resource_manager, img_ID, img_type, x_pos, y_pos)
DisplayModule.ResourceImageSprite image = displayModule.AddResourceImageSprite(Properties.Resources.ResourceManager, Properties.Resources.BinaryResources.img, Bitmap.BitmapImageType.Jpeg, 44, 16);
// Adding labels: [Display Module Name].AddLabelSprite(font, colour, x_pos, y_pos, width, height)
DisplayModule.LabelSprite text = displayModule.AddLabelSprite(ninaB, DisplayModule.Color.White, 36, 99, 100, 30);
// Sets the text that the label displays: [Label Name].SetText(text: string)
text.SetText("TAS Robotics");
// Keeps the image and text while the gamepad is unplugged
while (gamepad.GetConnectionStatus() == UsbDeviceConnection.NotConnected)
{
}
}
System.Threading.Thread.Sleep(100);
}
}
public static void Main()
{
/* Initialize Display Module elements */
InitDisplayModule();
/* Initialize Talon and Victor with various configurations */
InitMotors();
/* LED Variables */
float _Brightness = 0.25f; /* Default LED Brightness */
Boolean On = true; /* Color Flashing state */
byte i = 0; /* Color Duration track variable for flashing */
int colorDelay = 0; /* Color Duration track variable for Sequence speed */
/* State variables */
DriveState MotionState = DriveState.MotionMagicTalon;
LEDState OperationState = LEDState.Pigeon;
/* Buttons and boolean for motor control */
Boolean lastButton1 = false;
Boolean lastButton2 = false;
Boolean lastButton3 = false;
Boolean lastbutton4 = false;
while (true)
{
/* Check gamepad connection */
if (_Gamepad.GetConnectionStatus() == CTRE.Phoenix.UsbDeviceConnection.Connected)
{
OperationState = LEDState.Controller;
}
else
{
OperationState = LEDState.Pigeon;
}
if (OperationState == LEDState.Controller)
{
CTRE.Phoenix.Watchdog.Feed();
if (_Battery.IsLow())
{
_labelTitle.SetText("Low voltage");
_labelTitle.SetColor(DisplayModule.Color.Red);
}
else
{
_labelTitle.SetText("Controller");
_labelTitle.SetColor(DisplayModule.Color.Green);
}
/* Get gamepad values */
float LeftX = _Gamepad.GetAxis(0);
float LeftY = _Gamepad.GetAxis(1);
float RightY = _Gamepad.GetAxis(5);
float RightX = _Gamepad.GetAxis(2);
/* Deadband gamepad values */
CTRE.Phoenix.Util.Deadband(ref LeftX);
CTRE.Phoenix.Util.Deadband(ref LeftY);
CTRE.Phoenix.Util.Deadband(ref RightX);
CTRE.Phoenix.Util.Deadband(ref RightY);
/* Update Guages */
UpdateGauge(_leftX, LeftX);
UpdateGauge(_leftY, LeftY);
UpdateGauge(_rightX, RightX);
UpdateGauge(_rightY, RightY);
/* Update Crosshairs */
_leftCrossHair.SetPosition((int)(30 + 15 * LeftX), 100 + (int)(15 * LeftY));
_rightCrossHair.SetPosition((int)(100 + 15 * RightX), 100 + (int)(15 * RightY));
/* Get single button presses to control MotionState */
Boolean Button1 = _Gamepad.GetButton(1);
Boolean Button2 = _Gamepad.GetButton(2);
Boolean Button3 = _Gamepad.GetButton(3);
Boolean Button4 = _Gamepad.GetButton(4);
if (Button1 && !lastButton1)
{
MotionState = DriveState.MotionMagicTalon;
}
else if (Button2 && !lastButton2)
{
MotionState = DriveState.PercentOutputBoth;
}
else if (Button3 && !lastButton3)
{
MotionState = DriveState.MotionMagicVictor;
}
else if (Button4 && !lastbutton4)
{
MotionState = DriveState.SensorReset;
}
lastButton1 = Button1;
lastButton2 = Button2;
lastButton3 = Button3;
lastbutton4 = Button4;
/* Controls Motoroutput based on MotionState */
MotorDriveControl(-LeftY, MotionState);
if (LeftX != 0 || LeftY != 0)
{
/** Left joystick in use, stop color cycling and give user control */
/* Grab brightness from the right joystick ([-1,1] + 1 * 0.5 => [0,1]) */
float Brightness = (RightY - 1f) * -0.5f;
_Brightness = Brightness;
/* Update LED strip with left joystick, right joystick, and brightness */
UpdateLedStrip(Brightness, LeftX, LeftY);
}
else
{
/** Left joystick not in use, start color cycling */
/* You can change the sequence in ColorSequencer.cs by ordering the premade colors or creating your own values */
colorDelay++;
if (colorDelay >= 3)
{
_ColorSequencer.Process();
colorDelay = 0;
}
/* Go through a color sequence at half brightness when idle */
UpdateLedStrip(_Brightness, _ColorSequencer.Red, _ColorSequencer.Green, _ColorSequencer.Blue);
}
}
else if (OperationState == LEDState.Pigeon)
{
if (_Battery.IsLow())
{
_labelTitle.SetText("Low Batt...");
_labelTitle.SetColor(DisplayModule.Color.Red);
}
else
{
_labelTitle.SetText("Pigeon");
_labelTitle.SetColor(DisplayModule.Color.Magenta);
}
/* Check status of Pigeon to see if it is connected */
CTRE.Phoenix.Sensors.PigeonState _PigeonState = _Pigeon.GetState();
if (_PigeonState == CTRE.Phoenix.Sensors.PigeonState.Ready)
{
/** Pigeon connected, giver user tilt control */
/* Pull Yaw, Pitch, and Roll from Pigeon */
float[] YPR = new float[3];
_Pigeon.GetYawPitchRoll(YPR);
float Pitch = YPR[1];
float Roll = YPR[2];
CTRE.Phoenix.Util.Cap(Pitch, 90);
CTRE.Phoenix.Util.Cap(Roll, 90);
float Brightness = 0.5f;
/* Update LED strip */
UpdateLedStrip(Brightness, Pitch / 90, Roll / 90, true);
}
else
{
/* Pigeon is not Ready/Available, so flash us */
i++;
if (i >= 100)
{
On = !On;
i = 0;
}
/* Decide if strip is white or off */
if (On == true)
{
UpdateLedStrip(1, 255, 255, 255); /* White */
}
else if (On == false)
{
UpdateLedStrip(1, 0, 0, 0); /* Off */
}
}
}
int idx = GetFirstButton(_Gamepad);
if (idx < 0)
{
_labelRow1.SetColor((DisplayModule.Color) 0xA0A0A0); // gray RGB
_labelRow2.SetColor((DisplayModule.Color) 0xA0A0A0); // gray RGB
_labelRow3.SetColor((DisplayModule.Color) 0xA0A0A0); // gray RGB
float[] ypr = new float[3];
_Pigeon.GetYawPitchRoll(ypr);
_labelRow1.SetText("Yaw:" + ypr[0]);
_labelRow2.SetText("Pitch:" + ypr[1]);
_labelRow3.SetText("Roll:" + ypr[2]);
}
else
{
switch (idx % 4)
{
case 0: _labelRow1.SetColor(DisplayModule.Color.Cyan); break;
case 1: _labelRow1.SetColor(DisplayModule.Color.Green); break;
case 2: _labelRow1.SetColor(DisplayModule.Color.Red); break;
case 3: _labelRow1.SetColor(DisplayModule.Color.Yellow); break;
}
_labelRow1.SetText("Pressed Button " + idx);
_labelRow2.SetText("");
_labelRow3.SetText("");
}
/* Let he program to sleep for a little */
Thread.Sleep(5);
}
}
public void RunForever()
{
_leftY = new VerticalGauge(_displayModule, 5, 5, 30, 10, DisplayModule.Color.Cyan, DisplayModule.Color.Blue);
_rightY = new VerticalGauge(_displayModule, 135, 5, 30, 10, DisplayModule.Color.Yellow, DisplayModule.Color.Red);
_leftX = new HorizGauge(_displayModule, 35, 30, 10, 30, DisplayModule.Color.Green, DisplayModule.Color.Magenta);
_rightX = new HorizGauge(_displayModule, 85, 30, 10, 30, DisplayModule.Color.Blue, DisplayModule.Color.Orange);
_leftCrossHair = _displayModule.AddResourceImageSprite(
DisplayModule_Example.Properties.Resources.ResourceManager,
DisplayModule_Example.Properties.Resources.BinaryResources.ch2,
Bitmap.BitmapImageType.Jpeg,
30, 100);
_rightCrossHair = _displayModule.AddResourceImageSprite(
DisplayModule_Example.Properties.Resources.ResourceManager,
DisplayModule_Example.Properties.Resources.BinaryResources.ch2,
Bitmap.BitmapImageType.Jpeg,
100, 100);
_labelTitle = _displayModule.AddLabelSprite(_bigFont, DisplayModule.Color.White, 40, 0, 80, 16);
_labelBtn = _displayModule.AddLabelSprite(_smallFont, DisplayModule.Color.White, 30, 50, 100, 15);
while (true)
{
UpdateGauge(_leftX, _gamepad.GetAxis(0));
UpdateGauge(_leftY, _gamepad.GetAxis(1));
UpdateGauge(_rightX, _gamepad.GetAxis(2));
UpdateGauge(_rightY, _gamepad.GetAxis(5));
_leftCrossHair.SetPosition((int)(30 + 15 * _gamepad.GetAxis(0)), 100 + (int)(15 * _gamepad.GetAxis(1)));
_rightCrossHair.SetPosition((int)(100 + 15 * _gamepad.GetAxis(2)), 100 + (int)(15 * _gamepad.GetAxis(5)));
if (_gamepad.GetConnectionStatus() == UsbDeviceConnection.Connected)
{
_labelTitle.SetText("Connected");
_labelTitle.SetColor(DisplayModule.Color.Green);
}
else
{
_labelTitle.SetText("No Gamepad");
_labelTitle.SetColor(DisplayModule.Color.Red);
}
int idx = GetFirstButton(_gamepad);
if (idx < 0)
{
_labelBtn.SetColor((DisplayModule.Color) 0xA0A0A0); // gray RGB
_labelBtn.SetText("No Buttons");
}
else
{
switch (idx % 4)
{
case 0: _labelBtn.SetColor(DisplayModule.Color.Cyan); break;
case 1: _labelBtn.SetColor(DisplayModule.Color.Green); break;
case 2: _labelBtn.SetColor(DisplayModule.Color.Red); break;
case 3: _labelBtn.SetColor(DisplayModule.Color.Yellow); break;
}
_labelBtn.SetText("Pressed Button " + idx);
}
Thread.Sleep(10);
}
}
public static void Main()
{
/* Start the compressor */
_pcm.StartCompressor();
/* Tracking variables */
bool lastCompState = false;
bool CompState = false;
int compStartCount = 0;
long now = DateTime.Now.Ticks;
/* Display Module Elements */
DisplayModule.LabelSprite _labelTitle = _displayModule.AddLabelSprite(_bigFont, DisplayModule.Color.White, 0, 0, 120, 16);
DisplayModule.LabelSprite _labelCnt = _displayModule.AddLabelSprite(_bigFont, DisplayModule.Color.White, 0, 16, 120, 16);
while (true)
{
/* Always enable actuators during this test */
CTRE.Phoenix.Watchdog.Feed();
/* Simple gamepad control */
if (_gamepad.GetButton(2))
{
_talon.Set(ControlMode.PercentOutput, -1.0f);
}
else if (_gamepad.GetButton(4))
{
_talon.Set(ControlMode.PercentOutput, +1.0f);
}
else
{
float y = _gamepad.GetAxis(1);
CTRE.Phoenix.Util.Deadband(ref y);
_talon.Set(ControlMode.PercentOutput, y);
}
#if false
//Switch the compressor on/off
//now = DateTime.Now.Ticks;
//switch (switchState)
//{
// case true:
// if (now - lastSwitch > kOnTime)
// {
// switchState = false;
// lastSwitch = now;
// }
// break;
// case false:
// if (now - lastSwitch > kOffTime)
// {
// switchState = true;
// lastSwitch = now;
// }
// break;
// default:
// break;
//}
//_pcm.SetSolenoidOutput(0, switchState);
#endif
/* Compressor Control */
_pcm.SetSolenoidOutput(0, _pcm.GetPressureSwitchValue());
//Debug.Print("" + _pcm.GetPressureSwitchValue());
/* Compressor Check */
_pcm.GetLowLevelObject().GetCompressorOn(out CompState);
if (CompState && !lastCompState)
{
compStartCount++;
}
lastCompState = CompState;
/* Display Module Output */
_labelTitle.SetText("Comp Start Count:");
_labelCnt.SetText("" + compStartCount);
Thread.Sleep(5);
}
}
public void DisplayOutput()
{
if (displayModeRefresh == false)
{
title = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 34, 17, 120, 15);
label1 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 80, 56, 80, 15);
label2 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 80, 76, 80, 15);
label3 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 80, 96, 80, 15);
rect1 = display.AddRectSprite(DisplayModule.Color.White, 20, 55, 18, 55);
rect2 = display.AddRectSprite(DisplayModule.Color.White, 47, 55, 18, 55);
displayModeRefresh = true;
}
if (title == null || label1 == null || label2 == null || label3 == null || rect1 == null || rect2 == null)
{
display.Clear();
title = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 34, 17, 120, 15);
label1 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 80, 55, 80, 15);
label2 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 80, 75, 80, 15);
label3 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 80, 95, 80, 15);
rect1 = display.AddRectSprite(DisplayModule.Color.White, 20, 55, 18, 55);
rect2 = display.AddRectSprite(DisplayModule.Color.White, 47, 55, 18, 55);
}
string colorStringX = "0x00";
string colorStringY = "0x00";
string redX, blueX, greenX;
string redY, blueY, greenY;
int colorIntX = (int)System.Math.Round(xAxisA * 100);
int colorIntY = (int)System.Math.Round(yAxisA * 100);
if (colorIntX > 0)
{
blueX = (100 - colorIntX).ToString("X2");
greenX = "ff";
redX = (100 - colorIntX).ToString("X2");
}
else if (colorIntX < 0)
{
blueX = (100 + colorIntX).ToString("X2");
greenX = (100 + colorIntX).ToString("X2");
redX = "ff";
}
else
{
blueX = "ff";
greenX = "ff";
redX = "ff";
}
if (colorIntY > 0)
{
blueY = (100 - colorIntY).ToString("X2");
greenY = "ff";
redY = (100 - colorIntY).ToString("X2");
}
else if (colorIntY < 0)
{
blueY = (100 + colorIntY).ToString("X2");
greenY = (100 + colorIntY).ToString("X2");
redY = "ff";
}
else
{
blueY = "ff";
greenY = "ff";
redY = "ff";
}
colorStringX = colorStringX + blueX + greenX + redX;
colorStringY = colorStringY + blueY + greenY + redY;
rect1.SetColor((DisplayModule.Color)Convert.ToInt32(colorStringX, 16));
rect2.SetColor((DisplayModule.Color)Convert.ToInt32(colorStringY, 16));
label1.SetText("X: " + xAxisA.ToString());
label2.SetText("Y: " + yAxisA.ToString());
label3.SetText("Angle: " + ((int)System.Math.Round(angle)).ToString());
title.SetText("Motor Control");
}