public void DisplayMotion()
{
if (displayModeRefresh == false)
{
display.Clear();
title = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 38, 17, 120, 15);
label1 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 20, 72, 130, 15);
label2 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 20, 92, 130, 15);
rect1 = display.AddRectSprite(DisplayModule.Color.White, 20, 52, 120, 10);
displayModeRefresh = true;
}
if (title == null || label1 == null || label2 == null || rect1 == null)
{
display.Clear();
title = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 38, 17, 120, 15);
label1 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 20, 72, 130, 15);
label2 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 20, 92, 130, 15);
rect1 = display.AddRectSprite(DisplayModule.Color.White, 20, 52, 120, 10);
}
string colorString = "0x00";
string red, blue, green;
int colorInt = (int)System.Math.Round(output / 4096 / analog0 * 100);
if (colorInt > 0)
{
blue = (100 - colorInt).ToString("X2");
green = "ff";
red = (100 - colorInt).ToString("X2");
}
else if (colorInt < 0)
{
blue = (100 + colorInt).ToString("X2");
green = (100 + colorInt).ToString("X2");
red = "ff";
}
else
{
blue = "ff";
green = "ff";
red = "ff";
}
colorString = colorString + blue + green + red;
rect1.SetColor((DisplayModule.Color)Convert.ToInt32(colorString, 16));
label1.SetText("Ticks: " + ((int)System.Math.Round(output)).ToString());
label2.SetText("Rotations: " + ((double)(output / 4096)).ToString());
title.SetText("Motion Magic");
}
public VerticalGauge(DisplayModule displayModule, int x, int y, int height, int width, DisplayModule.Color topCol, DisplayModule.Color btmCol)
{
_displayModule = displayModule;
_x = x;
_y = y;
_height = height;
_width = width;
_top = 0;
_btm = height;
_topCol = topCol;
_btmCol = btmCol;
_backRect = _displayModule.AddRectSprite(DisplayModule.Color.White, x, _y, width + 2, _top + _btm + 5);
_topRect = _displayModule.AddRectSprite(_topCol, _x + 1, _y + 1, _width, _top + 1);
_btmRect = _displayModule.AddRectSprite(_btmCol, _x + 1, _y + 1 + _top + 1, _width, _btm + 1);
}
public HorizGauge(DisplayModule displayModule, int x, int y, int height, int width, DisplayModule.Color topCol, DisplayModule.Color btmCol)
{
_displayModule = displayModule;
_x = x;
_y = y;
_height = height;
_width = width;
_left = 0;
_rght = width;
_leftCol = topCol;
_rghtCol = btmCol;
_backRect = _displayModule.AddRectSprite(DisplayModule.Color.White, x, _y, _left + _rght + 4, _height + 2);
_leftRect = _displayModule.AddRectSprite(_leftCol, _x + 1, _y + 1, _left + 1, _height);
_rghtRect = _displayModule.AddRectSprite(_rghtCol, _x + 1 + _left + 1, _y + 1, _rght + 1, _height);
}
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 void DisplayPiston()
{
if (displayModeRefresh == false)
{
title = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 36, 17, 120, 15);
label1 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 70, 56, 80, 15);
label2 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 70, 76, 80, 15);
label3 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 70, 96, 80, 15);
rect1 = display.AddRectSprite(DisplayModule.Color.White, 10, 55, 18, 55);
rect2 = display.AddRectSprite(DisplayModule.Color.White, 37, 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, 36, 17, 120, 15);
label1 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 70, 56, 80, 15);
label2 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 70, 76, 80, 15);
label3 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 70, 96, 80, 15);
rect1 = display.AddRectSprite(DisplayModule.Color.White, 10, 55, 18, 55);
rect2 = display.AddRectSprite(DisplayModule.Color.White, 37, 55, 18, 55);
}
if (pistonState == true)
{
rect1.SetColor(DisplayModule.Color.Blue);
label1.SetText("State: Out");
}
else
{
rect1.SetColor(DisplayModule.Color.White);
label1.SetText("State: In");
}
string colorString = "0x00";
string red, blue, green;
int colorInt = (int)System.Math.Round(yAxisB * 100);
if (colorInt > 0)
{
blue = (100 - colorInt).ToString("X2");
green = "ff";
red = (100 - colorInt).ToString("X2");
}
else if (colorInt < 0)
{
blue = (100 + colorInt).ToString("X2");
green = (100 + colorInt).ToString("X2");
red = "ff";
}
else
{
blue = "ff";
green = "ff";
red = "ff";
}
colorString = colorString + blue + green + red;
rect2.SetColor((DisplayModule.Color)Convert.ToInt32(colorString, 16));
label2.SetText("Speed: " + (int)System.Math.Round(yAxisB * 1000));
label3.SetText("Sleep: " + tSleep.ToString() + "ms");
title.SetText("Pneumatic Control");
}
public void DisplayValues()
{
if (displayModeRefresh == false)
{
title = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 37, 17, 120, 15);
label1 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 15, 44, 120, 15);
label2 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 15, 64, 120, 15);
label3 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 15, 84, 120, 15);
label4 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 15, 104, 120, 15);
rect1 = display.AddRectSprite(DisplayModule.Color.White, 128, 44, 15, 15);
rect2 = display.AddRectSprite(DisplayModule.Color.White, 128, 64, 15, 15);
rect3 = display.AddRectSprite(DisplayModule.Color.White, 128, 84, 15, 15);
rect4 = display.AddRectSprite(DisplayModule.Color.White, 128, 104, 15, 15);
displayModeRefresh = true;
}
if (title == null || label1 == null || label2 == null || label3 == null || label4 == null || rect1 == null || rect2 == null || rect3 == null || rect4 == null)
{
display.Clear();
title = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 37, 17, 120, 15);
label1 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 15, 44, 120, 15);
label2 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 15, 64, 120, 15);
label3 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 15, 84, 120, 15);
label4 = display.AddLabelSprite(ninaB, DisplayModule.Color.White, 15, 104, 120, 15);
rect1 = display.AddRectSprite(DisplayModule.Color.White, 128, 44, 15, 15);
rect2 = display.AddRectSprite(DisplayModule.Color.White, 128, 64, 15, 15);
rect3 = display.AddRectSprite(DisplayModule.Color.White, 128, 84, 15, 15);
rect4 = display.AddRectSprite(DisplayModule.Color.White, 128, 104, 15, 15);
}
if (xState == true)
{
rect1.SetColor(DisplayModule.Color.Green);
}
else
{
rect1.SetColor(DisplayModule.Color.White);
}
if (yState == true)
{
rect2.SetColor(DisplayModule.Color.Green);
}
else
{
rect2.SetColor(DisplayModule.Color.White);
}
if (aState == true)
{
rect3.SetColor(DisplayModule.Color.Green);
}
else
{
rect3.SetColor(DisplayModule.Color.White);
}
if (bState == true)
{
rect4.SetColor(DisplayModule.Color.Green);
}
else
{
rect4.SetColor(DisplayModule.Color.White);
}
label1.SetText("Button X: " + ((int)System.Math.Round(xSave)).ToString());
label2.SetText("Button Y: " + ((int)System.Math.Round(ySave)).ToString());
label3.SetText("Button B: " + ((int)System.Math.Round(bSave)).ToString());
label4.SetText("Button A: " + ((int)System.Math.Round(aSave)).ToString());
title.SetText("Motion Values");
}
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");
}
