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 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);
}
}