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 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");
}