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"); }