/** Initialize Display Module elements */
static void InitDisplayModule()
{
_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(
Hero_DisplayBoard.Properties.Resources.ResourceManager,
Hero_DisplayBoard.Properties.Resources.BinaryResources.ch2,
Bitmap.BitmapImageType.Jpeg,
30, 100);
_rightCrossHair = _DisplayModule.AddResourceImageSprite(
Hero_DisplayBoard.Properties.Resources.ResourceManager,
Hero_DisplayBoard.Properties.Resources.BinaryResources.ch2,
Bitmap.BitmapImageType.Jpeg,
100, 100);
_labelTitle = _DisplayModule.AddLabelSprite(_bigFont, DisplayModule.Color.White, 40, 0, 80, 16);
_labelRow1 = _DisplayModule.AddLabelSprite(_smallFont, DisplayModule.Color.White, 30, 46, 100, 15);
_labelRow2 = _DisplayModule.AddLabelSprite(_smallFont, DisplayModule.Color.White, 30, 58, 100, 15);
_labelRow3 = _DisplayModule.AddLabelSprite(_smallFont, DisplayModule.Color.White, 30, 70, 100, 15);
}
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;
}
}
public static void Main()
{
//CSK 10/22/2019 .Follow method tells the follower motor to do whatever the lead motor does
//The
//Simplifies code a little bit
leftdrive2.Follow(leftdrive1, FollowerType.PercentOutput);
rightdrive2.Follow(rightdrive1, FollowerType.PercentOutput);
//brushlessTest.Follow(rightdrive1, FollowerType.PercentOutput);
#if (HASDISPLAY)
_AMLogo = _displayModule.AddResourceImageSprite(Properties.Resources.ResourceManager,
Properties.Resources.BinaryResources.andymark_logo_160x26,
Bitmap.BitmapImageType.Jpeg,
0, 0);
_labelTitle = _displayModule.AddLabelSprite(_bigFont, DisplayModule.Color.White, 0, 28, 160, 15);
_labelBtn = _displayModule.AddLabelSprite(_smallFont, DisplayModule.Color.Cyan, 30, 60, 100, 10);
_leftCrossHair = _displayModule.AddResourceImageSprite(Properties.Resources.ResourceManager,
Properties.Resources.BinaryResources.crosshair,
Bitmap.BitmapImageType.Jpeg,
lftCrossHairOrigin, 100);
_rightCrossHair = _displayModule.AddResourceImageSprite(Properties.Resources.ResourceManager,
Properties.Resources.BinaryResources.crosshair,
Bitmap.BitmapImageType.Jpeg,
rtCrossHairOrigin, 100);
_labelThrottle = _displayModule.AddLabelSprite(_bigFont, DisplayModule.Color.White, 0, 45, 75, 15);
_labelSteering = _displayModule.AddLabelSprite(_bigFont, DisplayModule.Color.White, 80, 45, 75, 15);
#endif
/* loop forever */
while (true)
{
if (_gamepad.GetConnectionStatus() == CTRE.Phoenix.UsbDeviceConnection.Connected)
{
/* feed watchdog to keep Talon's enabled */
CTRE.Phoenix.Watchdog.Feed();
}
/* drive robot using gamepad */
Drive();
}
}
/* 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 void RunForever()
{
_main = _displayModule.AddResourceImageSprite(
DisplayModule_FuelGauge_Example.Properties.Resources.ResourceManager,
DisplayModule_FuelGauge_Example.Properties.Resources.BinaryResources.main,
Bitmap.BitmapImageType.Bmp,
0, 0);
_cursor = _displayModule.AddResourceImageSprite(
DisplayModule_FuelGauge_Example.Properties.Resources.ResourceManager,
DisplayModule_FuelGauge_Example.Properties.Resources.BinaryResources.cur,
Bitmap.BitmapImageType.Bmp,
45, 40);
double cursorPos = 40;
double cursorVel = 1;
System.Random random = new System.Random();
while (true)
{
cursorPos += cursorVel;
//// Randomize cursor
//if (cursorVel > 0)
// cursorVel = +1.0 * random.NextDouble() + 0.1; // ensure positive
//else if (cursorVel < 0)
// cursorVel = -1.0 * random.NextDouble() - 0.1; // ensure negative
if (cursorPos > 55)
{
cursorPos = 55;
cursorVel = -1;
}
if (cursorPos < 5)
{
cursorPos = 5;
cursorVel = +1;
}
_cursor.SetPosition(45, (int)cursorPos);
Thread.Sleep(100);
}
}
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 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()
{
//vvvCSK 10/28/2019 Copied from CTRE HeroPixyDrive examplevvv
/* Forword/Backward Scalor */
const float kScalarX = 0.50f;
/* Left/Right Scalor */
const float kScalarY = 0.50f;
/* Turning Scalor */
const float kScalarTwist = 0.30f;
/* Ramp Rate */
const float kVoltageRampSec = 0.25f;
//^^^CSK 10/28/2019 Copied from CTRE HeroPixyDrive example^^^
/* Configure Talons to operate in percentage VBus mode, and Ramp Up Voltage*/
#if TALONSRX
foreach (TalonSRX temp in Talons)
#else
foreach (VictorSPX temp in Victors)
#endif
{
temp.Set(ControlMode.PercentOutput, 0);
temp.ConfigOpenloopRamp(kVoltageRampSec);
}
//^^^CSK 10/28/2019 Copied from CTRE HeroPixyDrive example^^^
#if (HASDISPLAY)
_AMLogo = _displayModule.AddResourceImageSprite(Properties.Resources.ResourceManager,
Properties.Resources.BinaryResources.andymark_logo_160x26,
Bitmap.BitmapImageType.Jpeg,
0, 0);
_labelTitle = _displayModule.AddLabelSprite(_bigFont, DisplayModule.Color.White, 0, 28, 160, 15);
_labelBtn = _displayModule.AddLabelSprite(_smallFont, DisplayModule.Color.Cyan, 30, 60, 100, 10);
_leftCrossHair = _displayModule.AddResourceImageSprite(Properties.Resources.ResourceManager,
Properties.Resources.BinaryResources.crosshair,
Bitmap.BitmapImageType.Jpeg,
lftCrossHairOrigin, 100);
_rightCrossHair = _displayModule.AddResourceImageSprite(Properties.Resources.ResourceManager,
Properties.Resources.BinaryResources.crosshair,
Bitmap.BitmapImageType.Jpeg,
rtCrossHairOrigin, 100);
//CSK 10/29/2019 This tells the display where to put the motor "speed" info on the screen
_labelFrontMotors = _displayModule.AddLabelSprite(_bigFont, DisplayModule.Color.White, 2, 30, 134, 15);
_labelRearMotors = _displayModule.AddLabelSprite(_bigFont, DisplayModule.Color.White, 7, 45, 128, 15);
#endif
/* loop forever */
while (true)
{
if (_gamepad.GetConnectionStatus() == CTRE.Phoenix.UsbDeviceConnection.Connected)
{
/* feed watchdog to keep Talon's enabled */
CTRE.Phoenix.Watchdog.Feed();
}
/* Regular mecanum drive that is scaled and Gamepad joysticks have been adjusted */
//CSK 10/30/2019 With "standard" AM FRC wiring (M+ to redline terminal with bump) rotation is counter clockwise
//Based on this wiring signs have been applied to make motion match the joystick control expectations
float X = -1 * _gamepad.GetAxis(LEFT_JOY_X);
float Y = _gamepad.GetAxis(LEFT_JOY_Y);
float Twist = -1 * _gamepad.GetAxis(RIGHT_JOY_X);
MecanumDrive(Y * kScalarY, X * kScalarX, Twist * kScalarTwist);
}
}
