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"); }