343 lines
8.6 KiB
C
343 lines
8.6 KiB
C
#include "screen_pixytest.h"
|
|
#include "button.h"
|
|
#include "numupdown.h"
|
|
#include "tft.h"
|
|
#include "touch.h"
|
|
#include "pixy.h"
|
|
#include "system.h"
|
|
#include "pixy_helper.h"
|
|
|
|
static volatile enum {detecting, idle,update_servos, update_ledcolor, update_ledcurrent} state; //Current state of the screen state machine
|
|
|
|
static BUTTON_STRUCT b_back;
|
|
|
|
static BUTTON_STRUCT b_servos_center;
|
|
static BUTTON_STRUCT b_servos_topleft;
|
|
static BUTTON_STRUCT b_servos_topright;
|
|
static BUTTON_STRUCT b_servos_bottomleft;
|
|
static BUTTON_STRUCT b_servos_bottomright;
|
|
static uint16_t servo_x;
|
|
static uint16_t servo_y;
|
|
|
|
static BUTTON_STRUCT b_led_off;
|
|
static BUTTON_STRUCT b_led_white;
|
|
static BUTTON_STRUCT b_led_red;
|
|
static BUTTON_STRUCT b_led_green;
|
|
static BUTTON_STRUCT b_led_blue;
|
|
static uint32_t led_color;
|
|
|
|
static uint32_t led_maxcurrent;
|
|
static NUMUPDOWN_STRUCT n_led_powerlimit;
|
|
|
|
|
|
static void b_back_cb(void* button) {
|
|
gui_screen_back();
|
|
}
|
|
|
|
static void b_servos_center_cb(void* button) {
|
|
if(state==idle) {
|
|
servo_x=500;
|
|
servo_y=500;
|
|
state=update_servos;
|
|
}
|
|
}
|
|
|
|
static void b_servos_topleft_cb(void* button) {
|
|
if(state==idle) {
|
|
servo_x=0;
|
|
servo_y=0;
|
|
state=update_servos;
|
|
}
|
|
}
|
|
|
|
static void b_servos_topright_cb(void* button) {
|
|
if(state==idle) {
|
|
servo_x=1000;
|
|
servo_y=0;
|
|
state=update_servos;
|
|
}
|
|
}
|
|
|
|
static void b_servos_bottomleft_cb(void* button) {
|
|
if(state==idle) {
|
|
servo_x=0;
|
|
servo_y=1000;
|
|
state=update_servos;
|
|
}
|
|
}
|
|
|
|
static void b_servos_bottomright_cb(void* button) {
|
|
if(state==idle) {
|
|
servo_x=1000;
|
|
servo_y=1000;
|
|
state=update_servos;
|
|
}
|
|
}
|
|
|
|
static void b_led_off_cb(void* button) {
|
|
if(state==idle) {
|
|
led_color=0x000000;
|
|
state=update_ledcolor;
|
|
}
|
|
}
|
|
|
|
static void b_led_white_cb(void* button) {
|
|
if(state==idle) {
|
|
led_color=0xFFFFFF;
|
|
state=update_ledcolor;
|
|
}
|
|
}
|
|
|
|
static void b_led_red_cb(void* button) {
|
|
if(state==idle) {
|
|
led_color=0xFF0000;
|
|
state=update_ledcolor;
|
|
}
|
|
}
|
|
|
|
static void b_led_green_cb(void* button) {
|
|
if(state==idle) {
|
|
led_color=0x00FF00;
|
|
state=update_ledcolor;
|
|
}
|
|
}
|
|
|
|
static void b_led_blue_cb(void* button) {
|
|
if(state==idle) {
|
|
led_color=0x0000FF;
|
|
state=update_ledcolor;
|
|
}
|
|
}
|
|
|
|
static void n_led_powerlimit_cb(void* numupdown, int16_t value) {
|
|
if(state==idle) {
|
|
led_maxcurrent=value;
|
|
state=update_ledcurrent;
|
|
}
|
|
}
|
|
|
|
static void enter(void* screen) {
|
|
tft_clear(WHITE);
|
|
|
|
//Back button
|
|
b_back.base.x1=10; //Start X of Button
|
|
b_back.base.y1=210; //Start Y of Button
|
|
b_back.base.x2=AUTO; //Auto Calculate X2 with String Width
|
|
b_back.base.y2=AUTO; //Auto Calculate Y2 with String Height
|
|
b_back.txtcolor=WHITE; //Set foreground color
|
|
b_back.bgcolor=HEX(0xAE1010); //Set background color (Don't take 255 or 0 on at least one channel, to make shadows possible)
|
|
b_back.font=0; //Select Font
|
|
b_back.text="Back"; //Set Text (For formatted strings take sprintf)
|
|
b_back.callback=b_back_cb; //Call b_back_cb as Callback
|
|
gui_button_add(&b_back); //Register Button (and run the callback from now on)
|
|
|
|
|
|
//Servo stuff
|
|
#define SERVO_BUTTON_Y 10
|
|
#define SERVO_BUTTON_SPACING 5
|
|
tft_print_line(5,SERVO_BUTTON_Y,BLACK,TRANSPARENT,0,"Servos:");
|
|
|
|
b_servos_center.base.x1=55;
|
|
b_servos_center.base.y1=SERVO_BUTTON_Y-3;
|
|
b_servos_center.base.x2=AUTO;
|
|
b_servos_center.base.y2=AUTO;
|
|
b_servos_center.txtcolor=WHITE;
|
|
b_servos_center.bgcolor=HEX(0xAE1010);
|
|
b_servos_center.font=0;
|
|
b_servos_center.text="Center";
|
|
b_servos_center.callback=b_servos_center_cb;
|
|
gui_button_add(&b_servos_center);
|
|
|
|
b_servos_topleft.base.x1=b_servos_center.base.x2+SERVO_BUTTON_SPACING;
|
|
b_servos_topleft.base.y1=SERVO_BUTTON_Y-3;
|
|
b_servos_topleft.base.x2=AUTO;
|
|
b_servos_topleft.base.y2=AUTO;
|
|
b_servos_topleft.txtcolor=WHITE;
|
|
b_servos_topleft.bgcolor=HEX(0xAE1010);
|
|
b_servos_topleft.font=0;
|
|
b_servos_topleft.text="ToLe";
|
|
b_servos_topleft.callback=b_servos_topleft_cb;
|
|
gui_button_add(&b_servos_topleft);
|
|
|
|
b_servos_topright.base.x1=b_servos_topleft.base.x2+SERVO_BUTTON_SPACING;
|
|
b_servos_topright.base.y1=SERVO_BUTTON_Y-3;
|
|
b_servos_topright.base.x2=AUTO;
|
|
b_servos_topright.base.y2=AUTO;
|
|
b_servos_topright.txtcolor=WHITE;
|
|
b_servos_topright.bgcolor=HEX(0xAE1010);
|
|
b_servos_topright.font=0;
|
|
b_servos_topright.text="ToRi";
|
|
b_servos_topright.callback=b_servos_topright_cb;
|
|
gui_button_add(&b_servos_topright);
|
|
|
|
b_servos_bottomleft.base.x1=b_servos_topright.base.x2+SERVO_BUTTON_SPACING;
|
|
b_servos_bottomleft.base.y1=SERVO_BUTTON_Y-3;
|
|
b_servos_bottomleft.base.x2=AUTO;
|
|
b_servos_bottomleft.base.y2=AUTO;
|
|
b_servos_bottomleft.txtcolor=WHITE;
|
|
b_servos_bottomleft.bgcolor=HEX(0xAE1010);
|
|
b_servos_bottomleft.font=0;
|
|
b_servos_bottomleft.text="BoLe";
|
|
b_servos_bottomleft.callback=b_servos_bottomleft_cb;
|
|
gui_button_add(&b_servos_bottomleft);
|
|
|
|
b_servos_bottomright.base.x1=b_servos_bottomleft.base.x2+SERVO_BUTTON_SPACING;
|
|
b_servos_bottomright.base.y1=SERVO_BUTTON_Y-3;
|
|
b_servos_bottomright.base.x2=AUTO;
|
|
b_servos_bottomright.base.y2=AUTO;
|
|
b_servos_bottomright.txtcolor=WHITE;
|
|
b_servos_bottomright.bgcolor=HEX(0xAE1010);
|
|
b_servos_bottomright.font=0;
|
|
b_servos_bottomright.text="BoRi";
|
|
b_servos_bottomright.callback=b_servos_bottomright_cb;
|
|
gui_button_add(&b_servos_bottomright);
|
|
|
|
//Led Color stuff
|
|
#define LED_COLOR_BUTTON_Y 35
|
|
#define LED_COLOR_BUTTON_SPACING 5
|
|
tft_print_line(5,LED_COLOR_BUTTON_Y,BLACK,TRANSPARENT,0,"Led Color:");
|
|
|
|
b_led_off.base.x1=85;
|
|
b_led_off.base.y1=LED_COLOR_BUTTON_Y-3;
|
|
b_led_off.base.x2=AUTO;
|
|
b_led_off.base.y2=AUTO;
|
|
b_led_off.txtcolor=WHITE;
|
|
b_led_off.bgcolor=BLACK;
|
|
b_led_off.font=0;
|
|
b_led_off.text="Off";
|
|
b_led_off.callback=b_led_off_cb;
|
|
gui_button_add(&b_led_off);
|
|
|
|
b_led_white.base.x1=b_led_off.base.x2+LED_COLOR_BUTTON_SPACING;
|
|
b_led_white.base.y1=LED_COLOR_BUTTON_Y-3;
|
|
b_led_white.base.x2=AUTO;
|
|
b_led_white.base.y2=AUTO;
|
|
b_led_white.txtcolor=BLACK;
|
|
b_led_white.bgcolor=HEX(0xEEEEEE);
|
|
b_led_white.font=0;
|
|
b_led_white.text="White";
|
|
b_led_white.callback=b_led_white_cb;
|
|
gui_button_add(&b_led_white);
|
|
|
|
b_led_red.base.x1=b_led_white.base.x2+LED_COLOR_BUTTON_SPACING;
|
|
b_led_red.base.y1=LED_COLOR_BUTTON_Y-3;
|
|
b_led_red.base.x2=AUTO;
|
|
b_led_red.base.y2=AUTO;
|
|
b_led_red.txtcolor=WHITE;
|
|
b_led_red.bgcolor=HEX(0xEE0000);
|
|
b_led_red.font=0;
|
|
b_led_red.text="Red";
|
|
b_led_red.callback=b_led_red_cb;
|
|
gui_button_add(&b_led_red);
|
|
|
|
b_led_green.base.x1=b_led_red.base.x2+LED_COLOR_BUTTON_SPACING;
|
|
b_led_green.base.y1=LED_COLOR_BUTTON_Y-3;
|
|
b_led_green.base.x2=AUTO;
|
|
b_led_green.base.y2=AUTO;
|
|
b_led_green.txtcolor=WHITE;
|
|
b_led_green.bgcolor=HEX(0x00EE00);
|
|
b_led_green.font=0;
|
|
b_led_green.text="Green";
|
|
b_led_green.callback=b_led_green_cb;
|
|
gui_button_add(&b_led_green);
|
|
|
|
b_led_blue.base.x1=b_led_green.base.x2+LED_COLOR_BUTTON_SPACING;
|
|
b_led_blue.base.y1=LED_COLOR_BUTTON_Y-3;
|
|
b_led_blue.base.x2=AUTO;
|
|
b_led_blue.base.y2=AUTO;
|
|
b_led_blue.txtcolor=WHITE;
|
|
b_led_blue.bgcolor=HEX(0x0000EE);
|
|
b_led_blue.font=0;
|
|
b_led_blue.text="Blue";
|
|
b_led_blue.callback=b_led_blue_cb;
|
|
gui_button_add(&b_led_blue);
|
|
|
|
//Led MaxPower stuff
|
|
#define LED_POWER_BUTTON_Y 70
|
|
tft_print_line(5,LED_POWER_BUTTON_Y,BLACK,TRANSPARENT,0,"Led Maximum Current:");
|
|
|
|
//Num up down test
|
|
n_led_powerlimit.x=160;
|
|
n_led_powerlimit.y=LED_POWER_BUTTON_Y-7;
|
|
n_led_powerlimit.fgcolor=WHITE;
|
|
n_led_powerlimit.value = 10;
|
|
n_led_powerlimit.max=40;
|
|
n_led_powerlimit.min =0;
|
|
n_led_powerlimit.callback=n_led_powerlimit_cb;
|
|
gui_numupdown_add(&n_led_powerlimit);
|
|
|
|
|
|
|
|
state=detecting;
|
|
}
|
|
|
|
static void leave(void* screen) {
|
|
gui_button_remove(&b_back);
|
|
gui_button_remove(&b_servos_center);
|
|
gui_button_remove(&b_servos_topleft);
|
|
gui_button_remove(&b_servos_topright);
|
|
gui_button_remove(&b_servos_bottomleft);
|
|
gui_button_remove(&b_servos_bottomright);
|
|
gui_button_remove(&b_led_off);
|
|
gui_button_remove(&b_led_white);
|
|
gui_button_remove(&b_led_red);
|
|
gui_button_remove(&b_led_green);
|
|
gui_button_remove(&b_led_blue);
|
|
gui_numupdown_remove(&n_led_powerlimit);
|
|
|
|
}
|
|
|
|
|
|
static void update(void* screen) {
|
|
switch(state) {
|
|
case detecting: //Detecting State: Where we try to connect to the pixy
|
|
if(pixy_init()==0) { //Pixy connection ok
|
|
int32_t response;
|
|
int return_value;
|
|
return_value = pixy_command("stop", END_OUT_ARGS, &response, END_IN_ARGS);
|
|
pixy_led_set_max_current(10);
|
|
|
|
state = idle; //Go to next state
|
|
}
|
|
break;
|
|
case idle:
|
|
pixy_service();
|
|
break;
|
|
case update_servos:
|
|
pixy_rcs_set_position(0,servo_x);
|
|
pixy_rcs_set_position(1,servo_y);
|
|
state = idle;
|
|
break;
|
|
|
|
case update_ledcolor:
|
|
{
|
|
int32_t response;
|
|
int return_value;
|
|
return_value = pixy_command("led_set", INT32(led_color), END_OUT_ARGS, &response, END_IN_ARGS);
|
|
state = idle;
|
|
}
|
|
break;
|
|
|
|
case update_ledcurrent:
|
|
pixy_led_set_max_current(led_maxcurrent);
|
|
state = idle;
|
|
break;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
static SCREEN_STRUCT screen = {
|
|
enter,
|
|
leave,
|
|
update
|
|
};
|
|
|
|
|
|
SCREEN_STRUCT* get_screen_pixytest() {
|
|
return &screen;
|
|
}
|
|
|
|
|
|
|