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