@Override
public void draw() {
// When a frame becomes available
if (HighGui.queryFrame(capture, im)) {
background(70);
// Draw it
image(PUtils.getPImage(im), 0, 0);
ThresholdType type = ThresholdType.CV_THRESH_BINARY;
if (r.value() != -1) type = ThresholdType.values()[(int) r.value() - 1];
ImgProc.threshold(im, im_thresh, thresh_slider.value(), 255, type);
image(PUtils.getPImage(im_thresh), w, 0);
}
}
public void mouseDragged() {
if (paused) {
ArrayList objects = timeline.getStatefulObjects();
for (int i = 0; i < objects.size(); i++) {
CelestialObject obj = (CelestialObject) objects.get(i);
if (obj.isMouseOver()) {
dragging = true;
PVector pos = obj.getPosition();
pos.x = mouseX;
pos.y = mouseY;
timeline.reset();
timeline.setCurrentState(objects);
sliderTimeline.setValue(0);
break;
}
}
}
}
public void setup() {
size(1024, 768);
background(0);
frameRate(30);
smooth();
drawVectors = false;
paused = true;
timeline = new Timeline();
sim = new GravitySimulation();
sun = new Star(5000, 25, new PVector(300, 500), new PVector(0, 0), 0, "sun");
planet = new Planet(10, 10, new PVector(500, 500), new PVector(0, 40), "planet");
planet2 = new Planet(50, 10, new PVector(150, 500), new PVector(0, -40), "planet2");
timeline.registerStatefulObject(sun);
timeline.registerStatefulObject(planet);
timeline.registerStatefulObject(planet2);
controlP5 = new ControlP5(this);
btnRewind = controlP5.addButton("btnRewind_OnClick", 0, 800, 20, 50, 20);
btnRewind.setLabel("Rewind");
btnPlayPause = controlP5.addButton("btnPlayPause_OnClick", 0, 860, 20, 50, 20);
btnPlayPause.setLabel("Play");
btnFastForward = controlP5.addButton("btnFastForward_OnClick", 0, 920, 20, 80, 20);
btnFastForward.setLabel("Fast Forward");
sliderTimeline = controlP5.addSlider("sliderTimeline_OnClick", 0, 10000, 0, 20, 720, 900, 10);
sliderTimeline.setLabel("Timeline");
}
public void draw() {
background(0);
// Strings composition
textFont(createFont("Arial bold", 24));
fill(c_red);
stroke(255);
text("OpenWheels GUI V1.0", 20, 30);
textSize(16);
// textAlign(CENTER);
fill(c_azure);
text("Acc_RAW: " + Acc_RAW, 150, 65);
AccSlider.setValue(Acc_RAW);
text("Gyro_RAW: " + Gyro_RAW, 150, 90);
GyroSlider.setValue(Gyro_RAW);
text("Acc_Angle: " + Acc_Angle + "\u00b0", 150, 115);
text("Gyro_Rate: " + Gyro_Rate + "\u00b0/sec", 150, 140);
text("Drive: " + Drive, 150, 165);
text("Steer: " + Steer, 150, 190);
text("BatLevel: " + nf(BatLevel, 1, 1) + "V", 150, 215);
text("Status: " + statusFlag, 150, 240);
graphGauge();
graphGrid();
// call the function that plot the angular of acc, with few screen settings
graphRoll(PApplet.parseFloat(Acc_Angle), VideoBuffer2, c_red); // xPos, YPos, YSpan
// call the function that plot the estimate angular, with few screen settings
graphRoll(Angle, VideoBuffer1, c_yellow); // xPos, YPos, YSpan
// call arduino for data every timePolling [msec]
int timePolling = 50; // 50msec=20Hz
time1 = millis();
if (init_com == 1) {
while (serial.available() > 0) processSerialData();
if ((time1 - time2) > timePolling) {
if (requestPID == true) {
serial.write('E');
requestPID = false;
} else if (writePID == true) {
int P = PApplet.parseInt(conf_KP.value());
int I = PApplet.parseInt(conf_KI.value());
int D = PApplet.parseInt(conf_KD.value());
char data[] = {0, 0, 0, 0, 0};
data[0] = 'W';
data[1] = PApplet.parseChar(P);
data[2] = PApplet.parseChar(I);
data[3] = PApplet.parseChar(D);
data[4] = ' ';
String str = new String(data);
serial.write(str);
println(str);
// println(" P=" + P + " I=" + I + " D=" + D);
writePID = false;
}
// else if (RUN==true ) {serial.write('A');}
else {
serial.write('A');
}
time2 = time1;
}
}
}