public void CONFIGoff() {
myPort.write("j"); // exit config command
buttonWRITE.setColorBackground(gray_);
buttonREAD.setColorBackground(gray_);
buttonCONFon.setColorBackground(gray_);
buttonCONFoff.setColorBackground(green_);
writeEnable = false;
readEnable = false;
}
public void CONFIGon() {
myPort.write("i"); // enter config command
buttonWRITE.setColorBackground(green_);
buttonREAD.setColorBackground(green_);
buttonCONFon.setColorBackground(green_);
buttonCONFoff.setColorBackground(gray_);
writeEnable = true;
readEnable = true;
}
public void READ() {
if (readEnable == false) return;
myPort.write("g"); // sends get values command
while (i < 200000000) {
i++;
} // delay
i = 0;
// myPort.write("OK");
readStatus = "Can't Read";
if (myPort.read() == 'x') {
PitchP.setValue(myPort.read() / 100.00f);
RollP.setValue(myPort.read() / 100.00f);
YawP.setValue(myPort.read() / 100.00f);
PitchD.setValue(myPort.read() / 100.00f);
RollD.setValue(myPort.read() / 100.00f);
YawD.setValue(myPort.read() / 100.00f);
PitchPWR.setValue(myPort.read());
RollPWR.setValue(myPort.read());
YawPWR.setValue(myPort.read());
RCcontrol = PApplet.parseChar(myPort.read());
YawRCon = PApplet.parseChar(myPort.read());
RollCal.setValue((myPort.read() - 100.00f) / 10.00f);
if (RCcontrol == '0') {
buttonRCOff.setColorBackground(green_);
buttonRCOn.setColorBackground(gray_);
}
if (RCcontrol == '1') {
buttonRCOff.setColorBackground(gray_);
buttonRCOn.setColorBackground(green_);
}
if (YawRCon == '0') {
buttonYawRC.setColorBackground(gray_);
buttonYawAut.setColorBackground(green_);
}
if (YawRCon == '1') {
buttonYawRC.setColorBackground(green_);
buttonYawAut.setColorBackground(gray_);
}
readStatus = "Read OK";
}
}
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;
}
}
}
public void SAVE_PID(int theValue) {
// save PID parameter on Arduino EEPROM
if (init_com == 0) return;
serial.write('S');
// println("Save PID");
}
public void SET_ZERO(int theValue) {
// set zero acc e gyro
if (init_com == 0) return;
serial.write('Z');
println("Zet Zero");
}
public void WRITE() {
if (writeEnable == false) return;
myPort.write("h");
myPort.write(PApplet.parseInt(PitchP.value() * 100));
myPort.write(PApplet.parseInt(RollP.value() * 100));
myPort.write(PApplet.parseInt(YawP.value() * 100));
myPort.write(PApplet.parseInt(PitchD.value() * 100));
myPort.write(PApplet.parseInt(RollD.value() * 100));
myPort.write(PApplet.parseInt(YawD.value() * 100));
myPort.write(PApplet.parseInt(PitchPWR.value()));
myPort.write(PApplet.parseInt(RollPWR.value()));
myPort.write(PApplet.parseInt(YawPWR.value()));
myPort.write(RCcontrol);
myPort.write(YawRCon);
myPort.write(PApplet.parseInt(RollCal.value() * 10 + 100));
// println (RollCal.value());
// println (int (RollCal.value()*10+100));
readStatus = "Write OK";
}
