public void setup() { brek = new AudioSample[4][4]; // load audio samples minim = new Minim(this); for (int i = 0; i < 4; i++) { println("break-beat-0" + (i + 1) + ".mp3"); brek[i][0] = minim.loadSample("break-beat-0" + (i + 1) + ".mp3", 512); brek[i][1] = minim.loadSample("break-perc-0" + (i + 1) + ".mp3", 512); brek[i][2] = minim.loadSample("break-piano-0" + (i + 1) + ".mp3", 512); brek[i][3] = minim.loadSample("break-strings-0" + (i + 1) + ".mp3", 512); } size(cellSize * cols, cellSize * rows); // bytes[0]=0; // bytes[1]=1; grid = new Cell[cols][rows]; for (int i = 0; i < cols; i++) { for (int j = 0; j < rows; j++) { grid[i][j] = new Cell(i * cellSize, j * cellSize, cellSize, cellSize); } } println(Serial.list()); String portName = Serial.list()[2]; myPort = new Serial(this, portName, 9600); }
public void closePort() { if (serial != null) { serial.stop(); serial.dispose(); } serial = null; }
public void P2() { buttonP0.setColorBackground(gray_); buttonP1.setColorBackground(gray_); buttonP2.setColorBackground(green_); // Open the port you are using at the rate you want: if (portopen == true) { myPort.stop(); } myPort = new Serial(this, Serial.list()[2], 9600); portopen = true; }
public void sendPacket(int[] thisFrame) { // calculate the length of the total array // header byte + length (2 bytes) + command + checksum: int packetLength = thisFrame.length + 4; // set up the array you'll actually send: int[] packet = new int[packetLength]; packet[0] = 0x7E; // get the high byte and the low byte of the length of the frame: packet[1] = thisFrame.length / 256; packet[2] = thisFrame.length % 256; // add the frame to the packet: for (int b = 0; b < thisFrame.length; b++) { packet[b + 3] = thisFrame[b]; } // checksum the command: packet[packetLength - 1] = checkSum(thisFrame); if (DEBUG) System.out.print("< "); // send it out the serial port: for (int c = 0; c < packet.length; c++) { port.write(packet[c]); if (DEBUG) System.out.print(parent.hex(packet[c], 2) + " "); } if (DEBUG) System.out.println(); }
public String[] listPort() { String[] portList = Serial.list(); for (String i : portList) { println(i); } return portList; }
public void InitSerial(float portValue) { // initialize the serial port selected in the listBox println( "initializing serial " + PApplet.parseInt(portValue) + " in serial.list()"); // for debugging // grab the name of the serial port String portPos = Serial.list()[PApplet.parseInt(portValue)]; // initialize the port serial = new Serial(this, portPos, 115200); // read bytes into a buffer until you get a linefeed (ASCII 10): serial.bufferUntil('\n'); println("done init serial"); // initialized com port flag init_com = 1; }
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 processSerialData() { byte[] inBuf = new byte[20]; switch (serial.read()) { case 'A': // wait for all data arrived while (serial.available() < 16) {} // read all data serial.readBytes(inBuf); Acc_RAW = (inBuf[1] << 8) + (inBuf[0] & 0xFF); Gyro_RAW = (inBuf[3] << 8) + (inBuf[2] & 0xFF); // int intbit = 0; // intbit = (inBuf[7] << 24) | ((inBuf[6] & 0xFF) << 16) | ((inBuf[5] & 0xFF) << 8) | // (inBuf[4] & 0xFF); // Angle = Float.intBitsToFloat(intbit); int AngleInt = (inBuf[5] << 8) + (inBuf[4] & 0xFF); Angle = PApplet.parseFloat(AngleInt) / 10; Acc_Angle = (inBuf[7] << 8) + (inBuf[6] & 0xFF); Gyro_Rate = (inBuf[9] << 8) + (inBuf[8] & 0xff); Drive = (inBuf[11] << 8) + (inBuf[10] & 0xFF); statusFlag = (inBuf[13] << 8) + (inBuf[12] & 0xFF); int BatLevelInt = (inBuf[15] << 8) + (inBuf[14] & 0xFF); Steer = (inBuf[17] << 8) + (inBuf[16] & 0xFF); BatLevel = PApplet.parseFloat(BatLevelInt) / 10; println( "Acc=" + Acc_RAW + " Gyro=" + Gyro_RAW + " Angle=" + Angle + " Acc_Angle=" + Acc_Angle + " Gyro_Rate=" + Gyro_Rate + " Drive=" + Drive + " Status=" + statusFlag); break; case 'E': // wait for all data arrived while (serial.available() < 6) {} // read all data serial.readBytes(inBuf); int P = (inBuf[1] << 8) + (inBuf[0] & 0xFF); int I = (inBuf[3] << 8) + (inBuf[2] & 0xFF); int D = (inBuf[5] << 8) + (inBuf[4] & 0xFF); conf_KP.setValue(P); conf_KI.setValue(I); conf_KD.setValue(D); println("P=" + P + " I=" + I + " D=" + D); break; } serial.clear(); }
public void InitComDropdown() { // Initialize portCommList int posX = 20; int posY = 70; PortsList = controlP5.addDropdownList("portComList", posX, posY, 100, 84); // Set the background color of the list (you wont see this though). PortsList.setBackgroundColor(color(200)); // Set the height of each item when the list is opened. PortsList.setItemHeight(20); // Set the height of the bar itself. PortsList.setBarHeight(15); // Set the lable of the bar when nothing is selected. PortsList.captionLabel().set("Select COM port"); // Set the top margin of the lable. PortsList.captionLabel().style().marginTop = 3; // Set the left margin of the lable. PortsList.captionLabel().style().marginLeft = 3; // Set the top margin of the value selected. PortsList.valueLabel().style().marginTop = 3; // Store the Serial ports in the string comList (char array). comList = serial.list(); // We need to know how many ports there are, to know how many items to add to the list, so we // will convert it to a String object (part of a class). String comlist = join(comList, ","); // We also need how many characters there is in a single port name, we\u00b4ll store the chars // here for counting later. String COMlist = comList[0]; // Here we count the length of each port name. int size2 = COMlist.length(); // Now we can count how many ports there are, well that is count how many chars there are, so we // will divide by the amount of chars per port name. int size1 = comlist.length() / size2; // Now well add the ports to the list, we use a for loop for that. How many items is determined // by the value of size1. for (int i = 0; i < size1; i++) { // This is the line doing the actual adding of items, we use the current loop we are in to // determin what place in the char array to access and what item number to add it as. PortsList.addItem(comList[i], i); } // Set the color of the background of the items and the bar. PortsList.setColorBackground(color(60)); // Set the color of the item your mouse is hovering over. PortsList.setColorActive(color(255, 128)); }
public void draw() { background(0); for (int i = 0; i < cols; i++) { for (int j = 0; j < rows; j++) { if ((i & 1) == 0) { // even rows white grid[i][j].display(255); } else { // odd rows gray grid[i][j].display(220); } } } if (play == true) { int j; if (millis() - starttime < delaytime) { count_up = (millis() - starttime); count_down = delaytime - count_up; steptimer = floor(4 / (delaytime / count_up)); fill(0); // textSize(12); // text(steptimer, mouseX, mouseY); for (j = 0; j < rows; j++) { grid[steptimer][j].display(120); if (grid[steptimer][j].active) { grid[steptimer][j].trigger(steptimer, j); } } switch (steptimer) { case 0: uno = PApplet.parseByte(unbinary("00010001")); due = PApplet.parseByte(unbinary("00010001")); break; case 1: uno = PApplet.parseByte(unbinary("00100010")); due = PApplet.parseByte(unbinary("00100010")); break; case 2: uno = PApplet.parseByte(unbinary("01000100")); due = PApplet.parseByte(unbinary("01000100")); break; case 3: uno = PApplet.parseByte(unbinary("10001000")); due = PApplet.parseByte(unbinary("10001000")); break; } print(binary(uno)); println(binary(due)); myPort.write(due); myPort.write(uno); myPort.write(','); } else { starttime = millis(); j = 0; } for (int i = 0; i < cols; i++) { for (int k = 0; k < rows; k++) { if (grid[i][k].active) { // even rows white if ((i + 4 * k) < 8) { uno |= (1 << i + 4 * k); } else { due |= (1 << (i + 4 * k) - 8); } } else { // odd rows gray if ((i + 4 * k) < 8) { uno &= ~(1 << i + 4 * k); // chiedete a vanzati [email protected] } else { due &= ~(1 << (i + 4 * k) - 8); } } } } } // print(binary(uno)); // print(binary(due)); myPort.write(due); myPort.write(uno); myPort.write(','); println(); }
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 draw() { // String Serial.list()[]; // size(600, 280); // background(80); fill(70); strokeWeight(0); stroke(35); // 75 rect(0, 80, 600, 155, 0); fill(70); strokeWeight(0); stroke(35); rect(440, 80, 600, 155, 0); fill(75); strokeWeight(0); stroke(80); rect(0, 240, 600, 100, 0); fill(255); // Background // setGradient(0, 0, width, 80, c2, c1, Y_AXIS); textSize(12); text("Pitch P:", 35, 112); textSize(12); text("Pitch D:", 155, 112); textSize(12); text("Roll P:", 38, 162); textSize(12); text("Roll D:", 158, 162); textSize(12); text("Yaw P:", 38, 211); textSize(12); text("Yaw D:", 158, 211); textSize(12); text("Pitch Power: %", 301, 112); textSize(12); text("Roll Power: %", 307, 162); textSize(12); text("Yaw Power: %", 305, 212); textSize(12); text("Roll Calibration (degr.)", 460, 190); textSize(16); // fill(0, 102, 153, 204); // text("Connected to:",400,45); text(Serial.list()[0],515,45); // text("Connected to:",400,45); text(Serial.list()[1],515,65); // text("Connected to:",400,45); text(Serial.list()[2],515,65); if (printlist == true) { for (int i = 0; i <= commListMax; i++) { text(Serial.list()[i], 515, 21 + i * 25); } printlist = false; } textSize(12); text(readStatus, 110, 263); if (PitchP.value() == 0) PitchP.setValue(0.01f); if (RollP.value() == 0) RollP.setValue(0.01f); if (YawP.value() == 0) YawP.setValue(0.01f); if (PitchD.value() == 0) PitchD.setValue(0.01f); if (RollD.value() == 0) RollD.setValue(0.01f); if (YawD.value() == 0) YawD.setValue(0.01f); if (PitchPWR.value() == 0) PitchPWR.setValue(1); if (RollPWR.value() == 0) RollPWR.setValue(1); if (YawPWR.value() == 0) YawPWR.setValue(1); // if(RollCal.value()==-9.9)RollCal.setValue(-9.9); }
public void setPort(String portName) { if (portName != "") ; println(portName); if (serial != null) serial.stop(); serial = new Serial(this, portName, 19200, 'O', 8, 1); }
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"; }
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 setup() { size(600, 280); background(75); textSize(28); fill(0, 120, 170); // blue text("EvvGC GUI", 20, 50); text(Version, 170, 50); // Define colors b1 = color(80); b2 = color(60); c1 = color(80, 80, 80); c2 = color(60, 61, 59); controlP5 = new ControlP5(this); // initialize the GUI controls // List all the available serial ports: println(Serial.list()); commListMax = -1; for (int i = 0; i < Serial.list().length; i++) { commListMax = i; } /** * ****************************PID * cells************************************************************ */ PitchP = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("PitchP", 0, xPP, yPP, 40, 16)); PitchP.setColorBackground(gray_); PitchP.setMin(0); PitchP.setDirection(Controller.HORIZONTAL); PitchP.setDecimalPrecision(2); PitchP.setMultiplier(0.01f); PitchP.setMax(2.54f); PitchD = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("PitchD", 0, xPD, yPD, 40, 16)); PitchD.setColorBackground(gray_); PitchD.setMin(0); PitchD.setDirection(Controller.HORIZONTAL); PitchD.setDecimalPrecision(2); PitchD.setMultiplier(0.01f); PitchD.setMax(1); RollP = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("RollP", 0, xRP, yRP, 40, 16)); RollP.setColorBackground(gray_); RollP.setMin(0); RollP.setDirection(Controller.HORIZONTAL); RollP.setDecimalPrecision(2); RollP.setMultiplier(0.01f); RollP.setMax(2.54f); RollD = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("RollD", 0, xRD, yRD, 40, 16)); RollD.setColorBackground(gray_); RollD.setMin(0); RollD.setDirection(Controller.HORIZONTAL); RollD.setDecimalPrecision(2); RollD.setMultiplier(0.01f); RollD.setMax(1); YawP = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("YawP", 0, xYP, yYP, 40, 16)); YawP.setColorBackground(gray_); YawP.setMin(0); YawP.setDirection(Controller.HORIZONTAL); YawP.setDecimalPrecision(2); YawP.setMultiplier(0.01f); YawP.setMax(2.54f); YawD = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("YawD", 0, xYD, yYD, 40, 16)); YawD.setColorBackground(gray_); YawD.setMin(0); YawD.setDirection(Controller.HORIZONTAL); YawD.setDecimalPrecision(2); YawD.setMultiplier(0.01f); YawD.setMax(1); /** * ****************************Power * cells************************************************************ */ PitchPWR = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("PitchPWR", 0, xPPWR, yPPWR, 40, 16)); PitchPWR.setColorBackground(gray_); PitchPWR.setMin(0); PitchPWR.setDirection(Controller.HORIZONTAL); PitchPWR.setDecimalPrecision(0); PitchPWR.setMultiplier(1); PitchPWR.setMax(100); RollPWR = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("RollPWR", 0, xRPWR, yRPWR, 40, 16)); RollPWR.setColorBackground(gray_); RollPWR.setMin(0); RollPWR.setDirection(Controller.HORIZONTAL); RollPWR.setDecimalPrecision(0); RollPWR.setMultiplier(1); RollPWR.setMax(100); YawPWR = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("YawPWR", 0, xYPWR, yYPWR, 40, 16)); YawPWR.setColorBackground(gray_); YawPWR.setMin(0); YawPWR.setDirection(Controller.HORIZONTAL); YawPWR.setDecimalPrecision(0); YawPWR.setMultiplier(1); YawPWR.setMax(100); /** * ****************************Calibration * cells************************************************************ */ RollCal = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("RollCal", 0, xRollCal, yRollCal, 40, 16)); RollCal.setColorBackground(gray_); RollCal.setMin(-10); RollCal.setDirection(Controller.HORIZONTAL); RollCal.setDecimalPrecision(1); RollCal.setMultiplier(0.2f); RollCal.setMax(10); buttonZeroRoll = controlP5.addButton("ZERO", 1, 535, 200, 40, 16); buttonZeroRoll.setColorBackground(gray_); /** * **************************Buttons******************************************************************** */ buttonWRITE = controlP5.addButton("WRITE", 1, 500, 248, 60, 20); buttonWRITE.setColorBackground(gray_); buttonREAD = controlP5.addButton("READ", 1, 40, 248, 60, 20); buttonREAD.setColorBackground(gray_); buttonCONFon = controlP5.addButton("CONFIGon", 1, 400, 10, 60, 60); buttonCONFon.setColorBackground(gray_); buttonCONFoff = controlP5.addButton("CONFIGoff", 1, 330, 10, 60, 60); buttonCONFoff.setColorBackground(gray_); buttonP0 = controlP5.addButton("P0", 1, 490, 5, 20, 20); buttonP0.setColorBackground(gray_); buttonP1 = controlP5.addButton("P1", 1, 490, 30, 20, 20); buttonP1.setColorBackground(gray_); buttonP2 = controlP5.addButton("P2", 1, 490, 55, 20, 20); buttonP2.setColorBackground(gray_); buttonRCOff = controlP5.addButton("RC_OFF", 1, 450, 122, 65, 20); buttonRCOff.setColorBackground(gray_); buttonRCOn = controlP5.addButton("RC_ON", 1, 450, 100, 65, 20); buttonRCOn.setColorBackground(gray_); buttonYawRC = controlP5.addButton("Yaw_RC_Pan", 1, 520, 100, 75, 20); buttonYawRC.setColorBackground(gray_); buttonYawAut = controlP5.addButton("Yaw_Auto_Pan", 1, 520, 122, 75, 20); buttonYawAut.setColorBackground(gray_); buttonCONFoff.setColorBackground(green_); }
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 int[] getPacket() { boolean gotAPacket = false; // whether the first byte was 0x7E int packetLength = -1; // length of the dataArray int[] thisdataArray = null; // the dataArray to return int checksum = -1; // the checksum as received int localChecksum = -1; // the chacksum as we calculate it // read bytes until you get a 0x7E port.clear(); // flush the buffer so that no old data comes in while (port.available() < 1) {; // do nothing while we wait for the buffer to fill } // this is a good header. Get ready to read a packet if (port.read() == 0x7E) { gotAPacket = true; } // if the header byte is good, try the rest: if (gotAPacket) { // read two bytes while (port.available() < 2) {; // wait until you get two bytes of length } int lengthMSB = port.read(); // high byte for length of packet int lengthLSB = port.read(); // low byte for length of packet // convert to length value packetLength = (lengthLSB + (lengthMSB << 8)); // sanity check: if the packet is too long, bail. if (packetLength > 200) { System.out.println("Length (" + packetLength + ") too long, discarding packet."); return null; } if (DEBUG) System.out.print("> [" + packetLength + "]: "); // read bytes until you've reached the length while (port.available() < packetLength) {; // do nothing while we wait for the buffer to fill } // make an array to hold the data frame: thisdataArray = new int[packetLength]; // read all the bytes except the last one into the dataArray array: for (int thisByte = 0; thisByte < packetLength; thisByte++) { thisdataArray[thisByte] = port.read(); if (DEBUG) System.out.print(parent.hex(thisdataArray[thisByte], 2) + " "); } while (port.available() < 1) {; // do nothing while we wait for the buffer to fill } // get the checksum: checksum = port.read(); // calculate the checksum of the received dataArray: localChecksum = checkSum(thisdataArray); // if they're not the same, we have bad data: if (localChecksum != checksum) { if (DEBUG) System.out.println(); System.out.print( "Bad checksum, discarding packet. Local: " + parent.hex(localChecksum % 256)); System.out.println(", Remote: " + parent.hex(checksum) + ", Length: " + packetLength); // if the checksums don't add up, clear the dataArray array: thisdataArray = null; } } // makes a nice printing for debugging: if (DEBUG) System.out.println("!"); // return the data frame. If it's null, you got a bad packet. return thisdataArray; }