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 ZERO() {
RollCal.setValue(0.0f);
// println (RollCal.value());
// println (int (RollCal.value()*10+100));
}
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);
}