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 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 mousePressed() {
if (mouseButton == LEFT) {
int xX = PApplet.parseInt(mouseX) / cellSize;
int yY = PApplet.parseInt(mouseY) / cellSize;
// fill(255);
// textSize(12);
// text( xX + " " + yY, mouseX, mouseY);
grid[xX][yY].pressed();
}
if (mouseButton == RIGHT) {
starttime = millis();
if (play == true) {
play = false;
} else {
play = true;
}
}
}
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;
}
}
}
