Biorobotics 7 / Mbed 2 deprecated State_Machine

State machine

Dependencies:   mbed Adafruit_GFX BioroboticsMotorControl MODSERIAL BioroboticsEMGFilter

Screen.h@42:cafa56da9ed2, 2018-11-01 (annotated)

Committer:
brass_phoenix
Date:
Thu Nov 01 16:15:30 2018 +0000
Revision:
42:cafa56da9ed2
Parent:
25:cc81f2120eda
Child:
50:5d2176b93a65
+ Now displays in normal operation whether the arms are tensed.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
brass_phoenix 3:4b19b6cf6cc7 1 #pragma once
brass_phoenix 3:4b19b6cf6cc7 2
brass_phoenix 3:4b19b6cf6cc7 3 #include "mbed.h"
brass_phoenix 4:5a44ab7e94b3 4 #include <string>
brass_phoenix 3:4b19b6cf6cc7 5
brass_phoenix 3:4b19b6cf6cc7 6 // Uncomment this in the adafruit config.h to turn off the builtin splash
brass_phoenix 3:4b19b6cf6cc7 7 //#define NO_SPLASH_ADAFRUIT
brass_phoenix 3:4b19b6cf6cc7 8 // Uncomment this in the adafruit config.h to enable all functionality
brass_phoenix 3:4b19b6cf6cc7 9 //#define GFX_WANT_ABSTRACTS
brass_phoenix 3:4b19b6cf6cc7 10
brass_phoenix 3:4b19b6cf6cc7 11 #include "Adafruit_SSD1306.h"
brass_phoenix 3:4b19b6cf6cc7 12
brass_phoenix 3:4b19b6cf6cc7 13
brass_phoenix 3:4b19b6cf6cc7 14 class Screen
brass_phoenix 3:4b19b6cf6cc7 15 {
brass_phoenix 3:4b19b6cf6cc7 16 private:
brass_phoenix 3:4b19b6cf6cc7 17 I2C i2c;
brass_phoenix 3:4b19b6cf6cc7 18 Adafruit_SSD1306_I2c oled;
brass_phoenix 3:4b19b6cf6cc7 19 public:
brass_phoenix 3:4b19b6cf6cc7 20 // The screen we use doesn't have a reset pin, but it needs one anyway.
brass_phoenix 3:4b19b6cf6cc7 21 // Use a pin we don't use.
brass_phoenix 3:4b19b6cf6cc7 22 Screen(PinName sda, PinName scl, PinName reset):
brass_phoenix 3:4b19b6cf6cc7 23 i2c(sda, scl),
brass_phoenix 3:4b19b6cf6cc7 24 oled(i2c, reset) {
brass_phoenix 3:4b19b6cf6cc7 25
brass_phoenix 3:4b19b6cf6cc7 26 // according to the spec the max bitrate for the SSD1308 is 400 kbit/s
brass_phoenix 3:4b19b6cf6cc7 27 i2c.frequency(400000);
brass_phoenix 3:4b19b6cf6cc7 28
brass_phoenix 4:5a44ab7e94b3 29 clear_display();
brass_phoenix 4:5a44ab7e94b3 30 }
brass_phoenix 4:5a44ab7e94b3 31
brass_phoenix 4:5a44ab7e94b3 32 void clear_display() {
brass_phoenix 3:4b19b6cf6cc7 33 oled.clearDisplay();
brass_phoenix 17:1fe276ff17db 34 oled.setTextCursor(0, 0);
brass_phoenix 3:4b19b6cf6cc7 35 display();
brass_phoenix 3:4b19b6cf6cc7 36 }
brass_phoenix 3:4b19b6cf6cc7 37
brass_phoenix 3:4b19b6cf6cc7 38 void display() {
brass_phoenix 3:4b19b6cf6cc7 39 // Apparently the display only updates every 2 "display" calls.
brass_phoenix 3:4b19b6cf6cc7 40 // This is a bug in the library.
brass_phoenix 3:4b19b6cf6cc7 41 oled.display();
brass_phoenix 3:4b19b6cf6cc7 42 oled.display();
brass_phoenix 3:4b19b6cf6cc7 43 }
brass_phoenix 4:5a44ab7e94b3 44
brass_phoenix 5:2632dfc8454c 45 // State names can be a maximum of 17 characters long.
brass_phoenix 4:5a44ab7e94b3 46 void display_state_name(string name) {
brass_phoenix 4:5a44ab7e94b3 47 // Clear a previous title.
brass_phoenix 4:5a44ab7e94b3 48 oled.setTextCursor(0, 0);
brass_phoenix 5:2632dfc8454c 49 oled.printf(" ");
brass_phoenix 4:5a44ab7e94b3 50 oled.setTextCursor(0, 0);
brass_phoenix 4:5a44ab7e94b3 51 oled.printf("- ");
brass_phoenix 4:5a44ab7e94b3 52 oled.printf(name.c_str());
brass_phoenix 6:bfc6e68774f5 53 oled.printf(" -\r\n");
brass_phoenix 4:5a44ab7e94b3 54 display();
brass_phoenix 4:5a44ab7e94b3 55 }
brass_phoenix 42:cafa56da9ed2 56
brass_phoenix 42:cafa56da9ed2 57 void display_emg_state(bool left_tensed, bool right_tensed) {
brass_phoenix 42:cafa56da9ed2 58 oled.setTextCursor(0, 8);
brass_phoenix 42:cafa56da9ed2 59 if (left_tensed) {
brass_phoenix 42:cafa56da9ed2 60 oled.printf("Left ");
brass_phoenix 42:cafa56da9ed2 61 } else {
brass_phoenix 42:cafa56da9ed2 62 oled.printf(" ");
brass_phoenix 42:cafa56da9ed2 63 }
brass_phoenix 42:cafa56da9ed2 64 if (right_tensed) {
brass_phoenix 42:cafa56da9ed2 65 oled.printf("Right");
brass_phoenix 42:cafa56da9ed2 66 } else {
brass_phoenix 42:cafa56da9ed2 67 oled.printf(" ");
brass_phoenix 42:cafa56da9ed2 68 }
brass_phoenix 42:cafa56da9ed2 69 }
brass_phoenix 3:4b19b6cf6cc7 70
brass_phoenix 3:4b19b6cf6cc7 71 // Returns a direct handle to the screen.
brass_phoenix 3:4b19b6cf6cc7 72 // Be carefull while using the handle.
brass_phoenix 6:bfc6e68774f5 73 Adafruit_SSD1306_I2c* get_screen_handle() {
brass_phoenix 6:bfc6e68774f5 74 return &oled;
brass_phoenix 3:4b19b6cf6cc7 75 }
brass_phoenix 3:4b19b6cf6cc7 76
brass_phoenix 15:f65b4566193e 77 void display_up_down_arrow(bool is_up) {
brass_phoenix 25:cc81f2120eda 78 int size_x = 20;
brass_phoenix 25:cc81f2120eda 79 int size_y = 10;
brass_phoenix 25:cc81f2120eda 80 int x_start = oled.width() - size_x;
brass_phoenix 25:cc81f2120eda 81 int x_end = x_start + size_x;
brass_phoenix 25:cc81f2120eda 82 int y_start = oled.height() - size_y;
brass_phoenix 25:cc81f2120eda 83 int y_end = y_start + size_y;
brass_phoenix 25:cc81f2120eda 84
brass_phoenix 25:cc81f2120eda 85 oled.fillRect(x_start, y_start, size_x, size_y, BLACK);
brass_phoenix 25:cc81f2120eda 86
brass_phoenix 25:cc81f2120eda 87 if (is_up) {
brass_phoenix 25:cc81f2120eda 88 oled.fillTriangle(x_start, y_end, x_end, y_end, x_start + size_x/2, y_start, WHITE);
brass_phoenix 25:cc81f2120eda 89 } else {
brass_phoenix 25:cc81f2120eda 90 oled.fillTriangle(x_start + size_x/2, y_end, x_start, y_start, x_end, y_start, WHITE);
brass_phoenix 25:cc81f2120eda 91 }
brass_phoenix 15:f65b4566193e 92
brass_phoenix 15:f65b4566193e 93 display();
brass_phoenix 15:f65b4566193e 94 }
brass_phoenix 15:f65b4566193e 95
brass_phoenix 25:cc81f2120eda 96 void display_left_right_arrow(bool is_right) {
brass_phoenix 25:cc81f2120eda 97 int size_x = 20;
brass_phoenix 25:cc81f2120eda 98 int size_y = 10;
brass_phoenix 25:cc81f2120eda 99 int x_start = oled.width() - size_x * 2;
brass_phoenix 25:cc81f2120eda 100 int x_end = x_start + size_x;
brass_phoenix 25:cc81f2120eda 101 int y_start = oled.height() - size_y;
brass_phoenix 25:cc81f2120eda 102 int y_end = y_start + size_y;
brass_phoenix 25:cc81f2120eda 103
brass_phoenix 25:cc81f2120eda 104 oled.fillRect(x_start, y_start, size_x, size_y, BLACK);
brass_phoenix 25:cc81f2120eda 105
brass_phoenix 25:cc81f2120eda 106 if (is_right) {
brass_phoenix 25:cc81f2120eda 107 oled.fillTriangle(x_start, y_end, x_end, y_start + size_y/2, x_start, y_start, WHITE);
brass_phoenix 25:cc81f2120eda 108 } else {
brass_phoenix 25:cc81f2120eda 109 oled.fillTriangle(x_end, y_start, x_start, y_start + size_y/2, x_end, y_end, WHITE);
brass_phoenix 25:cc81f2120eda 110 }
brass_phoenix 15:f65b4566193e 111
brass_phoenix 15:f65b4566193e 112 display();
brass_phoenix 15:f65b4566193e 113 }
brass_phoenix 15:f65b4566193e 114
brass_phoenix 3:4b19b6cf6cc7 115 };