File content as of revision 3:41b605f9cdd5:

#include "mbed.h"
#include "AX12.h"
#include "SMARTGPU.h"


SMARTGPU lcd(p28,p27,p26);        //(TX,RX,Reset);
//Each time we use the touchscreen we must define a int array that stores the X and Y readed or touched coordinates.
int touch[2];
DigitalOut myled1(LED1);
DigitalOut myled2(LED2);
DigitalOut myled3(LED3);
DigitalOut myled4(LED4);
AX12 myax12_1(p9,p10,1);        //(TX,RX, ID of servo);
AX12 myax12_2(p9,p10,2);        //(TX,RX, ID of servo);
AX12 myax12_3(p9,p10,3);        //(TX,RX, ID of servo);
AX12 myax12_4(p9,p10,4);        //(TX,RX, ID of servo);
AX12 myax12_5(p9,p10,5);        //(TX,RX, ID of servo);

int main() {

  lcd.reset();                    //physically reset SMARTGPU
  lcd.start();                    //initialize the SMARTGPU processor
  lcd.baudChange(1000000);        //set high baud for fast drawing
  
  //Draw a cover
  lcd.drawTriangle(20,20,70,40,40,80,YELLOW,FILL);
  lcd.drawRectangle(250,30,300,80,MAGENTA,FILL);
  lcd.drawCircle(50,190,28,CYAN,FILL);
  lcd.drawTriangle(270,230,240,190,300,170,RED,FILL);
  lcd.string(10,70,319,239,WHITE,FONT7,TRANS,"4 DOF Robot Control");
  lcd.string(35,130,310,220,GREEN,FONT4,TRANS,"Touch screen to begin");
  wait_ms(1000);
  char buffer[100]; //debug buffer
  while(!lcd.touchScreen(touch)); // Wait for a touch on the screen to start
  lcd.erase();
  
  //AX counters for manual controls
  int cntr_1 = 150;
  int cntr_2 = 226;
  int cntr_3 = 9;
  int cntr_4 = 90;
  int cntr_5 = 150;
  //set Arm to starting folded position
  myax12_1.SetGoal(cntr_1);
  myax12_2.SetGoal(cntr_2);
  myax12_3.SetGoal(cntr_3);
  myax12_4.SetGoal(cntr_4);
  myax12_5.SetGoal(cntr_5);
  
  //start the Robot Control
  while(1) {
        //drawing rectangles for manual control and labeling them
        lcd.drawRectangle(12,13,36,26,MAGENTA,FILL); //x1,y1,x2,y2,color,FILL
        lcd.drawRectangle(48,13,72,26,MAGENTA,FILL); //x1,y1,x2,y2,color,FILL
        lcd.string(84,13,300,234,WHITE,FONT4,TRANS,"AX_1");
        
        lcd.drawRectangle(12,39,36,52,MAGENTA,FILL); //x1,y1,x2,y2,color,FILL
        lcd.drawRectangle(48,39,72,52,MAGENTA,FILL); //x1,y1,x2,y2,color,FILL
        lcd.string(84,39,300,234,WHITE,FONT4,TRANS,"AX_2");
        
        lcd.drawRectangle(12,65,36,78,MAGENTA,FILL); //x1,y1,x2,y2,color,FILL
        lcd.drawRectangle(48,65,72,78,MAGENTA,FILL); //x1,y1,x2,y2,color,FILL
        lcd.string(84,65,300,234,WHITE,FONT4,TRANS,"AX_3");
        
        lcd.drawRectangle(12,91,36,104,MAGENTA,FILL); //x1,y1,x2,y2,color,FILL
        lcd.drawRectangle(48,91,72,104,MAGENTA,FILL); //x1,y1,x2,y2,color,FILL
        lcd.string(84,91,300,234,WHITE,FONT4,TRANS,"AX_4");
        
        lcd.drawRectangle(12,117,36,130,MAGENTA,FILL); //x1,y1,x2,y2,color,FILL
        lcd.drawRectangle(48,117,72,130,MAGENTA,FILL); //x1,y1,x2,y2,color,FILL
        lcd.string(84,117,300,234,WHITE,FONT4,TRANS,"AX_5");
        
        if(lcd.touchScreen(touch)){// If we receive a touch on the screen
            if(touch[XCOORD]>=12&&touch[XCOORD]<=36&&touch[YCOORD]>=13&&touch[YCOORD]<=26){
                //AX_1 down counter to 0
                if(cntr_1!=0){cntr_1=cntr_1-3;}
                myax12_1.SetGoal(cntr_1);    // go to cntr_1 degrees
            }
            if(touch[XCOORD]>=48&&touch[XCOORD]<=72&&touch[YCOORD]>=13&&touch[YCOORD]<=26){
                //AX_1 up counter to 300
                if(cntr_1!=300){cntr_1=cntr_1+3;}
                myax12_1.SetGoal(cntr_1);    // go to cntr_1 degrees
            }
            if(touch[XCOORD]>=12&&touch[XCOORD]<=36&&touch[YCOORD]>=39&&touch[YCOORD]<=52){
                //AX_2 down counter to 0
                if(cntr_2!=0){cntr_2=cntr_2-3;}
                myax12_2.SetGoal(cntr_2);    // go to cntr_1 degrees
            }
            if(touch[XCOORD]>=48&&touch[XCOORD]<=72&&touch[YCOORD]>=39&&touch[YCOORD]<=52){
                //AX_2 up counter to 300
                if(cntr_2!=300){cntr_2=cntr_2+3;}
                myax12_2.SetGoal(cntr_2);    // go to cntr_1 degrees
            }
            if(touch[XCOORD]>=12&&touch[XCOORD]<=36&&touch[YCOORD]>=65&&touch[YCOORD]<=78){
                //AX_1 down counter to 0
                if(cntr_3!=0){cntr_3=cntr_3-3;}
                myax12_3.SetGoal(cntr_3);    // go to cntr_1 degrees
            }
            if(touch[XCOORD]>=48&&touch[XCOORD]<=72&&touch[YCOORD]>=65&&touch[YCOORD]<=78){
                //AX_1 up counter to 300
                if(cntr_3!=300){cntr_3=cntr_3+3;}
                myax12_3.SetGoal(cntr_3);    // go to cntr_1 degrees
            }
            if(touch[XCOORD]>=12&&touch[XCOORD]<=36&&touch[YCOORD]>=91&&touch[YCOORD]<=104){
                //AX_1 down counter to 0
                if(cntr_4!=0){cntr_4=cntr_4-3;}
                myax12_4.SetGoal(cntr_4);    // go to cntr_1 degrees
            }
            if(touch[XCOORD]>=48&&touch[XCOORD]<=72&&touch[YCOORD]>=91&&touch[YCOORD]<=104){
                //AX_1 up counter to 300
                if(cntr_4!=300){cntr_4=cntr_4+3;}
                myax12_4.SetGoal(cntr_4);    // go to cntr_1 degrees
            }
            if(touch[XCOORD]>=12&&touch[XCOORD]<=36&&touch[YCOORD]>=117&&touch[YCOORD]<=130){
                //AX_1 down counter to 0
                if(cntr_5!=0){cntr_5=cntr_5-3;}
                myax12_5.SetGoal(cntr_5);    // go to cntr_1 degrees
            }
            if(touch[XCOORD]>=48&&touch[XCOORD]<=72&&touch[YCOORD]>=117&&touch[YCOORD]<=130){
                //AX_1 up counter to 300
                if(cntr_5!=300){cntr_5=cntr_5+3;}
                myax12_5.SetGoal(cntr_5);    // go to cntr_1 degrees
            }
            // touched coordinates
            //snprintf(buffer, 100, "X location = %d", touch[XCOORD]);
            //lcd.string(12,70,319,239,WHITE,FONT7,TRANS,buffer);
            //snprintf(buffer, 100, "Y location = %d", touch[YCOORD]);
            //lcd.string(12,130,319,239,WHITE,FONT7,TRANS,buffer);
            //lcd.erase();
        }
            //lcd.string(12,70,319,239,WHITE,FONT7,TRANS,"X location =   ");
            //lcd.string(12,130,319,239,WHITE,FONT7,TRANS,"Y location =   ");
        //myled1 = 1;
        //wait_ms(500);
        //myled1 = 0;
        //myled4 = 1;
        //wait_ms(500);
        //myled4 = 0;
    }//end of main while loop
}