Genath N
/
disco_display
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Dependencies: BSP_DISCO_F746NG LCD_DISCO_F746NG TS_DISCO_F746NG herkulex mbed
Diff: main.cpp
- Revision:
- 0:d109c328c59a
- Child:
- 1:0672bec4f646
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Jun 21 10:29:08 2018 +0000
@@ -0,0 +1,239 @@
+#include "mbed.h"
+#include "TS_DISCO_F746NG.h"
+#include "LCD_DISCO_F746NG.h"
+#include "herkulex.h"
+
+
+#define SERVO_ID 0x02
+
+Herkulex sv(PC_6, PC_7, 115200);
+DigitalOut led(LED1);
+
+LCD_DISCO_F746NG lcd;
+TS_DISCO_F746NG ts;
+
+int main()
+{
+ TS_StateTypeDef TS_State;
+ uint16_t x, y;
+ uint8_t text[28];
+ uint8_t nom[50];
+ uint8_t status;
+ uint8_t idx;
+ uint8_t cleared = 0;
+ uint8_t prev_nb_touches = 0;
+ int init=0, init1=0;
+ int position = 0;
+ float positiondeg = 0;
+
+
+ lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"HerkuleX Smart Robot Servo", CENTER_MODE);
+ lcd.SetBackColor(LCD_COLOR_BLACK);
+ lcd.SetTextColor(LCD_COLOR_WHITE);
+ wait(1);
+
+ status = ts.Init(lcd.GetXSize(), lcd.GetYSize());
+ if (status != TS_OK) {
+ lcd.Clear(LCD_COLOR_RED);
+ lcd.SetBackColor(LCD_COLOR_RED);
+ lcd.SetTextColor(LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"TOUCHSCREEN INIT FAIL", CENTER_MODE);
+ } else {
+ lcd.Clear(LCD_COLOR_GREEN);
+ lcd.SetBackColor(LCD_COLOR_GREEN);
+ lcd.SetTextColor(LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"TOUCHSCREEN INIT OK", CENTER_MODE);
+ }
+ /**
+ * @brief Draws a rectangle.
+ * @param Xpos: X position
+ * @param Ypos: Y position
+ * @param Width: Rectangle width
+ * @param Height: Rectangle height
+ * @retval None
+ */
+ lcd.SetFont(&Font12);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_WHITE);
+
+
+ sv.clear(SERVO_ID);
+
+ sv.leds(SERVO_ID, 4);
+
+ sv.setTorque(SERVO_ID, TORQUE_ON);
+
+ //sv.getStatus(SERVO_ID);
+
+ //sv.getPos(SERVO_ID);
+
+ wait(1);
+
+ sv.positionControl(SERVO_ID, 21, 60, GLED_ON);
+ wait(1);
+ sv.getStatus(SERVO_ID);
+ position = sv.getPos(SERVO_ID);
+
+ while(1) {
+
+ //position = sv.getPos(SERVO_ID);
+ sprintf((char*)text, "position : %d", position);
+ lcd.DisplayStringAt(200, LINE(10), (uint8_t *)&text, LEFT_MODE);
+
+ positiondeg = float(position)*0.325;
+
+ //display current position
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ sprintf((char*)text, "current position: %d degrees", int(positiondeg));
+ lcd.DisplayStringAt(10, LINE(21), (uint8_t *)&text, CENTER_MODE);
+
+ //button Init
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DrawRect(380,40,50,25);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ sprintf((char*)text,"Init");
+ lcd.DisplayStringAt(392, LINE(4), (uint8_t *)&text, LEFT_MODE);
+
+ init=init+1;
+
+ /*sprintf((char*)text,"%d",init);
+ lcd.DisplayStringAt(0, LINE(21), (uint8_t *)&text, LEFT_MODE);
+ wait_ms(20);*/
+
+ //button Uturn
+ lcd.SetTextColor(LCD_COLOR_BLACK); //choisi la couleur du texte
+ lcd.DrawRect(380,90,50,25); //trace le rectangle
+ lcd.SetBackColor(LCD_COLOR_WHITE); //choisi la couleur à l'arière du texte
+ lcd.SetTextColor(LCD_COLOR_BLACK); //choisi la couleur du texte
+ sprintf((char*)text,"U-turn"); //ecrit "Uturn"
+ lcd.DisplayStringAt(385, LINE(8), (uint8_t *)&text, LEFT_MODE);
+ //choisi la ligne où ecrire
+
+ //button +10
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DrawRect(380,140,50,25);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ sprintf((char*)text,"+10");
+ lcd.DisplayStringAt(391, LINE(12), (uint8_t *)&text, LEFT_MODE);
+
+ //button -10
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DrawRect(380,190,50,25);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ sprintf((char*)text,"-10");
+ lcd.DisplayStringAt(391, LINE(16), (uint8_t *)&text, LEFT_MODE);
+
+ //middle circle
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DrawCircle(240, 136, 100);
+
+ ts.GetState(&TS_State);
+ if (TS_State.touchDetected) { //when finger detected
+ // Clear lines corresponding to old touches coordinates
+ if (TS_State.touchDetected < prev_nb_touches) {
+ for (idx = (TS_State.touchDetected + 1); idx <= 5; idx++) {
+ lcd.ClearStringLine(idx);
+ }
+ }
+ prev_nb_touches = TS_State.touchDetected;
+
+ cleared = 0;
+
+ //sprintf((char*)text, "Touches: %d", TS_State.touchDetected);
+ //lcd.DisplayStringAt(0, LINE(0), (uint8_t *)&text, LEFT_MODE);
+
+ for (idx = 0; idx < TS_State.touchDetected; idx++) {
+ x = TS_State.touchX[idx];
+ y = TS_State.touchY[idx];
+ //sprintf((char*)text, "Touch %d: x=%d y=%d ", idx+1, x, y);
+ //lcd.DisplayStringAt(0, LINE(idx+1), (uint8_t *)&text, LEFT_MODE);
+ }
+ //filling button Init
+ if (TS_State.touchDetected&(380<x & x<430)&(40<y & y<65)) {
+ lcd.FillRect(380, 40, 50, 25);
+ sv.positionControl(SERVO_ID, 21, 60, GLED_ON);
+ wait(1);
+ sv.getStatus(SERVO_ID);
+ position = sv.getPos(SERVO_ID);
+ }
+ //filling button Uturn
+ if (TS_State.touchDetected&(380<x & x<430)&(90<y & y<115)) {
+ lcd.FillRect(380,90,50,25);
+ position = sv.getPos(SERVO_ID);
+ if( position <= 490)
+ { sv.positionControl(SERVO_ID, 554 + position, 60, BLED_ON);
+ wait(1);
+ sv.getStatus(SERVO_ID);
+ position = sv.getPos(SERVO_ID);
+ }
+ }
+ //filling button +10
+ if (TS_State.touchDetected&(380<x & x<430)&(140<y & y<165)) {
+ lcd.FillRect(380,140,50,25);
+ position = sv.getPos(SERVO_ID);
+ if( position <= 972)
+ { sv.positionControl(SERVO_ID, 30 + position, 60, BLED_ON);
+ wait(1);
+ sv.getStatus(SERVO_ID);
+ position = sv.getPos(SERVO_ID);
+ }
+ }
+ //filling button -10
+ if (TS_State.touchDetected&(380<x & x<430)&(190<y & y<215)) {
+ lcd.FillRect(380,190,50,25);
+ position = sv.getPos(SERVO_ID);
+ if( position >= 51)
+ { sv.positionControl(SERVO_ID, position - 30, 60, BLED_ON);
+ wait(1);
+ sv.getStatus(SERVO_ID);
+ position = sv.getPos(SERVO_ID);
+ }
+ }
+
+ //filling circle
+ if (TS_State.touchDetected&(140<x & x<340)&(36<y & y<236)) {
+ lcd.FillCircle(240,136,100);
+
+ sv.positionControl(SERVO_ID, 1002-(((x-140)*5)), 60, BLED_ON);
+ wait(1);
+ sv.getStatus(SERVO_ID);
+ position = sv.getPos(SERVO_ID);
+ }
+
+ //init=0;
+
+
+ //finger follower
+ /*if (TS_State.touchDetected&(0<x & x<480)&(0<y & y<272)) {
+ lcd.FillCircle(x, y, 10);
+ }*/
+
+ //lcd.DrawPixel(TS_State.touchX[0], TS_State.touchY[0], LCD_COLOR_WHITE);
+ } else { //when no finger detected
+ if (!cleared) {
+ lcd.Clear(LCD_COLOR_WHITE);
+ sprintf((char*)text, "Alim Voltage: 7.4 V");
+ lcd.DisplayStringAt(0, LINE(5), (uint8_t *)&text, LEFT_MODE);
+ sprintf((char*)text, "Current MAX: 450 mA");
+ lcd.DisplayStringAt(0, LINE(6), (uint8_t *)&text, LEFT_MODE);
+ //title display
+ lcd.DisplayStringAt(0, LINE(1), (uint8_t *)"HerkuleX Servo Controler", CENTER_MODE);
+ //name display
+ sprintf((char*)nom, "Yann MARTIN");
+ lcd.DisplayStringAt(0, LINE(17), (uint8_t *)&nom, LEFT_MODE);
+ sprintf((char*)nom, "Karl BISWESE");
+ lcd.DisplayStringAt(0, LINE(18), (uint8_t *)&nom, LEFT_MODE);
+ sprintf((char*)nom, "Genath NAGENTHIRAN");
+ lcd.DisplayStringAt(0, LINE(19), (uint8_t *)&nom, LEFT_MODE);
+ cleared = 1;
+ }
+
+ }
+
+
+ }
+}