Revision 4:ff637e680ea7, committed 2017-07-25

Comitter:

wupinxian

Date:

Tue Jul 25 06:10:36 2017 +0000

Parent:

3:98e2c23d57b2

Commit message:

vol1.0

Changed in this revision

diff -r 98e2c23d57b2 -r ff637e680ea7 main.cpp
--- a/main.cpp	Wed Jul 05 06:50:17 2017 +0000
+++ b/main.cpp	Tue Jul 25 06:10:36 2017 +0000
@@ -2,83 +2,63 @@
 #include "TS_DISCO_F469NI.h"
 #include "LCD_DISCO_F469NI.h"
 
+#define button_rad 50
+
+#define button_dist 100
+/////
+#include <ros.h>
+#include<turtlesim/Pose.h>
+#include <std_msgs/String.h>
+#include <Pose.h>
+
+//////
+
 LCD_DISCO_F469NI lcd;
 TS_DISCO_F469NI ts;
 
 int main()
 {
+    
     TS_StateTypeDef TS_State;
-    uint16_t x, y;
+    uint8_t status;
+    turtlesim::Pose pose;
+    
+    /*uint16_t x, y;
     uint8_t text[30];
-    uint8_t status;
     uint8_t idx;
     uint8_t cleared = 0;
     uint8_t prev_nb_touches = 0;
-  
+    */
     BSP_LCD_SetFont(&Font24);
   
     lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"TOUCHSCREEN DEMO", CENTER_MODE);
-    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);      
-    }
-
-    wait(1);
-    lcd.SetBackColor(LCD_COLOR_BLUE);
-    lcd.SetTextColor(LCD_COLOR_WHITE);
+    
+    lcd.SetBackColor(LCD_COLOR_WHITE);
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    
+    lcd.DisplayChar(lcd.GetXSize()/2,lcd.GetYSize()/2,'W');
+    lcd.DrawCircle(lcd.GetXSize()/2,lcd.GetYSize()/2,button_rad);
+    
+    lcd.DisplayChar(lcd.GetXSize()/2,lcd.GetYSize()/2+button_dist,'S');
+    lcd.DrawCircle(lcd.GetXSize()/2,lcd.GetYSize()/2+button_dist,button_rad);
     
+    lcd.DisplayChar(lcd.GetXSize()/2+button_dist,lcd.GetYSize()/2+button_dist,'D');
+    lcd.DrawCircle(lcd.GetXSize()/2+button_dist,lcd.GetYSize()/2+button_dist,button_rad);
+    
+    
+    lcd.DisplayChar(lcd.GetXSize()/2-button_dist,lcd.GetYSize()/2+button_dist,'A');
+    lcd.DrawCircle(lcd.GetXSize()/2-button_dist,lcd.GetYSize()/2+button_dist,button_rad);
+    
+    //Pose.x = 5 ;
+    pose.x=5.5;
     while(1)
     {
-      
-      ts.GetState(&TS_State);      
-      if (TS_State.touchDetected)
-      {
-        // 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);
-          lcd.FillCircle(TS_State.touchX[idx], TS_State.touchY[idx], 20);
-        }
-      }
-      else
-      {
-        if (!cleared)
-        {
-          lcd.Clear(LCD_COLOR_BLUE);
-          sprintf((char*)text, "Touches: 0");
-          lcd.DisplayStringAt(0, LINE(0), (uint8_t *)&text, LEFT_MODE);
-          cleared = 1;
-        }
-      }
+        
+        
     }
 }

diff -r 98e2c23d57b2 -r ff637e680ea7 ros_lib_kinetic.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros_lib_kinetic.lib	Tue Jul 25 06:10:36 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/garyservin/code/ros_lib_kinetic/#a849bf78d77f