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EsquirioEsquirio
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fix: updating the projects/tutorials codes (#80)
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18 files changed

+3903
-582
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‎examples/Braccio_Record_and_Replay/AppState.cpp

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@@ -258,7 +258,7 @@ State * ReplayState::handle_OnTimerTick()
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}
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/**************************************************************************************
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* ReplayState
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* ZeroState
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**************************************************************************************/
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State * ZeroState::handle_OnTimerTick()

‎examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/01_Controlling_Manually_Braccio/01_Controlling_Manually_Braccio.ino

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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include <Braccio++.h>
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#include "AppState.h"
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/**************************************************************************************
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* DEFINES
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**************************************************************************************/
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#define COLOR_TEAL 0x00878F
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#define COLOR_LIGHT_TEAL 0x62AEB2
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#define COLOR_YELLOW 0xE5AD24
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/**************************************************************************************
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* TYPEDEF
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**************************************************************************************/
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// IDs of the displayed directional UI buttons
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enum BUTTONS {
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BTN_UP = 1,
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BTN_DOWN = 7,
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BTN_LEFT = 3,
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BTN_RIGHT = 5,
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};
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/**************************************************************************************
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* CONSTANTS
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**************************************************************************************/
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static float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
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static const char *DIRECTION_BTNM_MAP[] = {" ", LV_SYMBOL_UP, " ", "\n",
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LV_SYMBOL_LEFT, " ", LV_SYMBOL_RIGHT, "\n",
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" ", LV_SYMBOL_DOWN, " ", "\0"};
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/**************************************************************************************
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* GLOBAL VARIABLES
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**************************************************************************************/
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lv_obj_t * direction_btnm;
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lv_obj_t * label;
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ManualControlApp app;
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/**************************************************************************************
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* SETUP/LOOP
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**************************************************************************************/
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void setup()
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{
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Serial.begin(115200);
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if (Braccio.begin(directionScreen))
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{
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/* Configure Braccio. */
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Braccio.speed(speed_grade_t(120)/*MEDIUM*/);
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/* Move to home position. */
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Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
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delay(500);
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/* Init state. */
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app.update(Button::None);
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/* Enable buttons. */
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Braccio.lvgl_lock();
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lv_btnmatrix_clear_btn_ctrl(direction_btnm, 1, LV_BTNMATRIX_CTRL_DISABLED);
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lv_btnmatrix_clear_btn_ctrl(direction_btnm, 3, LV_BTNMATRIX_CTRL_DISABLED);
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lv_btnmatrix_clear_btn_ctrl(direction_btnm, 5, LV_BTNMATRIX_CTRL_DISABLED);
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lv_btnmatrix_clear_btn_ctrl(direction_btnm, 7, LV_BTNMATRIX_CTRL_DISABLED);
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Braccio.lvgl_unlock();
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}
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}
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void loop()
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{
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/* Execute every 10 ms. */
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{
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static auto prev = millis();
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auto const now = millis();
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if ((now - prev) > 10)
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{
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prev = now;
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handle_ButtonPressedReleased();
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}
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}
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/* Execute every 50 ms. */
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{
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static auto prev = millis();
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auto const now = millis();
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if ((now - prev) > 50)
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{
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prev = now;
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if (Braccio.isJoystickPressed_UP())
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app.update(Button::Up);
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if (Braccio.isJoystickPressed_DOWN())
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app.update(Button::Down);
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if (Braccio.isJoystickPressed_LEFT())
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app.update(Button::Left);
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if (Braccio.isJoystickPressed_RIGHT())
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app.update(Button::Right);
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}
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}
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}
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/**************************************************************************************
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* FUNCTIONS
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**************************************************************************************/
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void directionScreen(void)
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{
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Braccio.lvgl_lock();
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static lv_style_t style_bg;
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lv_style_init(&style_bg);
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lv_style_set_bg_color(&style_bg, lv_color_white());
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static lv_style_t style_btn;
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lv_style_init(&style_btn);
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lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_LIGHT_TEAL));
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lv_style_set_text_color(&style_btn, lv_color_white());
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direction_btnm = lv_btnmatrix_create(lv_scr_act());
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lv_obj_set_size(direction_btnm, 240, 240);
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lv_btnmatrix_set_map(direction_btnm, DIRECTION_BTNM_MAP);
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lv_obj_align(direction_btnm, LV_ALIGN_CENTER, 0, 0);
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lv_obj_add_style(direction_btnm, &style_bg, 0);
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lv_obj_add_style(direction_btnm, &style_btn, LV_PART_ITEMS);
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lv_btnmatrix_set_btn_ctrl(direction_btnm, 0, LV_BTNMATRIX_CTRL_HIDDEN);
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lv_btnmatrix_set_btn_ctrl(direction_btnm, 1, LV_BTNMATRIX_CTRL_DISABLED);
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lv_btnmatrix_set_btn_ctrl(direction_btnm, 2, LV_BTNMATRIX_CTRL_HIDDEN);
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lv_btnmatrix_set_btn_ctrl(direction_btnm, 3, LV_BTNMATRIX_CTRL_DISABLED);
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lv_btnmatrix_set_btn_ctrl(direction_btnm, 4, LV_BTNMATRIX_CTRL_HIDDEN);
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lv_btnmatrix_set_btn_ctrl(direction_btnm, 5, LV_BTNMATRIX_CTRL_DISABLED);
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lv_btnmatrix_set_btn_ctrl(direction_btnm, 6, LV_BTNMATRIX_CTRL_HIDDEN);
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lv_btnmatrix_set_btn_ctrl(direction_btnm, 7, LV_BTNMATRIX_CTRL_DISABLED);
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lv_btnmatrix_set_btn_ctrl(direction_btnm, 8, LV_BTNMATRIX_CTRL_HIDDEN);
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lv_btnmatrix_set_one_checked(direction_btnm, true);
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lv_btnmatrix_set_selected_btn(direction_btnm, 1);
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label = lv_label_create(lv_scr_act());
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lv_obj_set_width(label, 240);
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lv_obj_set_style_text_align(label, LV_TEXT_ALIGN_CENTER, 0);
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lv_obj_align(label, LV_ALIGN_CENTER, 0, 0);
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lv_label_set_text(label, "");
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Braccio.lvgl_unlock();
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}
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void handle_ButtonPressedReleased()
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{
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/* ENTER */
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static bool prev_joystick_pressed_enter = false;
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bool const curr_joystick_pressed_enter = Braccio.isButtonPressed_ENTER();
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if (!prev_joystick_pressed_enter && curr_joystick_pressed_enter) {
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app.update(Button::Enter);
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}
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prev_joystick_pressed_enter = curr_joystick_pressed_enter;
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/* SELECT */
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static bool prev_joystick_pressed_select = false;
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bool const curr_joystick_pressed_select = Braccio.isJoystickPressed_SELECT();
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if (!prev_joystick_pressed_select && curr_joystick_pressed_select) {
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app.update(Button::Enter);
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}
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prev_joystick_pressed_select = curr_joystick_pressed_select;
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/* DOWN */
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static bool prev_joystick_pressed_down = false;
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bool const curr_joystick_pressed_down = Braccio.isJoystickPressed_DOWN();
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if (!prev_joystick_pressed_down && curr_joystick_pressed_down) {
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handle_OnButtonDownPressed();
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}
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if (prev_joystick_pressed_down && !curr_joystick_pressed_down) {
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handle_OnButtonDownReleased();
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}
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prev_joystick_pressed_down = curr_joystick_pressed_down;
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/* UP */
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static bool prev_joystick_pressed_up = false;
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bool const curr_joystick_pressed_up = Braccio.isJoystickPressed_UP();
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if (!prev_joystick_pressed_up && curr_joystick_pressed_up) {
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handle_OnButtonUpPressed();
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}
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if (prev_joystick_pressed_up && !curr_joystick_pressed_up) {
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handle_OnButtonUpReleased();
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}
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prev_joystick_pressed_up = curr_joystick_pressed_up;
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/* LEFT */
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static bool prev_joystick_pressed_left = false;
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bool const curr_joystick_pressed_left = Braccio.isJoystickPressed_LEFT();
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if (!prev_joystick_pressed_left && curr_joystick_pressed_left) {
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handle_OnButtonLeftPressed();
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}
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if (prev_joystick_pressed_left && !curr_joystick_pressed_left) {
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handle_OnButtonLeftReleased();
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}
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prev_joystick_pressed_left = curr_joystick_pressed_left;
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/* RIGHT */
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static bool prev_joystick_pressed_right = false;
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bool const curr_joystick_pressed_right = Braccio.isJoystickPressed_RIGHT();
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if (!prev_joystick_pressed_right && curr_joystick_pressed_right) {
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handle_OnButtonRightPressed();
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}
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if (prev_joystick_pressed_right && !curr_joystick_pressed_right) {
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handle_OnButtonRightReleased();
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}
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prev_joystick_pressed_right = curr_joystick_pressed_right;
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}
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void handle_OnButtonDownPressed()
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{
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Braccio.lvgl_lock();
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lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_DOWN, LV_BTNMATRIX_CTRL_CHECKED);
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Braccio.lvgl_unlock();
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}
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void handle_OnButtonDownReleased()
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{
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Braccio.lvgl_lock();
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lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_DOWN, LV_BTNMATRIX_CTRL_CHECKED);
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Braccio.lvgl_unlock();
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}
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void handle_OnButtonUpPressed()
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{
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Braccio.lvgl_lock();
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lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_UP, LV_BTNMATRIX_CTRL_CHECKED);
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Braccio.lvgl_unlock();
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}
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void handle_OnButtonUpReleased()
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{
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Braccio.lvgl_lock();
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lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_UP, LV_BTNMATRIX_CTRL_CHECKED);
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Braccio.lvgl_unlock();
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}
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void handle_OnButtonLeftPressed()
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{
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Braccio.lvgl_lock();
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lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_LEFT, LV_BTNMATRIX_CTRL_CHECKED);
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Braccio.lvgl_unlock();
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}
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void handle_OnButtonLeftReleased()
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{
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Braccio.lvgl_lock();
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lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_LEFT, LV_BTNMATRIX_CTRL_CHECKED);
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Braccio.lvgl_unlock();
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}
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void handle_OnButtonRightPressed()
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{
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Braccio.lvgl_lock();
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lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_RIGHT, LV_BTNMATRIX_CTRL_CHECKED);
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Braccio.lvgl_unlock();
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}
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void handle_OnButtonRightReleased()
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{
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Braccio.lvgl_lock();
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lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_RIGHT, LV_BTNMATRIX_CTRL_CHECKED);
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Braccio.lvgl_unlock();
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}

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