fix: updating the projects/tutorials codes

examples/Braccio_Record_and_Replay/AppState.cpp

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

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

@@ -0,0 +1,277 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
+
+#include "AppState.h"
+
+/**************************************************************************************
+ * DEFINES
+ **************************************************************************************/
+
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+#define COLOR_YELLOW     0xE5AD24
+
+/**************************************************************************************
+ * TYPEDEF
+ **************************************************************************************/
+
+// IDs of the displayed directional UI buttons
+enum BUTTONS {
+  BTN_UP = 1,
+  BTN_DOWN = 7,
+  BTN_LEFT = 3,
+  BTN_RIGHT = 5,
+};
+
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
+static float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
+static const char *DIRECTION_BTNM_MAP[] = {" ", LV_SYMBOL_UP, " ", "\n",
+                                           LV_SYMBOL_LEFT, " ", LV_SYMBOL_RIGHT, "\n",
+                                           " ", LV_SYMBOL_DOWN, " ", "\0"};
+
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
+
+lv_obj_t * direction_btnm;
+lv_obj_t * label;
+
+ManualControlApp app;
+
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
+void setup()
+{
+  Serial.begin(115200);
+
+  if (Braccio.begin(directionScreen))
+  {
+    /* Configure Braccio. */
+    Braccio.speed(speed_grade_t(120)/*MEDIUM*/);
+    /* Move to home position. */
+    Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
+    delay(500);
+    /* Init state. */
+    app.update(Button::None);
+    /* Enable buttons. */
+    Braccio.lvgl_lock();
+    lv_btnmatrix_clear_btn_ctrl(direction_btnm, 1, LV_BTNMATRIX_CTRL_DISABLED);
+    lv_btnmatrix_clear_btn_ctrl(direction_btnm, 3, LV_BTNMATRIX_CTRL_DISABLED);
+    lv_btnmatrix_clear_btn_ctrl(direction_btnm, 5, LV_BTNMATRIX_CTRL_DISABLED);
+    lv_btnmatrix_clear_btn_ctrl(direction_btnm, 7, LV_BTNMATRIX_CTRL_DISABLED);
+    Braccio.lvgl_unlock();
+  }
+}
+
+void loop()
+{
+  /* Execute every 10 ms. */
+  {
+    static auto prev = millis();
+    auto const now = millis();
+    if ((now - prev) > 10)
+    {
+      prev = now;
+      handle_ButtonPressedReleased();
+    }
+  }
+
+  /* Execute every 50 ms. */
+  {
+    static auto prev = millis();
+    auto const now = millis();
+    if ((now - prev) > 50)
+    {
+      prev = now;
+
+      if (Braccio.isJoystickPressed_UP())
+        app.update(Button::Up);
+      if (Braccio.isJoystickPressed_DOWN())
+        app.update(Button::Down);
+      if (Braccio.isJoystickPressed_LEFT())
+        app.update(Button::Left);
+      if (Braccio.isJoystickPressed_RIGHT())
+        app.update(Button::Right);
+    }
+  }
+}
+
+/**************************************************************************************
+ * FUNCTIONS
+ **************************************************************************************/
+
+void directionScreen(void)
+{
+  Braccio.lvgl_lock();
+
+  static lv_style_t style_bg;
+  lv_style_init(&style_bg);
+  lv_style_set_bg_color(&style_bg, lv_color_white());
+
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_LIGHT_TEAL));
+  lv_style_set_text_color(&style_btn, lv_color_white());
+
+  direction_btnm = lv_btnmatrix_create(lv_scr_act());
+  lv_obj_set_size(direction_btnm, 240, 240);
+  lv_btnmatrix_set_map(direction_btnm, DIRECTION_BTNM_MAP);
+  lv_obj_align(direction_btnm, LV_ALIGN_CENTER, 0, 0);
+
+  lv_obj_add_style(direction_btnm, &style_bg, 0);
+  lv_obj_add_style(direction_btnm, &style_btn, LV_PART_ITEMS);
+
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 0, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 1, LV_BTNMATRIX_CTRL_DISABLED);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 2, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 3, LV_BTNMATRIX_CTRL_DISABLED);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 4, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 5, LV_BTNMATRIX_CTRL_DISABLED);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 6, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 7, LV_BTNMATRIX_CTRL_DISABLED);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 8, LV_BTNMATRIX_CTRL_HIDDEN);
+
+  lv_btnmatrix_set_one_checked(direction_btnm, true);
+  lv_btnmatrix_set_selected_btn(direction_btnm, 1);
+
+  label = lv_label_create(lv_scr_act());
+  lv_obj_set_width(label, 240);
+  lv_obj_set_style_text_align(label, LV_TEXT_ALIGN_CENTER, 0);
+  lv_obj_align(label, LV_ALIGN_CENTER, 0, 0);
+  lv_label_set_text(label, "");
+
+  Braccio.lvgl_unlock();
+}
+
+void handle_ButtonPressedReleased()
+{
+  /* ENTER */
+
+  static bool prev_joystick_pressed_enter = false;
+  bool const curr_joystick_pressed_enter = Braccio.isButtonPressed_ENTER();
+  if (!prev_joystick_pressed_enter && curr_joystick_pressed_enter) {
+    app.update(Button::Enter);
+  }
+  prev_joystick_pressed_enter = curr_joystick_pressed_enter;
+
+  /* SELECT */
+
+  static bool prev_joystick_pressed_select = false;
+  bool const curr_joystick_pressed_select = Braccio.isJoystickPressed_SELECT();
+  if (!prev_joystick_pressed_select && curr_joystick_pressed_select) {
+    app.update(Button::Enter);
+  }
+  prev_joystick_pressed_select = curr_joystick_pressed_select;
+
+  /* DOWN */
+
+  static bool prev_joystick_pressed_down = false;
+  bool const curr_joystick_pressed_down = Braccio.isJoystickPressed_DOWN();
+  if (!prev_joystick_pressed_down && curr_joystick_pressed_down) {
+    handle_OnButtonDownPressed();
+  }
+  if (prev_joystick_pressed_down && !curr_joystick_pressed_down) {
+    handle_OnButtonDownReleased();
+  }
+  prev_joystick_pressed_down = curr_joystick_pressed_down;
+
+  /* UP */
+
+  static bool prev_joystick_pressed_up = false;
+  bool const curr_joystick_pressed_up = Braccio.isJoystickPressed_UP();
+  if (!prev_joystick_pressed_up && curr_joystick_pressed_up) {
+    handle_OnButtonUpPressed();
+  }
+  if (prev_joystick_pressed_up && !curr_joystick_pressed_up) {
+    handle_OnButtonUpReleased();
+  }
+  prev_joystick_pressed_up = curr_joystick_pressed_up;
+
+  /* LEFT */
+
+  static bool prev_joystick_pressed_left = false;
+  bool const curr_joystick_pressed_left = Braccio.isJoystickPressed_LEFT();
+  if (!prev_joystick_pressed_left && curr_joystick_pressed_left) {
+    handle_OnButtonLeftPressed();
+  }
+  if (prev_joystick_pressed_left && !curr_joystick_pressed_left) {
+    handle_OnButtonLeftReleased();
+  }
+  prev_joystick_pressed_left = curr_joystick_pressed_left;
+
+  /* RIGHT */
+
+  static bool prev_joystick_pressed_right = false;
+  bool const curr_joystick_pressed_right = Braccio.isJoystickPressed_RIGHT();
+  if (!prev_joystick_pressed_right && curr_joystick_pressed_right) {
+    handle_OnButtonRightPressed();
+  }
+  if (prev_joystick_pressed_right && !curr_joystick_pressed_right) {
+    handle_OnButtonRightReleased();
+  }
+  prev_joystick_pressed_right = curr_joystick_pressed_right;
+}
+
+void handle_OnButtonDownPressed()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_DOWN, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonDownReleased()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_DOWN, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonUpPressed()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_UP, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonUpReleased()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_UP, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonLeftPressed()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_LEFT, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonLeftReleased()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_LEFT, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonRightPressed()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_RIGHT, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonRightReleased()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_RIGHT, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}