static void
Rescale(XmPannerWidget pw)
{
int hpad = 2 * (XmPanner_internal_border(pw) +
pw->primitive.highlight_thickness +
pw->primitive.shadow_thickness);
int vpad = hpad;
if (XmPanner_canvas_width(pw) < 1)
XmPanner_canvas_width(pw) = pw->core.width;
if (XmPanner_canvas_height(pw) < 1)
XmPanner_canvas_height(pw) = pw->core.height;
if ((int)pw->core.width <= hpad)
hpad = 0;
if ((int)pw->core.height <= vpad)
vpad = 0;
XmPanner_haspect(pw) =
(double)(pw->core.width - hpad) / (double)XmPanner_canvas_width(pw);
XmPanner_vaspect(pw) =
(double)(pw->core.height - vpad) / (double)XmPanner_canvas_height(pw);
ScaleKnob (pw, TRUE, TRUE);
}
void MainMenu()
{
func = -1;
while (!stop_button())
{
funcLast = func;
func = ScaleKnob(1, 27);
if (FDispMenu(1, "Calibrate Lookdown")) CalibrateLookdown();
if (FDispMenu(2, "Compete!")) Compete();
if (FDispMenu(3, "Placebo")) Placebo();
if (FDispMenu(4, "Dance!")) Chop(10);
if (FDispMenu(5, "Calibrate Soft")) CalibrateSoft();
if (FDispMenu(6, "Calibrate Hard")) CalibrateHard();
if (FDispMenu(7, "Speed Calibration")) CalibrateSpeed();
if (FDispMenu(8, "Lookdown Test")) LookdownTest();
if (FDispMenu(9, "Orientation")) Orient();
if (FDispMenu(10, "Straight 1000")) Move(1000,1000);
if (FDispMenu(11, "Left 90 Soft")) Soft(90, 1);
if (FDispMenu(12, "Left 90 Hard")) Hard(90);
if (FDispMenu(13, "Find Line")) FindLine();
if (FDispMenu(14, "Line Follow")) LineFollower();
if (FDispMenu(15, "Record"))
RecordMove(WSetting("Record move", 0, 9));
if (FDispMenu(16, "Playback"))
PlayMove(WSetting("Play move", 0, 9));
/* hbtest.c functions */
if (FDispMenu(17, "Servo Test")) ServoTest();
if (FDispMenu(18, "Calibrate Gate")) CalibrateGate();
if (FDispMenu(19, "Soft Turn Test")) SoftTest();
if (FDispMenu(20, "Hard Turn Test")) HardTest();
if (FDispMenu(21, "Spin Test!")) Spinner();
if (FDispMenu(22, "Shake Test!")) Shaker();
if (FDispMenu(23, "Bump Test")) BumpTest();
if (FDispMenu(24, "Test Motors")) testmotors();
if (FDispMenu(25, "Test Digitals")) testdigitals();
if (FDispMenu(26, "Test Analogs")) testanalogs();
if (FDispMenu(27, "Assert Enable")) AssertEnable();
}
}
void ServoRange()
{
int pos;
int portServ = 0;
while (!stop_button())
{
if (start_button())
{
portServ = 1 - portServ;
while (start_button());
}
pos = ScaleKnob(30, 3960);
printf("Servo: %d\n", pos);
servo(portServ, pos);
}
while (stop_button());
}
int WSetting(char st[], int wMin, int wMax)
{
int wSet;
int wSetLast = -1;
while (!start_button())
{
wSet = ScaleKnob(wMin, wMax);
if (wSet != wSetLast)
{
wSetLast = wSet;
printf("%s: %d\n", st, wSet);
}
}
while (start_button());
return wSet;
}
/* ARGSUSED */
static Boolean
SetValues (Widget gcur, Widget greq,
Widget gset, ArgList args, Cardinal *num_args)
{
XmPannerWidget cur = (XmPannerWidget) gcur;
XmPannerWidget set = (XmPannerWidget) gset;
Boolean redisplay = FALSE;
if (cur->primitive.foreground != set->primitive.foreground) {
ResetSliderGC (set);
if (cur->primitive.foreground != cur->core.background_pixel)
ResetXorGC (set);
redisplay = TRUE;
}
else if (cur->core.background_pixel != set->core.background_pixel)
{
ResetXorGC (set);
redisplay = TRUE;
}
if (XmPanner_rubber_band(cur) != XmPanner_rubber_band(set)) {
ResetXorGC (set);
if (XmPanner_tmp(set).doing) redisplay = TRUE;
}
if (XmPanner_resize_to_pref(set) &&
(XmPanner_canvas_width(cur) != XmPanner_canvas_width(set) ||
XmPanner_canvas_height(cur) != XmPanner_canvas_height(set) ||
XmPanner_resize_to_pref(cur) != XmPanner_resize_to_pref(set)))
{
GetDefaultSize (set, &set->core.width, &set->core.height);
redisplay = TRUE;
}
else if (XmPanner_canvas_width(cur) != XmPanner_canvas_width(set) ||
XmPanner_canvas_height(cur) != XmPanner_canvas_height(set) ||
XmPanner_internal_border(cur) != XmPanner_internal_border(set))
{
Rescale (set); /* does a scale_knob as well */
redisplay = TRUE;
}
else {
Boolean loc = (XmPanner_slider_x(cur) != XmPanner_slider_x(set) ||
XmPanner_slider_y(cur) != XmPanner_slider_y(set));
Boolean siz = (XmPanner_slider_width(cur) != XmPanner_slider_width(set) ||
XmPanner_slider_height(cur) != XmPanner_slider_height(set));
if (loc || siz)
{
/* Fake it as though user has made a page movement; works as long
** as we don't get a callback now with different X and Y values
*/
/* note! siz does change from the porthole, but if the app changes
** it programmatically, then the value is off
*/
XmPanner_tmp(set).doing = TRUE;
XmPanner_tmp(set).x = XmPanner_knob_x(set) + PANNER_HSCALE (set, XmPanner_slider_x(set) - XmPanner_slider_x(cur));
XmPanner_tmp(set).y = XmPanner_knob_y(set) + PANNER_VSCALE (set, XmPanner_slider_y(set) - XmPanner_slider_y(cur));
ActionNotify((Widget)set, NULL, NULL, 0);
XmPanner_tmp(set).doing = FALSE;
ScaleKnob(set,loc,siz);
redisplay = TRUE;
}
}
return redisplay;
}
