ServosWidget::ServosWidget(Device *device, QWidget *parent)
: StandardWidget(device, parent),
ui(new Ui::ServosWidget),
m_provider(new NumpadDialog(QString()))
{
ui->setupUi(this);
performStandardSetup(tr("Servos"));
ui->number->setInputProvider(m_provider);
connect(ui->dial, SIGNAL(valueChanged(double)), SLOT(positionChanged(double)));
connect(ui->number, SIGNAL(textEdited(QString)), SLOT(manualEntry(QString)));
connect(ui->port_0, SIGNAL(clicked()), SLOT(activeChanged()));
connect(ui->port_1, SIGNAL(clicked()), SLOT(activeChanged()));
connect(ui->port_2, SIGNAL(clicked()), SLOT(activeChanged()));
connect(ui->port_3, SIGNAL(clicked()), SLOT(activeChanged()));
connect(ui->enable, SIGNAL(clicked()), SLOT(enable()));
connect(ui->disable, SIGNAL(clicked()), SLOT(disable()));
// Setup ui for port 0 (the default servo)
ui->dial->setMinimumValue(0);
ui->dial->setMaximumValue(2047);
ui->dial->setValue(get_servo_position(0));
ui->dial->setLabel(0);
ui->port_0->setEnabled(false);
const bool servoEnabled = get_servo_enabled(0);
ui->enable->setVisible(!servoEnabled);
ui->disable->setVisible(servoEnabled);
publish();
}
void ServosWidget::activeChanged()
{
QObject *from = sender();
// Set dial label for new servo
int newPort = -1;
if(from == ui->port_0) newPort = 0;
else if(from == ui->port_1) newPort = 1;
else if(from == ui->port_2) newPort = 2;
else if(from == ui->port_3) newPort = 3;
else return;
ui->dial->setLabel(newPort);
// Set dial value for new servo
ui->dial->setValue(get_servo_position(newPort));
// Enable/disable appropriate port buttons
ui->port_0->setEnabled(from != ui->port_0);
ui->port_1->setEnabled(from != ui->port_1);
ui->port_2->setEnabled(from != ui->port_2);
ui->port_3->setEnabled(from != ui->port_3);
// Show/hide enable and disable buttons
const bool servoEnabled = get_servo_enabled(newPort);
ui->enable->setVisible(!servoEnabled);
ui->disable->setVisible(servoEnabled);
publish();
}
int main()
{
int delay=10;
int i=0;
enable_servo(2);
printf("%d enabled\n",get_servo_enabled(0));
printf("%d enabled\n",get_servo_enabled(1));
printf("%d enabled\n",get_servo_enabled(2));
printf("%d enabled\n",get_servo_enabled(3));
set_servo_position(2,100);
for(i=0;i<200;i++)
{
printf("%d position %d\n",get_servo_position(2), i);
msleep(delay);
}
msleep(1500);
set_servo_position(2,1500);
printf("%d position\n",get_servo_position(2));
msleep(1500);
}
