void
CalibratedServo::setTemperature(uint8_t temperature)
{
static uint8_t lastTemp = 0;
static unsigned long detatchTime = 0;
if (temperature > getMaxTemperature()) temperature = getMaxTemperature();
if (temperature < getMinTemperature()) temperature = getMinTemperature();
lastTemperature = temperature;
int deltaTemp = getMaxTemperature() - getMinTemperature();
int deltaAngle = getMaxAngle() - getMinAngle();
if (deltaTemp == 0) return;
int angle = ((((int)temperature - (int)getMinTemperature()) * (int)deltaAngle)
/ (int)deltaTemp)
+ getMinAngle();
if (temperature != lastTemp) {
detatchTime = millis() + 1500ul;
lastTemp = temperature;
attach(pin);
} else if (attached() && (millis() > detatchTime)) {
detach();
}
if (angle <= getMaxAngle() && angle >= getMinAngle())
write(180-angle);
}
void AngleRadiusWidget::setMinAngle(double angle) {
if (minAngle_ != angle) {
minAngle_ = angle;
// Update angle to be within bounds
setAngle(std::max(getAngle(), getMinAngle()));
update();
emit angleMinMaxChanged();
}
}
void AngleRadiusWidget::setMinMaxAngle(double minAngle, double maxAngle) {
if (minAngle_ != minAngle || maxAngle_ != maxAngle) {
minAngle_ = minAngle;
maxAngle_ = maxAngle;
// Update radius to be within bounds
setAngle(glm::clamp(getAngle(), getMinAngle(), getMaxAngle()));
update();
emit angleMinMaxChanged();
}
}
void AngleRadiusWidget::paintEvent(QPaintEvent *) {
const int referenceRadius = getMaxPixelSpaceRadius();
const double pixelSpaceRadius = referenceRadius*(getRadius()/getMaxRadius());
const qreal angleIndicatorCircleDiameter = 6.;
QPen angleIndicatorPen(palette().midlight(), 2, Qt::SolidLine, Qt::SquareCap, Qt::MiterJoin);
QPen coordinateSystemPen(palette().alternateBase(), 1, Qt::SolidLine, Qt::SquareCap, Qt::MiterJoin);
QPen circleBoundsPen(palette().alternateBase(), 1, Qt::DashLine, Qt::SquareCap, Qt::MiterJoin);
// x and y in pixel coordinates
auto x = pixelSpaceRadius*std::cos(getAngle());
auto y = -pixelSpaceRadius*std::sin(getAngle());
int side = qMin(width(), height());
QStylePainter painter(this);
painter.setRenderHint(QPainter::Antialiasing);
painter.translate(width() / 2, height() / 2);
painter.scale(side / (qreal)100., side / (qreal)100.);
painter.setPen(coordinateSystemPen);
// Draw axes and bounds circle(s)
for (int i = 0; i < 4; ++i) {
painter.drawLine(0, 0, referenceRadius+5, 0);
painter.rotate(90.0);
}
painter.setPen(circleBoundsPen);
// Display angle bounds by drawing a pie (pacman) if min/max is not 0/2pi
int innerBoundsCircleRadius = static_cast<int>(static_cast<double>(referenceRadius)*(getMinRadius()/getMaxRadius()));
if (getMinAngle() > 0. || getMaxAngle() < 2.*M_PI) {
// drawPie wants 16*degrees
int pieStart = static_cast<int>( 16*glm::degrees(getMinAngle()) );
int pieEnd = static_cast<int>( 16*(glm::degrees(getMaxAngle())-glm::degrees(getMinAngle())) );
painter.drawPie(-referenceRadius, -referenceRadius, 2*referenceRadius, 2*referenceRadius, pieStart, pieEnd);
if (minRadius_ > 0.) {
painter.drawPie(-innerBoundsCircleRadius, -innerBoundsCircleRadius, 2*innerBoundsCircleRadius, 2*innerBoundsCircleRadius, pieStart, pieEnd);
}
} else {
painter.drawEllipse(-referenceRadius, -referenceRadius, 2*referenceRadius, 2*referenceRadius);
if (minRadius_ > 0.) {
painter.drawEllipse(-innerBoundsCircleRadius, -innerBoundsCircleRadius, 2*innerBoundsCircleRadius, 2*innerBoundsCircleRadius);
}
}
// Draw angle and radius
painter.setPen(QPen(palette().text().color()));
QPainterPath anglePath;
// Make sure that angle goes from 0 to 2*pi
double sweepAngle = getAngle() < 0. ? 2.*M_PI+getAngle() : getAngle();
// Draw angle arc and text
anglePath.arcTo(-10., -10., 20., 20., 0., glm::degrees(sweepAngle));
painter.drawPath(anglePath);
std::stringstream angleStream; angleStream.precision(1); angleStream << std::fixed << glm::degrees(sweepAngle);
int anglePosX = 5;
int anglePosY = -10;
QFontMetrics fm(painter.font());
QString angleText = QString::fromStdString(angleStream.str())+ QChar(0260);
int angleTextWidth = fm.width(angleText);
if (anglePosX+angleTextWidth > referenceRadius) {
anglePosX = referenceRadius+2;
anglePosY = -2;
}
// 0260 is the degree symbol
painter.drawText(anglePosX, anglePosY, angleText);
// Draw radius text
std::stringstream radiusStream; radiusStream.precision(2); radiusStream << getRadius();
painter.drawText(static_cast<int>(x+angleIndicatorCircleDiameter+angleIndicatorPen.width()),
static_cast<int>(y), QString::fromStdString(radiusStream.str()));
// Rotated line and circle
painter.setPen(angleIndicatorPen);
painter.drawLine(QLineF(QPointF(0., 0.), QPointF(x, y)));
painter.setBrush(QBrush(palette().shadow().color(), Qt::SolidPattern));
painter.drawEllipse(QPointF(x, y), angleIndicatorCircleDiameter, angleIndicatorCircleDiameter);
}
