Exemple #1
0
void turnToGoal(int pegNum){
	int startHeight = 75;//initial drop height
	int pegDifference = 175;//each peg is same size, so the amount that it must go up should be same too
	int height = startHeight + (pegDifference * pegNum);//calculate height to score peg from
	updateEncoders();
	while(leftEncoder < 500 || armLeftEncoder < height){
		if(leftEncoder < 500){
			motor[leftBack] = 127;
			motor[leftFront] = 127;
			motor[rightBack] = -127;
			motor[rightFront] = -127;
		}else{
			motor[leftBack] = 0;
			motor[leftFront] = 0;
			motor[rightBack] = 0;
			motor[rightFront] = 0;
		}
		if(armLeftEncoder < height){
			motor[armLeft1] = 127;
			motor[armLeft2] = 127;
			motor[armRight1] = 127;
			motor[armRight2] = 127;
		}else{
			motor[armLeft1] = 0;
			motor[armLeft2] = 0;
			motor[armRight1] = 0;
			motor[armRight2] = 0;
		}
		updateEncoders();
	}
}
Exemple #2
0
void turnToPeg(){
	updateEncoders();
	while(leftEncoder > 0 || armLeftEncoder < 0){
		if(leftEncoder < 500){
			motor[leftBack] = -127;
			motor[leftFront] = -127;
			motor[rightBack] = 127;
			motor[rightFront] = 127;
		}else{
			motor[leftBack] = 0;
			motor[leftFront] = 0;
			motor[rightBack] = 0;
			motor[rightFront] = 0;
		}
		if(armLeftEncoder < 0){
			motor[armLeft1] = 127;
			motor[armLeft2] = 127;
			motor[armRight1] = 127;
			motor[armRight2] = 127;
		}else{
			motor[armLeft1] = 0;
			motor[armLeft2] = 0;
			motor[armRight1] = 0;
			motor[armRight2] = 0;
		}
		updateEncoders();
	}
}
Exemple #3
0
void backLeft(int value){
	updateEncoders();
	int startV = leftEncoder;
	while(leftEncoder > startV-value){//1
		motor[leftBack] = -speed;
		motor[leftFront] = -speed;
		updateEncoders();
	}
		motor[leftBack] = 0;
		motor[leftFront] = 0;
}
Exemple #4
0
void backRight(int value){
	updateEncoders();
	int startV = rightEncoder;
	while(rightEncoder > -value){
		motor[rightBack] = -speed;
		motor[rightFront] = -speed;
		updateEncoders();
	}
		motor[rightBack] = 0;
		motor[rightFront] = 0;
}
Exemple #5
0
void left(int value){
	updateEncoders();
	int startV = rightEncoder;
	while(rightEncoder < startV + value){
		motor[rightBack] = speed;
		motor[rightFront] = speed;
		updateEncoders();
	}
	motor[rightBack] = 0;
	motor[rightFront] = 0;
}
Exemple #6
0
void right(int value){
	updateEncoders();
	int startV = leftEncoder;
	while(leftEncoder < startV + value){
		motor[leftBack] = speed;
		motor[leftFront] = speed;
		updateEncoders();
	}
	motor[leftBack] = 0;
	motor[leftFront] = 0;
}
Exemple #7
0
void armDown(int value){
	while(armLeftEncoder > value){
		motor[armLeft1] = -armSpeed;
		motor[armLeft2] = -armSpeed;
		motor[armRight1] = -armSpeed;
		motor[armRight2] = -armSpeed;
		updateEncoders();
	}
		motor[armLeft1] = 0;
		motor[armLeft2] = 0;
		motor[armRight1] = 0;
		motor[armRight2] = 0;
		updateEncoders();
}
Exemple #8
0
void armUp(int value){
	while(armLeftEncoder < value){
		motor[armLeft1] = armSpeed;
		motor[armLeft2] = armSpeed;
		motor[armRight1] = armSpeed;
		motor[armRight2] = armSpeed;
		updateEncoders();
	}
		motor[armLeft1] = 0;
		motor[armLeft2] = 0;
		motor[armRight1] = 0;
		motor[armRight2] = 0;
		updateEncoders();
}
Exemple #9
0
void score(){
	int end = armLeftEncoder - 200;
	updateEncoders();
	while(armLeftEncoder > end){
		motor[armLeft1] = -127;
		motor[armLeft2] = -127;
		motor[armRight1] = -127;
		motor[armRight2] = -127;
		updateEncoders();
	}
		motor[armLeft1] = 0;
		motor[armLeft2] = 0;
		motor[armRight1] = 0;
		motor[armRight2] = 0;
		nMotorEncoder[leftFront] = 0;
}
Exemple #10
0
void MqsConfig::onRemoveEncoder()
{
	string user_defined_encoder_name;
	QList<QListWidgetItem*> selected_encoders = ui.list_encoders->selectedItems();
	user_defined_encoder_name = selected_encoders.at(0)->text().toStdString();

	if(user_defined_encoder_name.empty())
		return;

	if(QMessageBox::question(this,"Confirmation","Are you really want to delete channel?",QMessageBox::Yes,QMessageBox::No) ==	QMessageBox::No)
		return;

	QString affected_channels("");
	QSqlQuery affected_channels_result = settings->query("SELECT name FROM channel WHERE encoder='%s'", user_defined_encoder_name.c_str());
	do
	{
		QSqlRecord affected_channel = affected_channels_result.record();
		affected_channels += affected_channel.value("name").toString();
	}while(affected_channels_result.next());
	if(!affected_channels.isEmpty())
	{
		QString question("Next linked channels: " + affected_channels + " will be deleted too. Continue?");

		if(QMessageBox::question(this,"Channel dependencies found", question, QMessageBox::Yes,QMessageBox::No) ==	QMessageBox::No)
			return;
	}
	settings->query("DELETE FROM channel WHERE encoder='%s'", user_defined_encoder_name.c_str());
	settings->query("DELETE FROM encoder WHERE name = '%s'", user_defined_encoder_name.c_str());
	updateEncoders();
	updateChannels();
}
Exemple #11
0
void dropToPeg(){
	while(armLeftEncoder > 0){
		motor[armLeft1] = 127;
		motor[armLeft2] = 127;
		motor[armRight1] = 127;
		motor[armRight2] = 127;
		updateEncoders();
	}
		motor[armLeft1] = 0;
		motor[armLeft2] = 0;
		motor[armRight1] = 0;
		motor[armRight2] = 0;
}
Exemple #12
0
void backward(int value){
	while(rightEncoder > -value){
		motor[rightBack] = -speed;
		motor[rightFront] = -speed;
		motor[leftBack] = -speed;
		motor[leftFront] = -speed;
		updateEncoders();
	}
		motor[rightBack] = 0;
		motor[rightFront] = 0;
		motor[leftBack] = 0;
		motor[leftFront] = 0;
		SensorValue[rightEncoder] = 0;
		SensorValue[leftEncoder] = 0;
}
Exemple #13
0
MqsConfig::MqsConfig(QWidget *parent, Qt::WindowFlags flags)
	: QWidget(parent, flags)
{
	ui.setupUi(this);

	updateEncoders();
	updateChannels();
	updateResolutions();
    vector<string> suported_channels = ChannelManager::getSuportedPlugins();
	for(unsigned int i = 0; i < suported_channels.size(); ++i)
	{
		QAction* act = new QAction(suported_channels[i].c_str(), 0);
		add_channel_menu.addAction(act);
		connect(act, SIGNAL(triggered()), this, SLOT(onCreateChannel()));
	}

    QSqlRecord plugin_path_rec = settings->query("SELECT value as plugin_path FROM property WHERE name = 'plugin_path'").record();
    QSqlRecord screen_shot_path_rec = settings->query("SELECT value as screen_shot_path FROM property WHERE name = 'screen_shot_path'").record();
    ui.line_plugin_path->setText(plugin_path_rec.value("plugin_path").toString());
    ui.line_screen_shot_path->setText(screen_shot_path_rec.value("screen_shot_path").toString());

    QObject::connect(this, SIGNAL(updateMain(GUIUpdate)), parent, SLOT(updateMain(GUIUpdate)));

	QObject::connect(ui.button_add_channel, SIGNAL(clicked()), this, SLOT(onAddChannel()));
	QObject::connect(ui.button_edit_channel, SIGNAL(clicked()), this, SLOT(onEditChannel()));
	QObject::connect(ui.button_remove_channel, SIGNAL(clicked()), this, SLOT(onRemoveChannel()));

	QObject::connect(ui.button_add_encoder, SIGNAL(clicked()), this, SLOT(onAddEncoder()));
	QObject::connect(ui.button_edit_encoder, SIGNAL(clicked()), this, SLOT(onEditEncoder()));
	QObject::connect(ui.button_remove_encoder, SIGNAL(clicked()), this, SLOT(onRemoveEncoder()));

	QObject::connect(ui.list_resolutions, SIGNAL(itemChanged(QListWidgetItem *)), this, SLOT(onResolutionItemChanged(QListWidgetItem *)));
	QObject::connect(ui.button_clearall_resolutions, SIGNAL(clicked()), this, SLOT(onClearAllResolutions()));
	QObject::connect(ui.button_sellectall_resolutions, SIGNAL(clicked()), this, SLOT(onSellectAllResolutions()));
	QObject::connect(ui.button_loaddefaults_resolutions, SIGNAL(clicked()), this, SLOT(onLoadDefaultResolutions()));
	QObject::connect(ui.button_add_resolutions, SIGNAL(clicked()), this, SLOT(onAddResolutions()));
	QObject::connect(ui.button_remove_resolutions, SIGNAL(clicked()), this, SLOT(onRemoveResolutions()));
	QObject::connect(ui.button_edit_resolutions, SIGNAL(clicked()), this, SLOT(onEditResolutions()));
	QObject::connect(ui.line_screen_shot_path, SIGNAL(textChanged(const QString &)), this, SLOT(onEditScreenShotPath(const QString &)));
	QObject::connect(ui.line_plugin_path, SIGNAL(textChanged(const QString &)), this, SLOT(onEditPluginPath(const QString &)));
	QObject::connect(ui.select_plugins_dir, SIGNAL(clicked()), this, SLOT(onSelectPluginPath()));
	QObject::connect(ui.select_screenshot_dir, SIGNAL(clicked()), this, SLOT(onSelectScreenShotPath()));

	QObject::connect(ui.list_encoders, SIGNAL(currentTextChanged(const QString &)), this, SLOT(onEncoderSelect(const QString &)));
}
int main()
{
CURL *curl;
CURLcode res;
wiringPiSetup () ;
/*using pins 23/24*/
struct encoder *encoder = setupencoder(4,5,6);
int buttonState;
long value;
char buffer[250];
while (1)
 {
 updateEncoders();
 buttonState = digitalRead(6);
 long l = encoder->value;
 if(l!=value)
 {
     printf("value: %d\n", (void *)l);
     curl=curl_easy_init();
     sprintf(buffer, "http://127.0.0.1/jsonrpc?request={\"jsonrpc\":\"2.0\",\"method\":\"Application.SetVolume\",\"params\":{\"volume\":%d},\"id\":1}", l);
     curl_easy_setopt(curl, CURLOPT_URL, buffer);
    /* Perform the request, res will get the return code */
     res = curl_easy_perform(curl);
     /* Check for errors */
     if(res != CURLE_OK)
     {
         fprintf(stderr, "curl_easy_perform() failed: %s\n",curl_easy_strerror(res));
     }
     /* always cleanup */
     curl_easy_cleanup(curl);
     value = l;
 }
 if(buttonState==1)
 {
     curl=curl_easy_init();
     sprintf(buffer, "http://127.0.0.1/jsonrpc?request={\"jsonrpc\":\"2.0\",\"method\":\"Player.PlayPause\",\"params\":{\"playerid\":0},\"id\":1}");
     curl_easy_setopt(curl, CURLOPT_URL, buffer);
    /* Perform the request, res will get the return code */
     res = curl_easy_perform(curl);
     printf("Button pushed!\n");
     delay(1);
 }
 }
return(0);
}
int main(int argc, char **argv)
{
	ros::init(argc, argv, "talker");

	ros::NodeHandle n;

	ros::Publisher pub = n.advertise<pi_rotary_encoder::ParamUpdate>("parameter_update", 1000);

	ros::Rate loop_rate(10);

	//int r = wiringPiSetup(); 
	
	int r = wiringPiSetup();
	revokeRoot();
	printf("setup: %d\n", r);
	// wiringPiSetup requires sudo, wiringPiSetupSys requires you add this to your /etc/rc.local:
	//
	// for example, to use pin 23 as an input:
	//
	// gpio export 23 in
	// 
	struct encoder *encoder = setupencoder(4,5);
	long value;

	while (ros::ok())
	{
		updateEncoders();
		long l = encoder->value;
		if (l!=value)
		{
			printf("value: %d\n", (void *)l);
			value = l;
			pi_rotary_encoder::ParamUpdate msg;
			msg.parameter = "shutter_speed";
			msg.value = value*10;
			pub.publish(msg);
		}
		ros::spinOnce();
		loop_rate.sleep();
	}
	
}
/*******************************************************************************
 *Função principal do controle de velocidade -----------------------------------
 */
void controleVelocidade(void)
{
	updateEncoders();	// Updates the distance and speeds
	controladorPID();		// Speed controller
}