static void display_time(struct tm *tick_time) {
// TODO: Use `units_changed` and more intelligence to reduce
// redundant digit unload/load?
display_value(get_display_hour(tick_time->tm_hour), 0, false);
display_value(tick_time->tm_min, 1, true);
}
// display thread handler
void segment_display(void const * arg){
uint16_t LED_pins[4] = { GPIO_Pin_12, GPIO_Pin_13, GPIO_Pin_14, GPIO_Pin_15 };
int count = 0;
char key = DUMMY_KEY, led = '1';
int mode = TEMP_MODE;
float temperature = 50.0;
float pitch = 0.0;
display_init();
float data;
while(1){
osSignalWait(DISPLAY_READY, osWaitForever);
// try to get the keypad message
if (receive_message(&data, keypad_queue)){
key = (char)(((int)data) + '0');
// figure out which type of key was pressed (i.e. mode or led) and adjust variables accordingly.
if (key == TEMP_MODE_KEY || key == MEMS_MODE_KEY){
mode = key == TEMP_MODE_KEY ? TEMP_MODE : MEMS_MODE;
} else {
led = key;
}
}
// try to get the pitch message
if (receive_message(&data, pitch_queue)){
pitch = data;
}
// try to get the temperature message
if (receive_message(&data, temp_queue)){
temperature = data;
}
GPIO_ResetBits(GPIOD, GPIO_SEGMENT_PINS);
GPIO_ResetBits(GPIOE, GPIO_DIGIT_SELECT_PINS);
// run the display effect depending on whether or not an alarm is triggerd and the type of mode.
if (temperature < ALARM_THRESHOLD || (count % (2 * TIM3_DESIRED_RATE)) < TIM3_DESIRED_RATE) {
if (mode == TEMP_MODE){
GPIO_ResetBits(GPIOD, ALL_LED_PINS);
display_value(temperature, count, TEMP_MODE);
} else {
display_value(pitch, count, MEMS_MODE);
}
}
if (mode == MEMS_MODE){
display_LED(pitch, count, LED_pins[(led - '1')]);
}
count++;
}
}
static void display_time(struct tm *tick_time) {
// TODO: Use `units_changed` and more intelligence to reduce
// redundant digit unload/load?
display_value(get_display_hour(tick_time->tm_hour), 0, false);
display_value(tick_time->tm_min, 1, true);
snprintf(dayText, 3, "%2.2d", tick_time->tm_mday);
text_layer_set_text(dayLayer, showDay ? dayText : " ");
}
static void handle_second_tick(struct tm* tick_time, TimeUnits units_changed) {
static int day_m = 40;
static int hour_m = 33;
static int min_m = 77;
static bool clock24 = false;
if (clock24 != clock_is_24h_style()) {
clock24 = clock_is_24h_style();
for (int slot_number = 4; slot_number < TOTAL_IMAGE_SLOTS; slot_number++) {
GRect bounds = layer_get_frame(bitmap_layer_get_layer(digit_slot[slot_number]));
if (clock24) {
bounds.origin.y = 19;
} else {
bounds.origin.y = 35;
}
layer_set_frame(bitmap_layer_get_layer(digit_slot[slot_number]), bounds);
}
GRect bounds = layer_get_frame(text_layer_get_layer(date_layer));
if (clock24) {
bounds.origin.y = 52;
} else {
bounds.origin.y = 62;
}
layer_set_frame(text_layer_get_layer(date_layer), bounds);
layer_set_hidden((Layer *)ampm_layer, clock24);
}
if (day_m != tick_time->tm_mday) {
day_m = tick_time->tm_mday;
update_date(tick_time);
text_layer_set_text(date_layer, date_text);
}
if (hour_m != tick_time->tm_hour) {
hour_m = tick_time->tm_hour;
display_value(get_display_hour(tick_time->tm_hour), 0, true);
if (!clock_is_24h_style()) {
if (hour_m >=12) {
text_layer_set_text(ampm_layer, "PM");
} else {
text_layer_set_text(ampm_layer, "AM");
}
}
}
if (min_m != tick_time->tm_min) {
min_m = tick_time->tm_min;
display_value(tick_time->tm_min, 1, true);
}
display_value(tick_time->tm_sec, 2, true);
}
void
ListView::display_list()
{
// NOTE: What does it mean to display a NULL list? 6/22/92 djb
if (f_shell == NULL || f_the_list == NULL)
return;
int i;
// NOTE: There should be a wwl object for string tables!! 6/19/92 djb
XmStringTable st = (XmStringTable)
malloc (sizeof (XmStringTable) * f_the_list->length());
for (i = 0; i < f_the_list->length(); i++)
st[i] = display_value((*f_the_list)[i]);
// Basically bogus, but best fix for now. 18:32 10-May-94 DJB
f_list->DeselectAllItems();
WArgList args;
f_list->Items (st, args);
f_list->ItemCount (f_the_list->length(), args);
f_list->Set (args);
for (i = 0; i < f_the_list->length(); i++)
XmStringFree(st[i]);
free ((char *) st);
}
static void display_time(struct tm *tick_time) {
display_value(get_display_hour(tick_time->tm_hour), 0);
display_value(tick_time->tm_min, 1);
//Displays a subtle reminder on the hour
if(tick_time->tm_min % 60 == 0) {
gbitmap_destroy(block_o_bitmap);
ichigan_bitmap = gbitmap_create_with_resource(RESOURCE_ID_Ichigan);
bitmap_layer_set_bitmap(block_o_layer, ichigan_bitmap);
}
//Reset's the clock after the subtle reminder
if(tick_time->tm_min % 60 == 1) {
gbitmap_destroy(ichigan_bitmap);
block_o_bitmap = gbitmap_create_with_resource(RESOURCE_ID_block_o_background);
bitmap_layer_set_bitmap(block_o_layer, block_o_bitmap);
}
}
void update_display_hours(PblTm *tick_time) {
static char am_pm_text[] = "PM";
display_value(get_display_hour(tick_time->tm_hour), 0, false);
// AM/PM
string_format_time(am_pm_text, sizeof(am_pm_text), "%p", tick_time);
if (!clock_is_24h_style()) {
text_layer_set_text(&m, am_pm_text);
}
}
void bluetooth_handler(bool connected) {
// This handler is called when BT connection state changes
// Destroy inverter layer if BT changed from disconnected to connected
if ((connected) && (!(was_BTconnected_last_time))) {
inverter_layer_destroy(inv_layer);
}
time_t now = time(NULL);
struct tm *tick_time = localtime(&now);
window_set_background_color(window, background_color);
display_value(get_display_hour(tick_time->tm_hour), 0, false);
display_value(tick_time->tm_min, 1, true);
//Inverter layer in case of disconnect
if (!(connected)) {
inv_layer = inverter_layer_create(GRect(0, 0, 144, 168));
layer_add_child(window_get_root_layer(window), (Layer*) inv_layer);
vibes_double_pulse();
}
was_BTconnected_last_time = connected;
}
static void display_seq(short int value)
{
display_value(value);
dimm_digit(0xFF);
_delay_ms(1000);
dimm_digit(0xa0);
_delay_ms(200);
dimm_digit(0x10);
_delay_ms(200);
dimm_digit(0x00);
}
void update_display(PblTm *tick_time) {
static char month_text[] = "AAA";
static char date_text[] = "00";
static char am_pm_text[] = "P";
string_format_time(month_text, sizeof(month_text), "%b", tick_time);
string_format_time(date_text, sizeof(date_text), "%e", tick_time);
string_format_time(am_pm_text, sizeof(am_pm_text), "%p", tick_time);
text_layer_set_text(&text_layer_4, month_text);
text_layer_set_text(&text_layer_5, date_text);
if (!clock_is_24h_style()) {
text_layer_set_text(&text_layer_6, am_pm_text);
}
display_value(get_display_hour(tick_time->tm_hour), 0, false);
display_value(tick_time->tm_min, 1, true);
}
void update_display_minutes(PblTm *tick_time) {
display_value(tick_time->tm_min, 1, true);
}
int main(void)
{
board_init();
timer(TimerReadSensors);
timer_interval(&TimerReadSensors, 1000);
timer(TimerBlinkLed);
timer_interval(&TimerBlinkLed, 1000);
/*ms5611_prom_data ms5611_prom_data;
ms5611_init(&ms5611_prom_data, TWI[0]);
mpu60x0_init(TWI[0], 0);
mhc5883_init(TWI[0]);*/
bool Led1Status = false;
while(1)
{
if(timer_tick(&TimerBlinkLed)) {
if(Led1Status) {
gpio_out(LED1, 0);
timer_interval(&TimerBlinkLed, 100);
timer_enable(&TimerBlinkLed);
Led1Status = false;
} else {
gpio_out(LED1, 1);
timer_interval(&TimerBlinkLed, 900);
timer_enable(&TimerBlinkLed);
Led1Status = true;
}
}
if(timer_tick(&TimerReadSensors)) {
DXL_DATA_t buffer[18];
memset(&buffer, 0, sizeof(buffer));
unsigned char dxl_err[18];
memset(&dxl_err, 0, sizeof(dxl_err));
DXL_COMM_ERR err_ret[18];
memset(&err_ret, 0, sizeof(err_ret));
unsigned char dxl_cnt;
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
err_ret[dxl_cnt] = dxl_read(DXL, (unsigned char *)&buffer[dxl_cnt] , dxl_cnt + 1 , 0, sizeof(buffer[0]), &dxl_err[dxl_cnt]);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL data: ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(dxl_cnt + 1);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL com status = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(err_ret[dxl_cnt]);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL err = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(dxl_err[dxl_cnt]);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL model nr = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].model_number);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL version = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].version);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL ID = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].id);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL baud rate = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].baud_rate);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL return delay time = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].return_delay_time);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL cw angle limit = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].cw_angle_limit);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL ccw angle limit = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].ccw_angle_limit);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL limit temperature = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].limit_temperature);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL down limit voltage = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].down_limit_voltage);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL up limit voltage = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].up_limit_voltage);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL mdxl torque limit = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].mdxl_torque);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL status return level = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].status_return_level);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL alarm led = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].alarm_led);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL alarm shutdown = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].alarm_shutdown);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL down calibration = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].down_calibration);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL up calibration = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].up_calibration);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL torque enable = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].torque_enable);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL led = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].led);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL cw compliance margin = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].cw_compliance_margin);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL ccw compliance margin = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].ccw_compliance_margin);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL cw compliance slope = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].cw_compliance_slope);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL ccw compliance slope = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].ccw_compliance_slope);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL goal position = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].goal_position);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL moving speed = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].moving_speed);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL torque limit = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].torque_limit);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL present position = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].present_position);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL present speed = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].present_speed);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL present load = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].present_load);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL present voltage = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].present_voltage);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL present temperature = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].present_temperature);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL registered instruction= ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].registered_instruction);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL moving = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].moving);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL lock = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].lock);
UARTPuts(DebugCom, "\n\r", -1);
UARTPuts(DebugCom, "DXL punch = ", -1);
for(dxl_cnt = 0; dxl_cnt < sizeof(dxl_id_table); dxl_cnt++)
display_value(buffer[dxl_cnt].punch);
UARTPuts(DebugCom, "\n\r\n\r", -1);
/*
* Send to each DXL the position and speed.
*/
DXL_SYNK_IND_PACKET_t DXL_PACK[18];
#define MOT1 270
DXL_PACK[0].id = 1;
DXL_PACK[0].data[0] = (unsigned char)((unsigned short)MOT1);// Goal position
DXL_PACK[0].data[1] = (unsigned char)((unsigned short)MOT1 >> 8);
DXL_PACK[0].data[2] = 0;// Speed
DXL_PACK[0].data[3] = 2;
#define MOT2 736
DXL_PACK[1].id = 2;
DXL_PACK[1].data[0] = (unsigned char)((unsigned short)MOT2);// Goal position
DXL_PACK[1].data[1] = (unsigned char)((unsigned short)MOT2 >> 8);
DXL_PACK[1].data[2] = 0;// Speed
DXL_PACK[1].data[3] = 2;
#define MOT3 376
DXL_PACK[2].id = 3;
DXL_PACK[2].data[0] = (unsigned char)((unsigned short)MOT3);// Goal position
DXL_PACK[2].data[1] = (unsigned char)((unsigned short)MOT3 >> 8);
DXL_PACK[2].data[2] = 0;// Speed
DXL_PACK[2].data[3] = 2;
#define MOT4 662
DXL_PACK[3].id = 4;
DXL_PACK[3].data[0] = (unsigned char)((unsigned short)MOT4);// Goal position
DXL_PACK[3].data[1] = (unsigned char)((unsigned short)MOT4 >> 8);
DXL_PACK[3].data[2] = 0;// Speed
DXL_PACK[3].data[3] = 2;
#define MOT5 300
DXL_PACK[4].id = 5;
DXL_PACK[4].data[0] = (unsigned char)((unsigned short)MOT5);// Goal position
DXL_PACK[4].data[1] = (unsigned char)((unsigned short)MOT5 >> 8);
DXL_PACK[4].data[2] = 0;// Speed
DXL_PACK[4].data[3] = 2;
#define MOT6 726
DXL_PACK[5].id = 6;
DXL_PACK[5].data[0] = (unsigned char)((unsigned short)MOT6);// Goal position
DXL_PACK[5].data[1] = (unsigned char)((unsigned short)MOT6 >> 8);
DXL_PACK[5].data[2] = 0;// Speed
DXL_PACK[5].data[3] = 2;
#define MOT7 376
DXL_PACK[6].id = 7;
DXL_PACK[6].data[0] = (unsigned char)((unsigned short)MOT7);// Goal position
DXL_PACK[6].data[1] = (unsigned char)((unsigned short)MOT7 >> 8);
DXL_PACK[6].data[2] = 0;// Speed
DXL_PACK[6].data[3] = 2;
#define MOT8 660
DXL_PACK[7].id = 8;
DXL_PACK[7].data[0] = (unsigned char)((unsigned short)MOT8);// Goal position
DXL_PACK[7].data[1] = (unsigned char)((unsigned short)MOT8 >> 8);
DXL_PACK[7].data[2] = 0;// Speed
DXL_PACK[7].data[3] = 2;
#define MOT9 512
DXL_PACK[8].id = 9;
DXL_PACK[8].data[0] = (unsigned char)((unsigned short)MOT9);// Goal position
DXL_PACK[8].data[1] = (unsigned char)((unsigned short)MOT9 >> 8);
DXL_PACK[8].data[2] = 0;// Speed
DXL_PACK[8].data[3] = 2;
#define MOT10 512
DXL_PACK[9].id = 10;
DXL_PACK[9].data[0] = (unsigned char)((unsigned short)MOT10);// Goal position
DXL_PACK[9].data[1] = (unsigned char)((unsigned short)MOT10 >> 8);
DXL_PACK[9].data[2] = 0;// Speed
DXL_PACK[9].data[3] = 2;
#define MOT11 512
DXL_PACK[10].id = 11;
DXL_PACK[10].data[0] = (unsigned char)((unsigned short)MOT11);// Goal position
DXL_PACK[10].data[1] = (unsigned char)((unsigned short)MOT11 >> 8);
DXL_PACK[10].data[2] = 0;// Speed
DXL_PACK[10].data[3] = 2;
#define MOT12 512
DXL_PACK[11].id = 12;
DXL_PACK[11].data[0] = (unsigned char)((unsigned short)MOT12);// Goal position
DXL_PACK[11].data[1] = (unsigned char)((unsigned short)MOT12 >> 8);
DXL_PACK[11].data[2] = 0;// Speed
DXL_PACK[11].data[3] = 2;
#define MOT13 512
DXL_PACK[12].id = 13;
DXL_PACK[12].data[0] = (unsigned char)((unsigned short)MOT13);// Goal position
DXL_PACK[12].data[1] = (unsigned char)((unsigned short)MOT13 >> 8);
DXL_PACK[12].data[2] = 0;// Speed
DXL_PACK[12].data[3] = 2;
#define MOT14 512
DXL_PACK[13].id = 14;
DXL_PACK[13].data[0] = (unsigned char)((unsigned short)MOT13);// Goal position
DXL_PACK[13].data[1] = (unsigned char)((unsigned short)MOT14 >> 8);
DXL_PACK[13].data[2] = 0;// Speed
DXL_PACK[13].data[3] = 2;
#define MOT15 512
DXL_PACK[14].id = 15;
DXL_PACK[14].data[0] = (unsigned char)((unsigned short)MOT15);// Goal position
DXL_PACK[14].data[1] = (unsigned char)((unsigned short)MOT15 >> 8);
DXL_PACK[14].data[2] = 0;// Speed
DXL_PACK[14].data[3] = 2;
#define MOT16 512
DXL_PACK[15].id = 16;
DXL_PACK[15].data[0] = (unsigned char)((unsigned short)MOT16);// Goal position
DXL_PACK[15].data[1] = (unsigned char)((unsigned short)MOT16 >> 8);
DXL_PACK[15].data[2] = 0;// Speed
DXL_PACK[15].data[3] = 2;
#define MOT17 512
DXL_PACK[16].id = 17;
DXL_PACK[16].data[0] = (unsigned char)((unsigned short)MOT17);// Goal position
DXL_PACK[16].data[1] = (unsigned char)((unsigned short)MOT17 >> 8);
DXL_PACK[16].data[2] = 0;// Speed
DXL_PACK[16].data[3] = 2;
#define MOT18 512
DXL_PACK[17].id = 18;
DXL_PACK[17].data[0] = (unsigned char)((unsigned short)MOT18);// Goal position
DXL_PACK[17].data[1] = (unsigned char)((unsigned short)MOT18 >> 8);
DXL_PACK[17].data[2] = 0;// Speed
DXL_PACK[17].data[3] = 2;
/*
* Send synk write to all 18 DXL's position and speed.
*/
dxl_synk_write(DXL, DXL_GOAL_POSITION_L, DXL_PACK, 4, 18);
/*
* Send position and speed for each DXL without synk.
*/
/*unsigned char aditional_info[48];
unsigned char aditional_info_len;
dxl_write_data(DXL, 1, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[0].data, 4, aditional_info, &aditional_info_len, &dxl_err[0]);
dxl_write_data(DXL, 2, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[1].data, 4, aditional_info, &aditional_info_len, &dxl_err[1]);
dxl_write_data(DXL, 3, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[2].data, 4, aditional_info, &aditional_info_len, &dxl_err[2]);
dxl_write_data(DXL, 4, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[3].data, 4, aditional_info, &aditional_info_len, &dxl_err[3]);
dxl_write_data(DXL, 5, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[4].data, 4, aditional_info, &aditional_info_len, &dxl_err[4]);
dxl_write_data(DXL, 6, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[5].data, 4, aditional_info, &aditional_info_len, &dxl_err[5]);
dxl_write_data(DXL, 7, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[6].data, 4, aditional_info, &aditional_info_len, &dxl_err[6]);
dxl_write_data(DXL, 8, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[7].data, 4, aditional_info, &aditional_info_len, &dxl_err[7]);
dxl_write_data(DXL, 9, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[8].data, 4, aditional_info, &aditional_info_len, &dxl_err[8]);
dxl_write_data(DXL, 10, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[9].data, 4, aditional_info, &aditional_info_len, &dxl_err[9]);
dxl_write_data(DXL, 11, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[10].data, 4, aditional_info, &aditional_info_len, &dxl_err[10]);
dxl_write_data(DXL, 12, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[11].data, 4, aditional_info, &aditional_info_len, &dxl_err[11]);
dxl_write_data(DXL, 13, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[12].data, 4, aditional_info, &aditional_info_len, &dxl_err[12]);
dxl_write_data(DXL, 14, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[13].data, 4, aditional_info, &aditional_info_len, &dxl_err[13]);
dxl_write_data(DXL, 15, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[14].data, 4, aditional_info, &aditional_info_len, &dxl_err[14]);
dxl_write_data(DXL, 16, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[15].data, 4, aditional_info, &aditional_info_len, &dxl_err[15]);
dxl_write_data(DXL, 17, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[16].data, 4, aditional_info, &aditional_info_len, &dxl_err[16]);
dxl_write_data(DXL, 18, DXL_GOAL_POSITION_L, (unsigned char *)&DXL_PACK[17].data, 4, aditional_info, &aditional_info_len, &dxl_err[17]);*/
}
}
void ProgressNode::set_determinate_mode() {
determinate = indeterminate->get_value().get_value_or("false") == "false";
display_value();
}
static void display_time(struct tm *tick_time) {
display_value(get_display_hour(tick_time->tm_hour), 0, false);
display_value(tick_time->tm_min, 1, true);
}