int main()
{
int i, off=0, on=1, lports[]=LIGHT_PORTS, pcnt, w=40, m=5;
float s;
graphics_open(320,240);
for(i=0;i<256;i+=5) {
graphics_fill(i,i,i);
graphics_update();
}
SplashBG(320, 240);
msleep(1000);
graphics_close();
pcnt=NPORTS(lports);
for(i=8;i<16;i++) { // change the digital ports to output
set_digital_output(i,1);
}
srand(time(NULL)); // prime random number generation
while(1) {
table_lights(lports,pcnt,off); // shut off table lights
setup(); // team setup (light calibration w/time out option)
// setup done, including any time outs so proceed with judge's setup
//get_shelf_positions(); // display orange/yellow block set up for judges - 2014
get_bgal_pod_positions(); // display left-right positions for Botgal & pod - 2015
set_a_button_text("QUIT"); set_b_button_text("-"); set_c_button_text("-");
graphics_close(); // close any open graphics
graphics_open(3*w,62);
display_clear();
display_printf(0,0,"************** BOTBALL 2015 **************");
display_printf(0,1," LIGHTS ON IN");
display_printf(0,2,"******************************************");
display_printf(0,9," Press QUIT to stop count down");
if (countdown_sd(5,1,BLUE,YELLOW,m,w)) continue;
s=seconds();
// 2015
table_lights(lports,pcnt,on); // on for 115 seconds
display_printf(0,1," GAME CLOCK - LIGHTS ON TILL 5");
if (countdown(120,11,GREEN,BLUE,m,w)) continue;
// end 2015
/*
// 2014
table_lights(lports,pcnt,on); // on for 15 seconds
display_printf(0,1," GAME CLOCK - LIGHTS ON TILL 105");
if (countdown(120,106,GREEN,BLUE,m,w)) continue;
table_lights(lports,pcnt,off); // of for 100 seconds
display_printf(0,1," GAME CLOCK - LIGHTS OFF TILL 5");
if (countdown(105,11,LTBLUE,RED,m,w)) continue;
// end 2014
*/
if (countdown(10,6,LTORANGE,BLUE,m,w)) continue;
display_printf(0,1," GAME CLOCK - LIGHTS BLINK TILL 0");
i=5+(seconds()-s);
if (blinkdown(5,0,RED,YELLOW,m,w,lports,pcnt)) continue;
display_printf(0,1," GAME CLOCK - %d ",i);
display_printf(0,9," ***** GAME OVER! ***** ");
table_lights(lports,pcnt,off); // shut off table lights
msleep(5000); // pause display
}
return 0;
}
int main(int argc, char *argv[])
{
if(!graphics_open(640, 480)) return 0;
while(1) {
usleep(1);
graphics_rectangle(0, 0, 30, 30, 255, 0, 0);
graphics_update();
}
graphics_close();
return 0;
}
void get_bgal_pod_positions()
{
// screen size (scols,srows), box size (bxcols,bxcols), separator m pixels
// random block positions p1, p2 set by function picks
int srows=120,scols=160, bpos, ppos;
graphics_close(); // close any existing graphics window
display_clear(); // prep screen
set_a_button_text("COUNTDOWN"); set_b_button_text("-"); set_c_button_text("-");
graphics_open(scols,srows);
graphics_fill(WHITE);
bpos=rand()%2;
if (bpos==0) ppos=1;
else ppos=0;
// draw field
graphics_rectangle(3,3,157,117,BLACK); // outline
graphics_rectangle(3,3,70,50,BLACK); // quads
graphics_rectangle(90,3,157,50,BLACK);
graphics_rectangle(3,70,70,117,BLACK);
graphics_rectangle(90,70,157,117,BLACK);
graphics_rectangle_fill(70,3,90,50,LTBROWN); // mesa
graphics_rectangle(70,3,90,50,BLACK);
graphics_rectangle_fill(70,70,90,117,LTBROWN);
graphics_rectangle(70,70,90,117,BLACK);
graphics_rectangle_fill(72,50,88,70,LTGRAY); // caldera
graphics_rectangle(72,50,88,70,BLACK);
graphics_rectangle_fill(20,3,25,50,TEAL); // lines
graphics_rectangle_fill(135,3,140,50,TEAL);
graphics_rectangle_fill(20,70,25,117,PINK);
graphics_rectangle_fill(135,70,140,117,PINK);
if (bpos==0) {
draw_bg(73,13,0.2);
graphics_rectangle_fill(74,87,86,102,GREEN);
}
else {
draw_bg(73,82,0.2);
graphics_rectangle_fill(74,18,86,32,GREEN);
}
graphics_update();
display_printf(2,0,"Set Botgal and Botpod ");
while(a_button()==0);
while(a_button()==1); // debounce
}
int main()
{
camera_open();
camera_update();
graphics_open(get_camera_width(), get_camera_height());
while(!get_key_state('Q'))
{
camera_update();
graphics_blit_enc(get_camera_frame(), BGR, 0, 0, get_camera_width(), get_camera_height());
graphics_circle_fill(get_camera_width() / 2, get_camera_height() / 2, get_camera_height() / 20, 255, 0, 0);
graphics_update();
}
camera_close();
graphics_close();
return 0;
}
int main(int argc, char ** argv)
{
graphics_open(100,100);
int x, j;
for (j = 0; j < 10; ++j)
{
for (x = 0; x < 100; ++x)
{
graphics_clear();
graphics_circle_fill(x, 50, 5, 255, 0, 0);
graphics_update();
msleep(10);
}
}
graphics_close();
return 0;
}
void blinking_light() {
while(BCHK); // debounce
graphics_close(); // close any existing window
graphics_open(45,45);
graphics_fill(WHITE);
while(!(BCHK)) {
graphics_circle_fill(24, 24, 20, GRAY);
graphics_circle_fill(24, 24, 8, YELLOW);
graphics_line(6, 24, 42, 24, YELLOW); // horizontal
graphics_line(24, 6, 24, 42, YELLOW); // vertical
graphics_line(12, 12, 36, 36, YELLOW); // forward slash
graphics_line(12, 36, 36, 12, YELLOW); // back slash
graphics_update();
msleep(250);
if(BCHK) break;
graphics_circle_fill(24, 24, 20, GRAY);
graphics_update();
msleep(250);
}
graphics_close();
}
void main (void)
{
// Connect to our drivers for the TFT, touch sensor.
tft_touch = touchscreen_open(TOUCHSCREEN_1);
ptr = pointer_open(POINTER_1);
display = graphics_open(GRAPHICS_1);
canvas = graphics_get_visible_canvas(display);
leds = led_open(DRV_LED_1);
led_turn_all_off(leds);
// Clear screen
graphics_fill_canvas(canvas, BLACK);
graphics_set_visible_canvas(display, canvas);
// Update display and turn off LEDs
while(!graphics_visible_canvas_is_set(display));
// Set up and calibrate touch screen.
touchscreen_set_callback(tft_touch, draw_mark, canvas);
while(!touchscreen_calibrate(tft_touch, 320, 240))
{
set_all_leds(0xFF0000); // If Touchscreen can't calibrate RED ALERT!
}
led_turn_all_off(leds);
// Put colormap on TFT
graphics_draw_bitmap(canvas, bmp, 0, 0, 320, 240, 0);
graphics_set_visible_canvas(display, canvas);
// Start picking colors!
while(1)
{
if (pointer_update(ptr, pointer_state))
{
set_all_leds(graphics_get_pixel(canvas, pointer_state->x, pointer_state->y));
}
}
}
int main(int argc, char** argv)
{
if(!depth_open())
{
printf("Unable to open libkipr_link_depth_sensor\n");
return 1;
}
int depth_image_height = -1;
int depth_image_width = -1;
int mouse_x;
int mouse_y;
int last_max_depth = 6000 /* mm */;
int max_depth;
if(set_depth_camera_resolution(DEPTH_CAMERA_RESOLUTION_640_480) == 0)
{
printf("Failed to set the depth camera resolution to 640 x 480\n");
return 1;
}
#ifdef CAMERA_IS_UPSIDE_DOWN
if(set_depth_camera_orientation(DEPTH_CAMERA_ORIENTATION_UPSIDE_DOWN) == 0)
{
printf("Failed to set the depth camera orientation\n");
return 1;
}
#endif
printf("Press 'Q' to stop\n");
while(!get_key_state('Q'))
{
if(depth_update())
{
if(depth_image_height == -1)
{
// initialize the graphics output
depth_image_height = depth_image_get_height();
depth_image_width = depth_image_get_width();
graphics_open(depth_image_width, depth_image_height);
}
get_mouse_position(&mouse_x, &mouse_y);
max_depth = 0;
// display depth image
for(int y = 0; y < depth_image_height; y++)
{
for(int x = 0; x < depth_image_width; x++)
{
int depth = get_depth_value(x, y);
// save max depth
if(depth > max_depth)
{
max_depth = depth;
}
// color invalid depth pixel red
if((depth != INVALID_COORDINATE) && last_max_depth)
{
int r;
int g;
int b;
HSVtoRGB(360*0xFF*depth/last_max_depth, &r, &g, &b);
graphics_pixel(x, y, r, g, b);
}
else
{
graphics_pixel(x, y, 0xFF, 0xFF, 0xFF);
}
#ifdef SHOW_DEPTH_UNDER_MOUSE
if(mouse_x == x && mouse_y == y)
{
console_clear();
if(depth != INVALID_COORDINATE)
{
printf("(%d, %d): Depth: %d mm; World coordinate: (%d, %d, %d)\n", x, y, depth, get_world_x(x, y), get_world_y(x, y), get_world_z(x, y));
}
else
{
printf("(%d, %d): No information available\n", x, y);
}
}
#endif
}
}
last_max_depth = max_depth;
graphics_update();
}
else
{
printf("No depth image received yet\n");
msleep(2000);
}
}
graphics_close();
depth_close();
return 0;
}
