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();
}
}
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();
}
}
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;
}
void backRight(int value){
updateEncoders();
int startV = rightEncoder;
while(rightEncoder > -value){
motor[rightBack] = -speed;
motor[rightFront] = -speed;
updateEncoders();
}
motor[rightBack] = 0;
motor[rightFront] = 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;
}
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;
}
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();
}
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();
}
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;
}
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();
}
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;
}
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;
}
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
}
