From 6d76979ea4b4c6ca25da664d17a176c59420f31f Mon Sep 17 00:00:00 2001
From: Brendan <brendan.haines@gmail.com>
Date: Sun, 8 Mar 2015 23:02:45 -0600
Subject: [PATCH] adds 'arm motor' button

---
 GroundStation/v2/ConnectionPanel.java |  4 ----
 GroundStation/v2/GroundStation.java   | 23 +++++++++++++++++++++--
 GroundStation/v2/MotorTestPanel.java  | 11 ++++++-----
 3 files changed, 27 insertions(+), 11 deletions(-)

diff --git a/GroundStation/v2/ConnectionPanel.java b/GroundStation/v2/ConnectionPanel.java
index cfd55c9..01af49c 100644
--- a/GroundStation/v2/ConnectionPanel.java
+++ b/GroundStation/v2/ConnectionPanel.java
@@ -143,10 +143,6 @@ class ConnectionPanel extends JPanel implements ActionListener {
                 if( contentOut.getMotorsEnabled() ) out.print( "E " );  // enable motors (redundant)
             }
         }
-        /*if( contentOut.orientation ) {
-            for( int i = 0; i < contentOut.orientValues.length; i++ )
-                out.print( "O" + i + "_" + contentOut.orientValues[i] + " " );
-        }*/
         out.println();
     }
 
diff --git a/GroundStation/v2/GroundStation.java b/GroundStation/v2/GroundStation.java
index a018894..1dafa85 100644
--- a/GroundStation/v2/GroundStation.java
+++ b/GroundStation/v2/GroundStation.java
@@ -16,6 +16,9 @@ class GroundStation implements ActionListener {
     /** connection options section of window */
     private ConnectionPanel connectPanel;
 
+    /** flight controller arm/disarm button*/
+    private ArmButton arm;
+
     /** tabbed pane to hold stuff */
     private JTabbedPane tabbedPane;
     /** motor testing panel */
@@ -40,8 +43,9 @@ class GroundStation implements ActionListener {
         connectPanel.setEnabled( true );
         mainWindow.getContentPane().add( connectPanel );
 
-        JButton fcButton = new JButton( "arm" );
-        mainWindow.getContentPane().add( fcButton );
+        arm = new ArmButton( sendContent );
+        arm.setEnabled( false );
+        mainWindow.getContentPane().add( arm );
 
         tabbedPane = new JTabbedPane();
         mainWindow.getContentPane().add( tabbedPane );
@@ -67,11 +71,23 @@ class GroundStation implements ActionListener {
 
     public void disableMotors() {
         connectPanel.setEnabled( true );
+
+        arm.setEnabled( true );
+        motorTestPanel.setEnabled( true );
+
         eStopWindow.dispose();
     }
 
     public void enableMotors() {
         connectPanel.setEnabled( false );
+
+        if( motorTestPanel.getTestStatus() ) {
+            arm.setEnabled( false );
+        }
+        else {
+            motorTestPanel.setEnabled( false );
+        }
+
         eStopWindow = new EStopWindow();
         eStopWindow.addActionListener( this );
     }
@@ -79,15 +95,18 @@ class GroundStation implements ActionListener {
     public void actionPerformed( ActionEvent evt ) {
         if( evt.getSource() == eStopWindow ) {
             sendContent.setMotorsEnabled( false );
+            arm.setText( "Arm Flight Controller" );
         }
         if( evt.getSource() == connectPanel ) {
             if( evt.getActionCommand().equals( "CONNECT" ) ) {
                 mainWindow.setDefaultCloseOperation( JFrame.DO_NOTHING_ON_CLOSE );
                 motorTestPanel.setEnabled( true );
+                arm.setEnabled( true );
             }
             else if( evt.getActionCommand().equals( "DISCONNECT" ) ) {
                 mainWindow.setDefaultCloseOperation( JFrame.EXIT_ON_CLOSE );
                 motorTestPanel.setEnabled( false );
+                arm.setEnabled( false );
             }
         }
         else if( evt.getActionCommand().equals( "ENABLE_MOTORS" ) ) {
diff --git a/GroundStation/v2/MotorTestPanel.java b/GroundStation/v2/MotorTestPanel.java
index 2b1af87..e47be2e 100644
--- a/GroundStation/v2/MotorTestPanel.java
+++ b/GroundStation/v2/MotorTestPanel.java
@@ -79,10 +79,10 @@ class MotorTestPanel extends JPanel implements ActionListener {
      *
      */
     public void setEnabled( boolean state ) {
+        checkBox.setEnabled( state );
         if( !state ) {
             setTestStatus( false );
         }
-        checkBox.setEnabled( state );
     }
 
     /**
@@ -90,7 +90,7 @@ class MotorTestPanel extends JPanel implements ActionListener {
      */
     public void setTestStatus( boolean enable ) {
         checkBox.setSelected( enable );
-        controlOutput.setMotorsEnabled( enable );
+        if( checkBox.isEnabled() ) controlOutput.setMotorsEnabled( enable );
         controlOutput.motorTesting = enable;
         if( !enable ) {
             masterSlider.setValue( 0 );
@@ -132,17 +132,18 @@ class MotorTestPanel extends JPanel implements ActionListener {
             }
             return;
         }
-        if( evt.getSource() == checkBox ) {
+        else if( evt.getSource() == checkBox ) {
             setTestStatus( checkBox.isSelected() );
             return;
         }
-        if( evt.getSource() == masterSlider ) {
+        else if( evt.getSource() == masterSlider ) {
             slider0.setValue( Integer.parseInt( evt.getActionCommand() ) );
             slider1.setValue( Integer.parseInt( evt.getActionCommand() ) );
             slider2.setValue( Integer.parseInt( evt.getActionCommand() ) );
             slider3.setValue( Integer.parseInt( evt.getActionCommand() ) );
         }
-        fireActionPerformed();
+
+        if( evt.getSource() != controlOutput ) fireActionPerformed();
     }
 
     ////////////////////////////////////////////