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adds motor testing sliders to ground station

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This commit is contained in:
Brendan Haines 2015-02-05 12:44:44 -07:00
parent 11690016ea
commit eda95d8dd5
1 changed files with 114 additions and 6 deletions
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120
GroundStation/v1/GroundStation.java
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@ -2,6 +2,7 @@
import java.awt.*; import java.awt.*;
import java.awt.event.*; import java.awt.event.*;
import javax.swing.*; import javax.swing.*;
import javax.swing.event.*;
import java.awt.image.*; import java.awt.image.*;
import javax.swing.border.*; import javax.swing.border.*;
@ -14,7 +15,7 @@ import java.net.*;
* Replaces GroundStation.java * Replaces GroundStation.java
* Written by Brendan Haines * Written by Brendan Haines
*/ */
class GroundStation implements ActionListener, Runnable { class GroundStation implements ActionListener, ChangeListener, Runnable {
////////////////// //////////////////
///// FIELDS ///// ///// FIELDS /////
@ -32,6 +33,8 @@ class GroundStation implements ActionListener, Runnable {
private PrintWriter tcpOut; private PrintWriter tcpOut;
/** thread to listen to tcpSocket */ /** thread to listen to tcpSocket */
private Thread tcpListener; private Thread tcpListener;
/** FC arm status */
private boolean armStatus = false;
// Main GUI components // Main GUI components
/** window to hold GUI */ /** window to hold GUI */
@ -86,8 +89,20 @@ class GroundStation implements ActionListener, Runnable {
private JButton calibrateImuButton; private JButton calibrateImuButton;
/** motor testing tab */ /** motor testing tab */
private JPanel motorTestPanel; private JPanel motorTestPanel;
/** placeholder */ /** Motor testing enable checkbox */
private JLabel motorTestPlaceholder; private JCheckBox motorTestEnableCheckBox;
/** Motor test values panel */
private JPanel motorTestValuesPanel;
/** Motor 0 slider */
private JSlider motor0Slider;
/** Motor 1 slider */
private JSlider motor1Slider;
/** Motor 2 slider */
private JSlider motor2Slider;
/** Motor 3 slider */
private JSlider motor3Slider;
/** Master slider. sets all motor sliders to its value when changed */
private JSlider motorMasterSlider;
//////////////////////// ////////////////////////
///// CONSTRUCTORS ///// ///// CONSTRUCTORS /////
@ -239,8 +254,44 @@ class GroundStation implements ActionListener, Runnable {
private void setupMotorTestTab() { private void setupMotorTestTab() {
motorTestPanel = new JPanel(); motorTestPanel = new JPanel();
motorTestPanel.setLayout( new BorderLayout() ); motorTestPanel.setLayout( new BorderLayout() );
motorTestPlaceholder = new JLabel( "Motor Test Tab Placeholder" );
motorTestPanel.add( motorTestPlaceholder, BorderLayout.NORTH ); motorTestEnableCheckBox = new JCheckBox( "Enable Motor Testing" );
motorTestEnableCheckBox.setSelected( false );
motorTestEnableCheckBox.addActionListener( this );
motorTestValuesPanel = new JPanel();
motorTestValuesPanel.setLayout( new FlowLayout() );
motor0Slider = new JSlider( 150, 600, 150 );
motor0Slider.setOrientation( JSlider.VERTICAL );
motor0Slider.addChangeListener( this );
motor1Slider = new JSlider( 150, 600, 150 );
motor1Slider.setOrientation( JSlider.VERTICAL );
motor1Slider.addChangeListener( this );
motor2Slider = new JSlider( 150, 600, 150 );
motor2Slider.setOrientation( JSlider.VERTICAL );
motor2Slider.addChangeListener( this );
motor3Slider = new JSlider( 150, 600, 150 );
motor3Slider.setOrientation( JSlider.VERTICAL );
motor3Slider.addChangeListener( this );
motorMasterSlider = new JSlider( 150, 600, 150 );
motorMasterSlider.setOrientation( JSlider.VERTICAL );
motorMasterSlider.addChangeListener( this );
motorTestValuesPanel.add( motor0Slider );
motorTestValuesPanel.add( motor1Slider );
motorTestValuesPanel.add( motor2Slider );
motorTestValuesPanel.add( motor3Slider );
motorTestValuesPanel.add( motorMasterSlider );
enableComponents( motorTestValuesPanel, false );
motorTestPanel.add( motorTestEnableCheckBox, BorderLayout.NORTH );
motorTestPanel.add( motorTestValuesPanel, BorderLayout.CENTER );
} }
/** /**
@ -318,6 +369,7 @@ class GroundStation implements ActionListener, Runnable {
else if( evt.getSource().equals( armDisarmButton ) && evt.getActionCommand().equals( "arm" ) ){ else if( evt.getSource().equals( armDisarmButton ) && evt.getActionCommand().equals( "arm" ) ){
cliCommandArea.append( "--ARMING..." ); cliCommandArea.append( "--ARMING..." );
tcpOut.println( "ARM_CONTROLLER" ); tcpOut.println( "ARM_CONTROLLER" );
armStatus = true;
armDisarmButton.setText( "disarm" ); armDisarmButton.setText( "disarm" );
cliCommandArea.append( "DONE\n" ); cliCommandArea.append( "DONE\n" );
} }
@ -326,9 +378,44 @@ class GroundStation implements ActionListener, Runnable {
else if( evt.getSource().equals( armDisarmButton ) && evt.getActionCommand().equals( "disarm" ) ) { else if( evt.getSource().equals( armDisarmButton ) && evt.getActionCommand().equals( "disarm" ) ) {
cliCommandArea.append( "--DISARMING..." ); cliCommandArea.append( "--DISARMING..." );
tcpOut.println( "DISARM_CONTROLLER" ); tcpOut.println( "DISARM_CONTROLLER" );
armStatus = false;
armDisarmButton.setText( "arm" ); armDisarmButton.setText( "arm" );
cliCommandArea.append( "DONE\n" ); cliCommandArea.append( "DONE\n" );
} }
// motor test checkbox
else if( evt.getSource().equals( motorTestEnableCheckBox ) ) {
if( motorTestEnableCheckBox.isSelected() ) {
enableComponents( motorTestValuesPanel, true );
}
else {
disableMotorTest();
}
}
}
/**
* handles changes in JSlider positions
*/
public void stateChanged( ChangeEvent evt ) {
if( evt.getSource().equals( motor0Slider ) ) {
tcpOut.println( "SET_MOTOR_00_" + motor0Slider.getValue() );
}
else if( evt.getSource().equals( motor1Slider ) ) {
tcpOut.println( "SET_MOTOR_01_" + motor1Slider.getValue() );
}
else if( evt.getSource().equals( motor2Slider ) ) {
tcpOut.println( "SET_MOTOR_02_" + motor2Slider.getValue() );
}
else if( evt.getSource().equals( motor3Slider ) ) {
tcpOut.println( "SET_MOTOR_03_" + motor3Slider.getValue() );
}
else if( evt.getSource().equals( motorMasterSlider ) ) {
motor0Slider.setValue( motorMasterSlider.getValue() );
motor1Slider.setValue( motorMasterSlider.getValue() );
motor2Slider.setValue( motorMasterSlider.getValue() );
motor3Slider.setValue( motorMasterSlider.getValue() );
}
} }
/** /**
@ -419,8 +506,10 @@ class GroundStation implements ActionListener, Runnable {
* disconnects from whatever connection has been set up with Raspberry Pi * disconnects from whatever connection has been set up with Raspberry Pi
*/ */
private void disconnect() { private void disconnect() {
cliCommandArea.append( "--DISCONNECTING..."); cliCommandArea.append( "--DISCONNECTING...\n");
disableMotorTest();
// Thread.sleep( 5 );
tcpOut.println( "DISCONNECT" ); tcpOut.println( "DISCONNECT" );
try { try {
@ -437,6 +526,25 @@ class GroundStation implements ActionListener, Runnable {
cliCommandArea.append( "DONE\n" ); cliCommandArea.append( "DONE\n" );
} }
/**
*
*/
private void disableMotorTest() {
motorMasterSlider.setValue( 150 );
motor0Slider.setValue( 150 );
motor1Slider.setValue( 150 );
motor2Slider.setValue( 150 );
motor3Slider.setValue( 150 );
enableComponents( motorTestValuesPanel, false );
try{
Thread.sleep( 500 );
}
catch( Exception e ) {}
motorTestEnableCheckBox.setSelected( false );
}
/** /**
* main begins the ground station * main begins the ground station
*/ */