112 lines
2.3 KiB
Plaintext
112 lines
2.3 KiB
Plaintext
import controlP5.*;
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import processing.serial.*;
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//Plots
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ScopePlot plotA;
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ScopePlot plotB;
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ScopePlotDouble plotC;
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//Communication with MMM boards
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Protocol proto;
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//Serial port
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Serial p;
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//Controlers
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ControlP5 cp5;
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SliderCallback scb;
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// (k)
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float kmin = 0.0f;
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float kmax = 7.0f;
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float k = 0.2f;
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Slider k_slider;
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// (m)
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float mmin = 0.0f;
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float mmax = 7.0f;
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float m = 1.0f;
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Slider m_slider;
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// (d)
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float dmin = 0.0f;
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float dmax = 7.0f;
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float d = 0.02f;
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Slider d_slider;
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void setup() {
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int b = 15;
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int h = (displayHeight / 4) - (3*b);
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int w = displayWidth / 2;
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plotA = new ScopePlot("Force", w, h, b, b + b, 512, true);
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plotB = new ScopePlot("Velocity", w, h, b, h + 4*b, 512, true);
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plotC = new ScopePlotDouble("Position Estimate", w, h, b, 2*h + 6*b, 512, true);
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p = new Serial(this, Serial.list()[0], 9600);
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proto = new Protocol(p);
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// Controls
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cp5 = new ControlP5(this);
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scb = new SliderCallback();
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int sw = w / 3;
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k_slider = cp5.addSlider("k", kmin, kmax, b, b-5, sw - b, b-5);
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k_slider.setColorForeground(color(127,34,255));
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k_slider.setColorBackground(color(50,50,50));
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k_slider.addListener(scb);
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m_slider = cp5.addSlider("m", mmin, mmax, 2*b + sw, b-5, sw - b, b-5);
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m_slider.setColorForeground(color(127,34,255));
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m_slider.setColorBackground(color(50,50,50));
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m_slider.addListener(scb);
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d_slider = cp5.addSlider("d", dmin, dmax, 3*b + 2*sw, b-5, sw - b, b-5);
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d_slider.setColorForeground(color(127,34,255));
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d_slider.setColorBackground(color(50,50,50));
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d_slider.addListener(scb);
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size(w + 60, displayHeight - (h + (3*b)));
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}
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void draw() {
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background(0);
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plotA.draw();
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plotB.draw();
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plotC.draw();
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}
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/*
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void mouseDragged()
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{
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plotA.mdata(mouseX, mouseY);
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plotB.mdata(mouseX, mouseY);
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plotC.mdata(mouseX, mouseY);
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}
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void mouseClicked()
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{
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plotA.mdata(mouseX, mouseY);
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plotB.mdata(mouseX, mouseY);
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plotC.mdata(mouseX, mouseY);
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}
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*/
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void serialEvent (Serial myPort) {
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proto.processData();
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plotA.data(proto.F);
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plotB.data(proto.V);
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plotC.data(proto.X - 512, proto.Xin - 512);
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}
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class SliderCallback implements ControlListener {
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public void controlEvent(ControlEvent ev) {
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p.write(new String(ev.controller().name()+ev.controller().value()+";"));
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//println(ev.controller().name() + ": " + ev.controller().value());
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}
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}
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