Hide buttons not used in a given state, execute enter action on press down.

Author: aentinger

examples/Controlling_Manually_Braccio/AppState.cpp

@@ -6,11 +6,23 @@
 
 #include <Braccio++.h>
 
+/**************************************************************************************
+ * TYPEDEF
+ **************************************************************************************/
+
+enum BUTTONS {
+  BTN_UP = 1,
+  BTN_DOWN = 7,
+  BTN_LEFT = 3,
+  BTN_RIGHT = 5,
+};
+
 /**************************************************************************************
  * EXTERN
  **************************************************************************************/
 
 extern lv_obj_t * label;
+extern lv_obj_t * direction_btnm;
 
 /**************************************************************************************
  * GLOBAL VARIABLES
@@ -67,6 +79,16 @@ ElbowState::ElbowState()
 {
   Braccio.lvgl_lock();
   lv_label_set_text(label, "Elbow");
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_LEFT,  LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_RIGHT, LV_BTNMATRIX_CTRL_HIDDEN);
+  Braccio.lvgl_unlock();
+}
+
+ElbowState::~ElbowState()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_LEFT,  LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_RIGHT, LV_BTNMATRIX_CTRL_HIDDEN);
   Braccio.lvgl_unlock();
 }
 
@@ -129,6 +151,16 @@ PinchState::PinchState()
 {
   Braccio.lvgl_lock();
   lv_label_set_text(label, "Pinch");
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_UP,   LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_DOWN, LV_BTNMATRIX_CTRL_HIDDEN);
+  Braccio.lvgl_unlock();
+}
+
+PinchState::~PinchState()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_UP,   LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_DOWN, LV_BTNMATRIX_CTRL_HIDDEN);
   Braccio.lvgl_unlock();
 }
 

examples/Controlling_Manually_Braccio/AppState.h

@@ -66,7 +66,7 @@ class ElbowState : public State
 {
 public:
            ElbowState();
-  virtual ~ElbowState() { }
+  virtual ~ElbowState();
 protected:
   virtual State * handle_OnEnter() override;
   virtual State * handle_OnUp   () override;
@@ -91,7 +91,7 @@ class PinchState : public State
 {
 public:
            PinchState();
-  virtual ~PinchState() { }
+  virtual ~PinchState();
 protected:
   virtual State * handle_OnEnter() override;
   virtual State * handle_OnLeft () override;

examples/Controlling_Manually_Braccio/Controlling_Manually_Braccio.ino

@@ -144,7 +144,7 @@ void updateButtons(uint32_t key)
     lv_btnmatrix_set_selected_btn(direction_btnm, NULL);
     Braccio.lvgl_unlock();
   }
-
+/*
   if (state == ELBOW){
     Braccio.lvgl_lock();
     lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_LEFT, LV_BTNMATRIX_CTRL_HIDDEN);
@@ -165,6 +165,7 @@ void updateButtons(uint32_t key)
     lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_RIGHT, LV_BTNMATRIX_CTRL_HIDDEN);
     Braccio.lvgl_unlock();
   }
+  */
   /*
   Braccio.lvgl_lock();
   lv_label_set_text(label, jointsPair[state]);
@@ -238,15 +239,14 @@ void setup()
 
 void loop()
 {
-  if (Braccio.isButtonPressed_ENTER()) {
-    static auto prev_enter_event = millis();
-    auto const now = millis();
-    if ((now - prev_enter_event) > 200 && Braccio.isButtonPressed_ENTER())
-    {
-      prev_enter_event = now;
-      app.update(Button::Enter);
-    }
+  /* ENTER */
+
+  static bool prev_joystick_pressed_enter = false;
+  bool const curr_joystick_pressed_enter = Braccio.isButtonPressed_ENTER();
+  if (!prev_joystick_pressed_enter && curr_joystick_pressed_enter) {
+    app.update(Button::Enter);
   }
+  prev_joystick_pressed_enter = curr_joystick_pressed_enter;
 
   /* DOWN */