Rework 01_Braccio_learning_mode example

examples/Braccio_Learn_and_Repeat/Braccio_Learn_and_Repeat.ino

@@ -0,0 +1,165 @@
+#include <Braccio++.h>
+
+// Colors
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+#define COLOR_ORANGE     0xE47128
+
+enum states {
+  RECORD,
+  REPLAY,
+  ZERO_POSITION
+};
+
+int state = ZERO_POSITION;
+
+float values[10000];
+float* idx = values;
+float* final_idx = 0;
+float homePos[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
+
+static lv_obj_t * counter;
+static lv_obj_t * btnm;
+
+static const char * btnm_map[] = { "RECORD", "\n", "REPLAY", "\n", "ZERO_POSITION", "\n", "\0" };
+
+
+static void eventHandlerMenu(lv_event_t * e) {
+  lv_event_code_t code = lv_event_get_code(e);
+  lv_obj_t * obj = lv_event_get_target(e);
+
+  if (code == LV_EVENT_KEY && lv_indev_get_key(lv_indev_get_act()) == LV_KEY_HOME) {
+    state = ZERO_POSITION;
+    return;
+  }
+
+  if (code == LV_EVENT_CLICKED) {
+    uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+    const char * txt = lv_btnmatrix_get_btn_text(obj, id);
+
+    if (state == RECORD) {
+      final_idx = idx;
+    }
+
+    idx = values;
+
+    switch (id) {
+      case 0: // if the button pressed is the first one
+        if (txt == "RECORD") {
+          state = RECORD;
+          Braccio.disengage(); // allow the user to freely move the braccio
+          lv_btnmatrix_set_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_CHECKED);
+          Serial.println("RECORD");
+          lv_btnmatrix_clear_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_DISABLED); // remove disabled state of the replay button
+          btnm_map[0] = "STOP"; // change the label of the first button to "STOP"
+        }
+        else if (txt == "STOP") {
+          state = ZERO_POSITION;
+          Braccio.engage(); // enable the steppers so that the braccio stands still
+          lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+          btnm_map[0] = "RECORD"; // reset the label of the first button back to "RECORD"
+        }
+        break;
+      case 1:
+        btnm_map[0] = "RECORD"; // reset the label of the first button back to "RECORD"
+        if (txt == "REPLAY"){
+        state = REPLAY;
+        btnm_map[2] = "STOP"; // change the label of the second button to "STOP"
+        Braccio.engage();
+        lv_btnmatrix_set_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_CHECKED);
+        Serial.println("REPLAY");
+        }
+        else if (txt=="STOP"){
+          state = ZERO_POSITION;
+          Braccio.engage(); // enable the steppers so that the braccio stands still
+          lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+          btnm_map[2] = "REPLAY"; // reset the label of the first button back to "REPLAY"
+        }
+
+        break;
+
+      default:
+        state = ZERO_POSITION;
+        btnm_map[0] = "RECORD"; // reset the label of the first button back to "RECORD"
+        btnm_map[2] = "REPLAY"; // reset the label of the first button back to "REPLAY"
+        Braccio.engage();
+        delay(500);
+        Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
+        lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+        Serial.println("ZERO_POSITION");
+        break;
+    }
+  }
+}
+
+void mainMenu() {
+  static lv_style_t style_focus;
+  lv_style_init(&style_focus);
+  lv_style_set_outline_color(&style_focus, lv_color_hex(COLOR_ORANGE));
+  lv_style_set_outline_width(&style_focus, 4);
+
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_LIGHT_TEAL));
+  lv_style_set_text_color(&style_btn, lv_color_white());
+
+  btnm = lv_btnmatrix_create(lv_scr_act());
+  lv_obj_set_size(btnm, 240, 240);
+  lv_btnmatrix_set_map(btnm, btnm_map);
+  lv_obj_align(btnm, LV_ALIGN_CENTER, 0, 0);
+
+  lv_obj_add_style(btnm, &style_btn, LV_PART_ITEMS);
+  lv_obj_add_style(btnm, &style_focus, LV_PART_ITEMS | LV_STATE_FOCUS_KEY);
+
+  lv_btnmatrix_set_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_DISABLED);
+  lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKABLE);
+
+  lv_btnmatrix_set_one_checked(btnm, true);
+  lv_btnmatrix_set_selected_btn(btnm, 0);
+  lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+
+  counter = lv_label_create(btnm);
+  lv_label_set_text_fmt(counter, "Counter: %d" , 0);
+  lv_obj_align(counter, LV_ALIGN_CENTER, 0, 80);
+
+  lv_obj_add_event_cb(btnm, eventHandlerMenu, LV_EVENT_ALL, NULL);
+
+  Braccio.connectJoystickTo(btnm);
+}
+
+void setup() {
+  Braccio.begin(mainMenu);
+  delay(500);
+
+  Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
+  delay(500);
+
+  Serial.begin(115200);
+  Serial.println("Replicate a movement");
+}
+
+void loop() {
+  if (state == RECORD) {
+    Braccio.positions(idx);
+    idx += 6;
+  }
+  if (state == REPLAY) {
+    Braccio.moveTo(idx[0], idx[1], idx[2], idx[3], idx[4], idx[5]);
+    idx += 6;
+    if (idx >= final_idx) {
+      Serial.println("REPLAY done");
+      state = ZERO_POSITION;
+      btnm_map[2] = "REPLAY"; // reset the label of the first button back to "REPLAY"
+      lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+    }
+  }
+  if (idx - values >= sizeof(values)) {
+    Serial.println("ZERO_POSITION");
+    state = ZERO_POSITION;
+  }
+  delay(100);
+  if (state != ZERO_POSITION) {
+    lv_label_set_text_fmt(counter, "Counter: %d" , idx - values);
+  }
+}

examples/Platform_Tutorials/projects/p03-learning-mode/01_Braccio_learning_mode/01_Braccio_learning_mode.ino

@@ -0,0 +1,165 @@
+#include <Braccio++.h>
+
+// Colors
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+#define COLOR_ORANGE     0xE47128
+
+enum states {
+  RECORD,
+  REPLAY,
+  ZERO_POSITION
+};
+
+int state = ZERO_POSITION;
+
+float values[10000];
+float* idx = values;
+float* final_idx = 0;
+float homePos[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
+
+static lv_obj_t * counter;
+static lv_obj_t * btnm;
+
+static const char * btnm_map[] = { "RECORD", "\n", "REPLAY", "\n", "ZERO_POSITION", "\n", "\0" };
+
+
+static void eventHandlerMenu(lv_event_t * e) {
+  lv_event_code_t code = lv_event_get_code(e);
+  lv_obj_t * obj = lv_event_get_target(e);
+
+  if (code == LV_EVENT_KEY && lv_indev_get_key(lv_indev_get_act()) == LV_KEY_HOME) {
+    state = ZERO_POSITION;
+    return;
+  }
+
+  if (code == LV_EVENT_CLICKED) {
+    uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+    const char * txt = lv_btnmatrix_get_btn_text(obj, id);
+
+    if (state == RECORD) {
+      final_idx = idx;
+    }
+
+    idx = values;
+
+    switch (id) {
+      case 0: // if the button pressed is the first one
+        if (txt == "RECORD") {
+          state = RECORD;
+          Braccio.disengage(); // allow the user to freely move the braccio
+          lv_btnmatrix_set_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_CHECKED);
+          Serial.println("RECORD");
+          lv_btnmatrix_clear_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_DISABLED); // remove disabled state of the replay button
+          btnm_map[0] = "STOP"; // change the label of the first button to "STOP"
+        }
+        else if (txt == "STOP") {
+          state = ZERO_POSITION;
+          Braccio.engage(); // enable the steppers so that the braccio stands still
+          lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+          btnm_map[0] = "RECORD"; // reset the label of the first button back to "RECORD"
+        }
+        break;
+      case 1:
+        btnm_map[0] = "RECORD"; // reset the label of the first button back to "RECORD"
+        if (txt == "REPLAY"){
+        state = REPLAY;
+        btnm_map[2] = "STOP"; // change the label of the second button to "STOP"
+        Braccio.engage();
+        lv_btnmatrix_set_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_CHECKED);
+        Serial.println("REPLAY");
+        }
+        else if (txt=="STOP"){
+          state = ZERO_POSITION;
+          Braccio.engage(); // enable the steppers so that the braccio stands still
+          lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+          btnm_map[2] = "REPLAY"; // reset the label of the first button back to "REPLAY"
+        }
+
+        break;
+
+      default:
+        state = ZERO_POSITION;
+        btnm_map[0] = "RECORD"; // reset the label of the first button back to "RECORD"
+        btnm_map[2] = "REPLAY"; // reset the label of the first button back to "REPLAY"
+        Braccio.engage();
+        delay(500);
+        Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
+        lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+        Serial.println("ZERO_POSITION");
+        break;
+    }
+  }
+}
+
+void mainMenu() {
+  static lv_style_t style_focus;
+  lv_style_init(&style_focus);
+  lv_style_set_outline_color(&style_focus, lv_color_hex(COLOR_ORANGE));
+  lv_style_set_outline_width(&style_focus, 4);
+
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_LIGHT_TEAL));
+  lv_style_set_text_color(&style_btn, lv_color_white());
+
+  btnm = lv_btnmatrix_create(lv_scr_act());
+  lv_obj_set_size(btnm, 240, 240);
+  lv_btnmatrix_set_map(btnm, btnm_map);
+  lv_obj_align(btnm, LV_ALIGN_CENTER, 0, 0);
+
+  lv_obj_add_style(btnm, &style_btn, LV_PART_ITEMS);
+  lv_obj_add_style(btnm, &style_focus, LV_PART_ITEMS | LV_STATE_FOCUS_KEY);
+
+  lv_btnmatrix_set_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_DISABLED);
+  lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKABLE);
+
+  lv_btnmatrix_set_one_checked(btnm, true);
+  lv_btnmatrix_set_selected_btn(btnm, 0);
+  lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+
+  counter = lv_label_create(btnm);
+  lv_label_set_text_fmt(counter, "Counter: %d" , 0);
+  lv_obj_align(counter, LV_ALIGN_CENTER, 0, 80);
+
+  lv_obj_add_event_cb(btnm, eventHandlerMenu, LV_EVENT_ALL, NULL);
+
+  Braccio.connectJoystickTo(btnm);
+}
+
+void setup() {
+  Braccio.begin(mainMenu);
+  delay(500);
+
+  Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
+  delay(500);
+
+  Serial.begin(115200);
+  Serial.println("Replicate a movement");
+}
+
+void loop() {
+  if (state == RECORD) {
+    Braccio.positions(idx);
+    idx += 6;
+  }
+  if (state == REPLAY) {
+    Braccio.moveTo(idx[0], idx[1], idx[2], idx[3], idx[4], idx[5]);
+    idx += 6;
+    if (idx >= final_idx) {
+      Serial.println("REPLAY done");
+      state = ZERO_POSITION;
+      btnm_map[2] = "REPLAY"; // reset the label of the first button back to "REPLAY"
+      lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+    }
+  }
+  if (idx - values >= sizeof(values)) {
+    Serial.println("ZERO_POSITION");
+    state = ZERO_POSITION;
+  }
+  delay(100);
+  if (state != ZERO_POSITION) {
+    lv_label_set_text_fmt(counter, "Counter: %d" , idx - values);
+  }
+}