From 7087a257c356ae072494d68d1b24164a728991ce Mon Sep 17 00:00:00 2001 From: Sam Hos Date: Mon, 5 May 2025 14:44:31 +0200 Subject: [PATCH] docs --- .../interface_application_programming.md | 370 +++++++++++++++++- docs/final_project/Drone controller.zip | Bin 0 -> 106562 bytes docs/final_project/final_project.md | 6 +- src/controller/drone controller/src/main.cpp | 4 +- 4 files changed, 377 insertions(+), 3 deletions(-) create mode 100644 docs/final_project/Drone controller.zip diff --git a/docs/Assignments/week_14_interface_application_programming/interface_application_programming/interface_application_programming.md b/docs/Assignments/week_14_interface_application_programming/interface_application_programming/interface_application_programming.md index e147920..a4ec2da 100644 --- a/docs/Assignments/week_14_interface_application_programming/interface_application_programming/interface_application_programming.md +++ b/docs/Assignments/week_14_interface_application_programming/interface_application_programming/interface_application_programming.md @@ -52,6 +52,374 @@ After that it successfully uploaded and now it works! ## Using the joysticks -I wanna use the joysticks to control the menu. Because at this time I don't have any way to control it. +I wanna use the joysticks to control the menu. Because at this time I don't have any way to control it. So I needed something that takes the joystick output and converts it to either a 0 or 1 for the menu input. So I created this function +```cpp +struct hardJoystickValues +{ + bool LXU; // Left joystick X axis up + bool LXD; // Left joystick X axis down + bool RXU; // Right joystick X axis up + bool RXD; // Right joystick X axis down +}; + +hardJoystickValues GUIParser(){ + + // Define joystick offsets (calibrated resting values) + const int offsetPWMCH1 = 1090; // Resting value for PWMCH1 (right joystick Y-axis) + const int offsetPWMCH2 = 1072; // Resting value for PWMCH2 (right joystick X-axis) + const int offsetPWMCH3 = 1043; // Resting value for PWMCH3 (left joystick X-axis) + const int offsetPWMCH4 = 1476; // Resting value for PWMCH4 (left joystick Y-axis) + + // Define deadzone threshold + const int deadzone = 120; + + // Adjust joystick values by subtracting offsets + int adjustedPWMCH1 = JoystickData.PWMCH1 - offsetPWMCH1; + int adjustedPWMCH2 = JoystickData.PWMCH2 - offsetPWMCH2; + int adjustedPWMCH3 = JoystickData.PWMCH3 - offsetPWMCH3; + int adjustedPWMCH4 = JoystickData.PWMCH4 - offsetPWMCH4; + + // Apply deadzone + if (abs(adjustedPWMCH1) < deadzone) adjustedPWMCH1 = 0; //abs to avoid negatives + if (abs(adjustedPWMCH2) < deadzone) adjustedPWMCH2 = 0; + if (abs(adjustedPWMCH3) < deadzone) adjustedPWMCH3 = 0; + if (abs(adjustedPWMCH4) < deadzone) adjustedPWMCH4 = 0; + + // Map joystick values to hard values + int LXU = 0; // Left joystick X axis up + int LXD = 0; // Left joystick X axis down + if (adjustedPWMCH1 > 0) { + LXU = 1; // Joystick is up + } else if (adjustedPWMCH1 < 0) { + LXD = 1; // Joystick is down + } + return {LXU, LXD, 0, 0}; // Return the values as a struct +} +``` +A portion of this code was taken from the machining week group project. But what this does is if a joystick is pressed outside of the deadzone it will set one of the variables to true and if its center everything is false so that way I could use it as a button. + +![alt text](image-11.png) + +??? + ```cpp + // simple project using Arduino UNO and 128x64 OLED Display to display a menu + // created by upir, 2022 + // youtube channel: https://www.youtube.com/upir_upir + + // YOUTUBE VIDEO: https://youtu.be/HVHVkKt-ldc + // WOKWI PROJECT: https://wokwi.com/projects/353101459130291201 + + // links from the video: + // Flipper Zero menu - https://docs.flipperzero.one/basics/control#M5BZO + // WOKWI start project progress bar - https://wokwi.com/projects/300867986768527882 + // image2cpp - https://javl.github.io/image2cpp/ + // 128x64 SSD1306 OLED Display: https://s.click.aliexpress.com/e/_DCKdvnh + // Transparent OLED display: https://s.click.aliexpress.com/e/_Dns6eLz + // Arduino UNO: https://s.click.aliexpress.com/e/_AXDw1h + // Arduino UNO MINI: https://store.arduino.cc/products/uno-mini-le + // Big OLED Display: https://s.click.aliexpress.com/e/_ADL0T9 + // Arduino breadboard prototyping shield: https://s.click.aliexpress.com/e/_ApbCwx + // u8g fonts (fonts available for u8g library): https://nodemcu-build.com/u8g-fonts.php + // u8g documentation: https://github.com/olikraus/u8glib/wiki/userreference + // Photopea (online Photoshop-like tool): https://www.photopea.com/ + // image2cpp (convert images into C code): https://javl.github.io/image2cpp/ + // Push buttons - https://s.click.aliexpress.com/e/_DmXS8B9 + + // Related videos: + // Arduino Parking Sensor - https://youtu.be/sEWw087KOj0 + // Turbo pressure gauge with Arduino and OLED display - https://youtu.be/JXmw1xOlBdk + // Arduino Car Cluster with OLED Display - https://youtu.be/El5SJelwV_0 + // Knob over OLED Display - https://youtu.be/SmbcNx7tbX8 + // Arduino + OLED = 3D ? - https://youtu.be/kBAcaA7NAlA + // Arduino OLED Gauge - https://youtu.be/xI6dXTA02UQ + // Smaller & Faster Arduino - https://youtu.be/4GfPQoIRqW8 + + + #include + #include + #include + #include + U8G2_SSD1306_128X64_NONAME_F_HW_I2C u8g2(U8G2_R0, /* reset=*/ U8X8_PIN_NONE); + + //=====================================================================================// + // Struct declarations + typedef struct struct_message + { + int PWMCH1; + int PWMCH2; + int PWMCH3; + int PWMCH4; + } struct_message; + struct_message JoystickData; // declare the struct as JoystickData + + struct hardJoystickValues + { + int LXU; // Left joystick X axis up + int LXD; // Left joystick X axis down + int RXU; // Right joystick X axis up + int RXD; // Right joystick X axis down + }; + hardJoystickValues JoystickDataHard; // declare the struct as JoystickDataHard + //=====================================================================================// + //declarations + void GUITestLoop(); + void MUXSetup(); + hardJoystickValues GUIParser(); + int analogReadMultiPlexer(int addressA, int addressB, int addressC, int addressD, int pin); + int mapPot(int normalizedValue); + + + // Controller declarations + const int MAXPWMVALUE = 1000; + const int MINPWMVALUE = 2000; + + // Screen declarations + const int NUM_ITEMS = 8; // number of items in the list and also the number of screenshots and screenshots with QR codes (other screens) + const int MAX_ITEM_LENGTH = 20; // maximum characters for the item name + + char menu_items [NUM_ITEMS] [MAX_ITEM_LENGTH] = { // array with item names + { "3D Cube" }, + { "Battery" }, + { "Dashboard" }, + { "Fireworks" }, + { "GPS Speed" }, + { "Big Knob" }, + { "Park Sensor" }, + { "Turbo Gauge" } + }; + // note - when changing the order of items above, make sure the other arrays referencing bitmaps + // also have the same order, for example array "bitmap_icons" for icons, and other arrays for screenshots and QR codes + + #define BUTTON_UP_PIN JoystickDataHard.LXU // pin for UP button + #define BUTTON_SELECT_PIN buttonRight// pin for SELECT button + #define BUTTON_DOWN_PIN JoystickDataHard.LXD // pin for DOWN button + + #define DEMO_PIN D0 // pin for demo mode, use switch or wire to enable or disable demo mode, see more details below + + + int button_up_clicked = 0; // only perform action when button is clicked, and wait until another press + int button_select_clicked = 0; // same as above + int button_down_clicked = 0; // same as above + + int item_selected = 0; // which item in the menu is selected + + int item_sel_previous; // previous item - used in the menu screen to draw the item before the selected one + int item_sel_next; // next item - used in the menu screen to draw next item after the selected one + + int current_screen = 0; // 0 = menu, 1 = screenshot, 2 = qr + + int demo_mode = 0; // when demo mode is set to 1, it automatically goes over all the screens, 0 = control menu with buttons + int demo_mode_state = 0; // demo mode state = which screen and menu item to display + int demo_mode_delay = 0; // demo mode delay = used to slow down the screen switching + + bool buttonRight; + bool buttonLeft; + void setup() { + u8g2.begin(); + u8g2.setColorIndex(1); // set the color to white + MUXSetup(); // Setup the multiplexer + + + + } + + + void loop() { + JoystickData.PWMCH1 = mapPot(analogReadMultiPlexer(0, 0, 0, 0, A0)); //Right joystick Y + JoystickData.PWMCH2 = mapPot(analogReadMultiPlexer(1, 0, 0, 0, A0)); // Right joystick X + JoystickData.PWMCH3 = mapPot(analogReadMultiPlexer(0, 0, 0, 1, A0)); // left joystick Y + JoystickData.PWMCH4 = mapPot(analogReadMultiPlexer(1, 0, 0, 1, A0)); // left joystick X + buttonRight = abs(analogReadMultiPlexer(0, 0, 1, 0, A0)/4095); // right button + buttonLeft = abs(analogReadMultiPlexer(1, 0, 1, 0, A0)/4095); // left button + + JoystickDataHard = GUIParser(); + GUITestLoop(); + } + + + + void GUITestLoop(){ + + // when pin 13 is LOW (DEMO_PIN), enable demo mode + // this could be done either by using a switch + // or simply by connecting the wire between pin 13 and GND + // (those pins are next to each other) + if (digitalRead(DEMO_PIN) == LOW) { + demo_mode = 0; // enable demo mode + } + else { + demo_mode = 0; // disable demo mode + } + + + if (demo_mode == 1) { // when demo mode is active, automatically switch between all the screens and menu items + demo_mode_delay++; // increase demo mode delay + if (demo_mode_delay > 15) { // after some time, switch to another screen - change this value to make it slower/faster + demo_mode_delay = 0; + demo_mode_state++; // increase counter + if (demo_mode_state >= NUM_ITEMS*3) {demo_mode_state=0;} // jump back to the first screen + } + + if (demo_mode_state % 3 == 0) {current_screen = 0; item_selected = demo_mode_state/3; } // menu screen + else if (demo_mode_state % 3 == 1) {current_screen = 1; item_selected = demo_mode_state/3;} // screenshots screen + else if (demo_mode_state % 3 == 2) {current_screen = 2; item_selected = demo_mode_state/3;} // qr codes screen + + } // end demo mode section + + + if (current_screen == 0) { // MENU SCREEN + + // up and down buttons only work for the menu screen + if ((BUTTON_UP_PIN == LOW) && (button_up_clicked == 0)) { // up button clicked - jump to previous menu item + item_selected = item_selected - 1; // select previous item + button_up_clicked = 1; // set button to clicked to only perform the action once + if (item_selected < 0) { // if first item was selected, jump to last item + item_selected = NUM_ITEMS-1; + } + } + else if ((BUTTON_DOWN_PIN == LOW) && (button_down_clicked == 0)) { // down button clicked - jump to next menu item + item_selected = item_selected + 1; // select next item + button_down_clicked = 1; // set button to clicked to only perform the action once + if (item_selected >= NUM_ITEMS) { // last item was selected, jump to first menu item + item_selected = 0; + } + } + + if ((BUTTON_UP_PIN == HIGH) && (button_up_clicked == 1)) { // unclick + button_up_clicked = 0; + } + if ((BUTTON_DOWN_PIN == HIGH) && (button_down_clicked == 1)) { // unclick + button_down_clicked = 0; + } + + } + + + if ((BUTTON_SELECT_PIN == LOW) && (button_select_clicked == 0)) { // select button clicked, jump between screens + button_select_clicked = 1; // set button to clicked to only perform the action once + if (current_screen == 0) {current_screen = 1;} // menu items screen --> screenshots screen + else if (current_screen == 1) {current_screen = 2;} // screenshots screen --> qr codes screen + else {current_screen = 0;} // qr codes screen --> menu items screen + } + if ((BUTTON_SELECT_PIN == HIGH) && (button_select_clicked == 1)) { // unclick + button_select_clicked = 0; + } + + // set correct values for the previous and next items + item_sel_previous = item_selected - 1; + if (item_sel_previous < 0) {item_sel_previous = NUM_ITEMS - 1;} // previous item would be below first = make it the last + item_sel_next = item_selected + 1; + if (item_sel_next >= NUM_ITEMS) {item_sel_next = 0;} // next item would be after last = make it the first + + + u8g2.firstPage(); // required for page drawing mode for u8g library + do { + + if (current_screen == 0) { // MENU SCREEN + + // selected item background + u8g2.drawBitmap(0, 22, 128/8, 21, bitmap_item_sel_outline); + + // draw previous item as icon + label + u8g2.setFont(u8g_font_7x14); + u8g2.drawStr(25, 15, menu_items[item_sel_previous]); + u8g2.drawBitmap( 4, 2, 16/8, 16, bitmap_icons[item_sel_previous]); + + // draw selected item as icon + label in bold font + u8g2.setFont(u8g_font_7x14B); + u8g2.drawStr(25, 15+20+2, menu_items[item_selected]); + u8g2.drawBitmap( 4, 24, 16/8, 16, bitmap_icons[item_selected]); + + // draw next item as icon + label + u8g2.setFont(u8g_font_7x14); + u8g2.drawStr(25, 15+20+20+2+2, menu_items[item_sel_next]); + u8g2.drawBitmap( 4, 46, 16/8, 16, bitmap_icons[item_sel_next]); + + // draw scrollbar background + u8g2.drawBitmap(128-8, 0, 8/8, 64, bitmap_scrollbar_background); + + // draw scrollbar handle + u8g2.drawBox(125, 64/NUM_ITEMS * item_selected, 3, 64/NUM_ITEMS); + + // draw upir logo + u8g2.drawBitmap(128-16-4, 64-4, 16/8, 4, upir_logo); + + } + else if (current_screen == 1) { // SCREENSHOTS SCREEN + u8g2.drawBitmap( 0, 0, 128/8, 64, bitmap_screenshots[item_selected]); // draw screenshot + } + else if (current_screen == 2) { // QR SCREEN + u8g2.drawBitmap( 0, 0, 128/8, 64, bitmap_qr_codes[item_selected]); // draw qr code screenshot + } + + } while ( u8g2.nextPage() ); // required for page drawing mode with u8g library + + + } + + void MUXSetup() + { + pinMode(D3, OUTPUT); // MUX enable + pinMode(D6, OUTPUT); // MUX address A + pinMode(D7, OUTPUT); // MUX address B + pinMode(D9, OUTPUT); // MUX address C + pinMode(D8, OUTPUT); // MUX address D + pinMode(A0, INPUT); // MUX input + } + + // Function to parse joystick data to hard values + //If joystick is Up then the value is 1 of var A + //If joystick is Down then the value is 1 of var B + //If joystick is in the middle A and B are 0 + hardJoystickValues GUIParser(){ + + // Define joystick offsets (calibrated resting values) + const int offsetPWMCH1 = 1090; // Resting value for PWMCH1 (right joystick Y-axis) + const int offsetPWMCH2 = 1072; // Resting value for PWMCH2 (right joystick X-axis) + const int offsetPWMCH3 = 1043; // Resting value for PWMCH3 (left joystick X-axis) + const int offsetPWMCH4 = 1476; // Resting value for PWMCH4 (left joystick Y-axis) + + // Define deadzone threshold + const int deadzone = 120; + + // Adjust joystick values by subtracting offsets + int adjustedPWMCH1 = JoystickData.PWMCH1 - offsetPWMCH1; + int adjustedPWMCH2 = JoystickData.PWMCH2 - offsetPWMCH2; + int adjustedPWMCH3 = JoystickData.PWMCH3 - offsetPWMCH3; + int adjustedPWMCH4 = JoystickData.PWMCH4 - offsetPWMCH4; + + // Apply deadzone + if (abs(adjustedPWMCH1) < deadzone) adjustedPWMCH1 = 0; //abs to avoid negatives + if (abs(adjustedPWMCH2) < deadzone) adjustedPWMCH2 = 0; + if (abs(adjustedPWMCH3) < deadzone) adjustedPWMCH3 = 0; + if (abs(adjustedPWMCH4) < deadzone) adjustedPWMCH4 = 0; + + // Map joystick values to hard values + int LXU = 0; // Left joystick X axis up + int LXD = 0; // Left joystick X axis down + if (adjustedPWMCH1 > 0) { + LXU = 1; // Joystick is up + } else if (adjustedPWMCH1 < 0) { + LXD = 1; // Joystick is down + } + return {LXU, LXD, 0, 0}; // Return the values as a struct + } + + int analogReadMultiPlexer(int addressA, int addressB, int addressC, int addressD, int pin) + { + digitalWrite(D3, LOW); + digitalWrite(D6, addressA); + digitalWrite(D7, addressB); + digitalWrite(D9, addressC); + digitalWrite(D8, addressD); + return analogRead(pin); + } + + int mapPot(int normalizedValue) + { + return map(normalizedValue, 400, 2500, MINPWMVALUE, MAXPWMVALUE); // map the normalized value to the PWM range + } + ``` +This is the full code of the screen. 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pcb](Drone%20controller.zip) \ No newline at end of file diff --git a/src/controller/drone controller/src/main.cpp b/src/controller/drone controller/src/main.cpp index 7c7ba1d..99df2a9 100644 --- a/src/controller/drone controller/src/main.cpp +++ b/src/controller/drone controller/src/main.cpp @@ -62,7 +62,9 @@ void loop() JoystickData.PWMCH2 = mapPot(analogReadMultiPlexer(1, 0, 0, 0, A0)); // Right joystick X JoystickData.PWMCH3 = mapPot(analogReadMultiPlexer(0, 0, 0, 1, A0)); // left joystick Y JoystickData.PWMCH4 = mapPot(analogReadMultiPlexer(1, 0, 0, 1, A0)); // left joystick X - + bool buttonRight = abs(analogReadMultiPlexer(0, 0, 1, 0, A0)/4095); // right button + bool buttonLeft = abs(analogReadMultiPlexer(1, 0, 1, 0, A0)/4095); // left button + GUIParser(); espNowLoop(); delay(10); // delay to avoid hammering the radio and to save power/heat