| 0,0 → 1,215 |
|---|
| #include "RobotControl.h" |
| |
| RobotControl::RobotControl(QWidget *parent) |
| : QWidget(parent) |
| { |
| connected = false; |
| |
| connectBtn = new QPushButton(); |
| connectBtn->setText("Connect"); |
| connectBtn->setFocusPolicy(Qt::NoFocus); |
| |
| refreshBtn = new QPushButton(); |
| refreshBtn->setText("Refresh"); |
| refreshBtn->setFocusPolicy(Qt::NoFocus); |
| |
| statusLabel = new QLabel(); |
| statusLabel->setText("Status: Disconnected"); |
| |
| speedLabel = new QLabel(); |
| speedLabel->setText("Speed (0-255):"); |
| |
| speedBox = new QSpinBox(); |
| speedBox->setRange(0, 255); |
| speedBox->setValue(255); |
| speedBox->setSingleStep(51); |
| speedBox->setFocusPolicy(Qt::NoFocus); |
| |
| portSelect = new QComboBox(); |
| portSelect->setFocusPolicy(Qt::NoFocus); |
| refreshPorts(); |
| |
| port = new QSerialPort(); |
| |
| QHBoxLayout *layout = new QHBoxLayout(); |
| layout->addWidget(connectBtn); |
| layout->addWidget(portSelect); |
| layout->addWidget(refreshBtn); |
| layout->addWidget(statusLabel); |
| layout->addStretch(); |
| layout->addWidget(speedLabel); |
| layout->addWidget(speedBox); |
| setLayout(layout); |
| |
| connect(connectBtn, SIGNAL(pressed()), this, SLOT(toggleConnect())); |
| connect(refreshBtn, SIGNAL(pressed()), this, SLOT(refreshPorts())); |
| |
| } |
| |
| RobotControl::~RobotControl() |
| { |
| port->close(); |
| delete(connectBtn); |
| delete(refreshBtn); |
| delete(statusLabel); |
| delete(portSelect); |
| delete(port); |
| } |
| |
| void RobotControl::refreshPorts() { |
| ports = QSerialPortInfo::availablePorts(); |
| portSelect->clear(); |
| for (int i = 0; i < ports.size(); i++) { |
| portSelect->addItem(ports[i].portName()); |
| } |
| } |
| |
| void RobotControl::toggleConnect() { |
| if (!connected) { |
| port->setPortName(portSelect->currentText()); |
| if (!port->open(QIODevice::ReadWrite)) { |
| port->close(); |
| statusLabel->setText("Status: Unable to Connect"); |
| } else { |
| port->setBaudRate(QSerialPort::Baud115200); |
| port->setDataBits(QSerialPort::Data8); |
| port->setParity(QSerialPort::NoParity); |
| port->setFlowControl(QSerialPort::NoFlowControl); |
| port->setStopBits(QSerialPort::OneStop); |
| statusLabel->setText("Status: Connected"); |
| connectBtn->setText("Disconnect"); |
| refreshBtn->setEnabled(false); |
| portSelect->setEnabled(false); |
| connected = true; |
| } |
| } else { |
| port->close(); |
| statusLabel->setText("Status: Disconnected"); |
| connectBtn->setText("Connect"); |
| refreshBtn->setEnabled(true); |
| portSelect->setEnabled(true); |
| connected = false; |
| } |
| } |
| |
| void RobotControl::handleKeyPress(QKeyEvent *event) { |
| if (connected) { |
| if (!event->isAutoRepeat()) { |
| switch (event->key()) { |
| case Qt::Key_W: |
| case Qt::Key_Up: |
| moveForward = true; |
| break; |
| case Qt::Key_S: |
| case Qt::Key_Down: |
| moveBackward = true; |
| break; |
| case Qt::Key_A: |
| case Qt::Key_Left: |
| turnLeft = true; |
| break; |
| case Qt::Key_D: |
| case Qt::Key_Right: |
| turnRight = true; |
| break; |
| } |
| |
| processMove(); |
| } |
| } |
| } |
| |
| void RobotControl::handleKeyRelease(QKeyEvent *event) { |
| if (connected) { |
| if (!event->isAutoRepeat()) { |
| switch (event->key()) { |
| case Qt::Key_W: |
| case Qt::Key_Up: |
| moveForward = false; |
| break; |
| case Qt::Key_S: |
| case Qt::Key_Down: |
| moveBackward = false; |
| break; |
| case Qt::Key_A: |
| case Qt::Key_Left: |
| turnLeft = false; |
| break; |
| case Qt::Key_D: |
| case Qt::Key_Right: |
| turnRight = false; |
| break; |
| } |
| |
| processMove(); |
| } |
| } |
| } |
| |
| void RobotControl::processMove() { |
| char buffer[4]; |
| |
| // 0x01 = Reset |
| // 0x02 = Left Forward |
| // 0x03 = Left Backward |
| // 0x04 = Right Forward |
| // 0x05 = Right Backward |
| |
| char speed = speedBox->value(); |
| |
| if (connected) { |
| if (moveForward) { |
| if (turnLeft) { |
| buffer[0] = 0x02; |
| buffer[1] = 0x00; |
| buffer[2] = 0x04; |
| buffer[3] = speed; |
| } else if (turnRight) { |
| buffer[0] = 0x02; |
| buffer[1] = speed; |
| buffer[2] = 0x04; |
| buffer[3] = 0x00; |
| } else { |
| buffer[0] = 0x02; |
| buffer[1] = speed; |
| buffer[2] = 0x04; |
| buffer[3] = speed; |
| } |
| } else if (moveBackward) { |
| if (turnLeft) { |
| buffer[0] = 0x03; |
| buffer[1] = 0x00; |
| buffer[2] = 0x05; |
| buffer[3] = speed; |
| } else if (turnRight) { |
| buffer[0] = 0x03; |
| buffer[1] = speed; |
| buffer[2] = 0x05; |
| buffer[3] = 0x00; |
| } else { |
| buffer[0] = 0x03; |
| buffer[1] = speed; |
| buffer[2] = 0x05; |
| buffer[3] = speed; |
| } |
| } else if (turnLeft) { |
| buffer[0] = 0x03; |
| buffer[1] = speed; |
| buffer[2] = 0x04; |
| buffer[3] = speed; |
| } else if (turnRight) { |
| buffer[0] = 0x02; |
| buffer[1] = speed; |
| buffer[2] = 0x05; |
| buffer[3] = speed; |
| } else { |
| buffer[0] = 0x02; |
| buffer[1] = 0x00; |
| buffer[2] = 0x04; |
| buffer[3] = 0x00; |
| } |
| |
| port->write(buffer, 4); |
| port->flush(); |
| } |
| } |