barcode rendering framework c# example NEED INPUT! BUILDING A REMOTE CONTROL DEVICE in Font

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CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
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// control movements of the first mode (treads and arms) sub Mode_zero_actions(short Lcmd, short Rcmd, byte function) { if (Rcmd == STOP) Float(R_TREAD); if (Lcmd == STOP) Float(L_TREAD); if (Rcmd == Lcmd) { OnRevSync(TREADS,DecodeSpeed(Rcmd),0); } else { OnRev(R_TREAD,DecodeSpeed(Rcmd)); OnRev(L_TREAD,DecodeSpeed(Lcmd)); } if ( function == 1 ) { Remote(A_STEP_OPEN,ACK_DONE); } if ( function == 2 ) { Remote(A_STEP_CLOSE,ACK_DONE); } } // these variables contain the old received commmand // to avoid the machine-gun effect byte Rold, Lold, Fold; // this is a bi-stable state variable to toggle the laser bool laser_FF; // control movements of the second mode (head, torso, laser, and speech) sub Mode_one_actions(byte Lcmd, byte Rcmd, byte function) { // this macro (defined in J5Defs) clears a text line onscreen ClearLine(2); short R_action, L_action; // get the displacement direction of the joysticks R_action = DecodeDir(Rcmd); L_action = DecodeDir(Lcmd);
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CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
// // // // if {
activate one-shot movements, only if the actual Xaction value is different from before: this eliminates the machine-gun effect. To activate the same function again, you must release the trigger of the joystick. (R_action!=Rold) if (R_action>0) { TextOut(0,LCD_LINE2,"Head Left"); //R jstk fwd StepHead(RIGHT); } if (R_action<0) { TextOut(0,LCD_LINE2,"Head Right"); //R jstk rev StepHead(LEFT); }
} if (L_action!=Lold) { if (L_action>0) { TextOut(0,LCD_LINE2,"Raise Torso"); //L jstk fwd Remote(T_STEPUP,ACK_DONE); } if (L_action<0) { TextOut(0,LCD_LINE2,"Lower Torso"); //L jstk rev Remote(T_STEPDOWN,ACK_DONE); } } ClearLine(3); if ( function==1 && function!=Fold) { TextOut(0,LCD_LINE3,"Speech"); // Play a random phrase without waiting for completion Sound(S_RANDOM,false); } if ( function==2 && function!=Fold) { if ( laser_FF ) { TextOut(0,LCD_LINE3,"Laser disarmed"); Remote(L_OFF,ACK_DONE); Remote(L_UP,ACK_DONE); } else {
CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
TextOut(0,LCD_LINE3,"Laser armed Remote(L_DOWN,ACK_DONE); Remote(L_ON,ACK_DONE); } laser_FF = !laser_FF; } // update the old commands Fold = function; Rold = R_action; Lold = L_action; }
// this subroutine is called by JohnNXT master program sub J5_Remote_Control() { short Rcmd, Lcmd, function, mode; int command; head_state = UNKNOWN; Head(CENTER,1); laser_FF = false; bool exit = false; ClearScreen(); TextOut(10,LCD_LINE1,"JohnNXT R/C"); // repeat until the exit variable becomes true until (exit) { // if the Bluetooth buffer is not empty if (ReceiveRemoteNumber(1,true,command) != STAT_MSG_EMPTY_MAILBOX) { // decode command mode = (command/1000); Rcmd = (command/10)%10; Lcmd = (command/100)%10; function = (command%10); // move the robot according to the mode if (mode == MODE0) { ShowCommands(Lcmd,Rcmd,function); Mode_zero_actions(Lcmd,Rcmd,function); } if (mode == MODE1) { Mode_one_actions(Lcmd,Rcmd,function); } } Wait(50); // if the orange NXT button is pressed, exit is set to true, // and the next loop will be aborted
CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
if (ButtonPressed(BTNCENTER,true)) exit = true; } // wait for the orange button to be released while(ButtonPressed(BTNCENTER,true)); } [...] The receiver s main body is in the J5_Remote_Control() subroutine, which the JohnNXT master program calls using the JohnNXT menu (see 8). Here, the receiver loop does not run forever, but can be interrupted by pressing the NXT s orange button, so that you can exit the JohnNXT remote control mode and come back to its menu. You can implement this with an until loop, waiting for the exit Boolean variable to become true. The only way to make it true is to press the orange button: if(ButtonPressed(BTNCENTER,true)) exit = true; Here, you need slightly different code to extract the remote mode information from the received packet, which is formed by using a four-digit number: mode = (command/1000); Rcmd = (command/10)%10; Lcmd = (command/100)%10; function = (command%10); As previously explained, mode assumes the value of the thousands digit, Rcmd assumes the tens digit value, Lcmd the hundreds, and function the unit s value. Then, the Mode_zero_actions or Mode_one_actions function is called, according to the value of the mode variable. In the first mode, the joysticks control the treads, and the buttons make the arms step towards the open state (right trigger) or the closed state (left trigger). In the second mode, the right joystick drives the head, the left joystick drives the torso, the right trigger makes JohnNXT play a random sound, and the left trigger arms or disarms the laser. Remember that you can switch from one mode to another by pressing both triggers together. In the simple program, the old variable avoided the machine-gun effect of the auxiliary function; here three variables Rold, Lold, and Fold are used to activate the one-shot functions. The one-shot actions are performed only if the actual function value is different from the value it had before, stored in one of those variables. This is a particularly advanced receiver program, written to control all the JohnNXT features. In the following section, I ll show you a couple skeleton programs that you can use as you start to write your own custom remote sender/receiver programs.
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