Transferring Arduino Code & Commands To a Processing Interface???

tesan1

Transferring Arduino Code & Commands To a Processing Interface???

in Integration and Hardware • 6 months ago

Hello, I have a rather difficult question for whoever thinks they are up to it!

I have created a program in Processing to respond to particular mouse clicks. However, I would like to link my code from Arduino into it. In my Arduino code I am controlling a Stewart Platform, and two different steppers.

How can I transfer this Arduino code to Processing. Should I be using serial commands? How do I do this? Should I also use FIRMATA since I have a lot of pins being used? (This is all run on the MEGA)

Thanks!

ARDUINO CODE:

#include <Servo.h>
double x = 0;
double y = 0;
double z = 0;
double psi = 0; // yaw nothing more than .4 // z-axis
double theta = 0; //roll nothing more than .2 // y-axis
double phi = 0; //pitch nothing more than .2 // x-axis
double pi = 3.1415;
double M[3][3];
double rxp[3][6];
double L[3][6];
double T[3];
double H[3] = {0,0,115.79};
double Len[6];
int pulse[6];
Servo S[6];
int pins[6] = {3,5,6,9,10,11};
void setup()
{
Serial.begin(9600);
Serial.println("test");
for (int i = 0; i < 6; i++)
{
S[i].attach(pins[i]);
}
}
void loop()
{
getT();
getmatrix();
getrxp();
getL();
getLen();
getPulses();
runservos();
//Serial.println("==================");
//for (int i = 0; i < 3; i++)
//{
for (int j = 0; j < 6; j++)
{
//Serial.println(map(pulse[j],1000,2000,0,180));
}
//Serial.println();
//}
//Serial.println("==================");
delay(100);
}
double rad(double a)
{
return a*pi/180;
}
void getmatrix()
{
M[0][0] = cos(psi)*cos(theta);
M[0][1] = -sin(psi)*cos(phi)+cos(psi)*sin(theta)*sin(phi);
M[0][2] = sin(psi)*sin(phi)+cos(psi)*cos(phi)*sin(theta);
M[1][0] = sin(psi)*cos(theta);
M[1][1] = cos(psi)*cos(phi)+sin(psi)*sin(theta)*sin(phi);
M[1][2] = -cos(psi)*sin(phi)+sin(psi)*sin(theta)*cos(phi);
M[2][0] = -sin(theta);
M[2][1] = cos(theta)*sin(phi);
M[2][2] = cos(theta)*cos(phi);
}
void getrxp()
{
rxp[0][0] = M[0][0]*(27.28)+M[0][1]*(27.3)+M[0][2]*0;
rxp[1][0] = M[1][0]*(27.28)+M[1][1]*(27.3)+M[1][2]*0;
rxp[2][0] = M[2][0]*(27.28)+M[2][1]*(27.3)+M[2][2]*0;
rxp[0][1] = M[0][0]*(37.28)+M[0][1]*(9.98)+M[0][2]*0;
rxp[1][1] = M[1][0]*(37.28)+M[1][1]*(9.98)+M[1][2]*0;
rxp[2][1] = M[2][0]*(37.28)+M[2][1]*(9.98)+M[2][2]*0;
rxp[0][2] = M[0][0]*(10)+M[0][1]*(-37.27)+M[0][2]*0;
rxp[1][2] = M[1][0]*(10)+M[1][1]*(-37.27)+M[1][2]*0;
rxp[2][2] = M[2][0]*(10)+M[2][1]*(-37.27)+M[2][2]*0;
rxp[0][3] = M[0][0]*(-10)+M[0][1]*(-37.27)+M[0][2]*0;
rxp[1][3] = M[1][0]*(-10)+M[1][1]*(-37.27)+M[1][2]*0;
rxp[2][3] = M[2][0]*(-10)+M[2][1]*(-37.27)+M[2][2]*0;
rxp[0][4] = M[0][0]*(-37.28)+M[0][1]*(9.98)+M[0][2]*0;
rxp[1][4] = M[1][0]*(-37.28)+M[1][1]*(9.98)+M[1][2]*0;
rxp[2][4] = M[2][0]*(-37.28)+M[2][1]*(9.98)+M[2][2]*0;
rxp[0][5] = M[0][0]*(-27.28)+M[0][1]*(27.3)+M[0][2]*0;
rxp[1][5] = M[1][0]*(-27.28)+M[1][1]*(27.3)+M[1][2]*0;
rxp[2][5] = M[2][0]*(-27.28)+M[2][1]*(27.3)+M[2][2]*0;
}
void getT()
{
T[0] = x+H[0];
T[1] = y+H[1];
T[2] = z+H[2];
}
void getL()
{
L[0][0] = T[0]+rxp[0][0]-(51.29);
L[1][0] = T[1]+rxp[1][0]-(41.26);
L[2][0] = T[2]+rxp[2][0]-(0);
L[0][1] = T[0]+rxp[0][1]-(61.29);
L[1][1] = T[1]+rxp[1][1]-(23.84);
L[2][1] = T[2]+rxp[2][1]-(0);
L[0][2] = T[0]+rxp[0][2]-(10);
L[1][2] = T[1]+rxp[1][2]-(-65);
L[2][2] = T[2]+rxp[2][2]-(0);
L[0][3] = T[0]+rxp[0][3]-(-10);
L[1][3] = T[1]+rxp[1][3]-(-65);
L[2][3] = T[2]+rxp[2][3]-(0);
L[0][4] = T[0]+rxp[0][4]-(-61.29);
L[1][4] = T[1]+rxp[1][4]-(23.84);
L[2][4] = T[2]+rxp[2][4]-(0);
L[0][5] = T[0]+rxp[0][5]-(-51.29);
L[1][5] = T[1]+rxp[1][5]-(41.26);
L[2][5] = T[2]+rxp[2][5]-(0);
}
void getLen()
{
int initLen = 119; // must be 119
for (int i = 0; i < 6; i++)
{
Len[i] = sqrt(L[0][i]*L[0][i]+L[1][i]*L[1][i]+L[2][i]*L[2][i])-initLen;
}
}
void getPulses()
{
for (int i = 0; i < 6; i++)
{
pulse[i] = map(Len[i],0,30,1000,2000);
}
}
void runservos()
{
for (int i = 0; i < 6; i++)
{
S[i].write(map(pulse[i],1000,2000,45,180)); //MATH
//S[i].write(45); //HOME
}
}

Replies(2)

tesan1

Re: Transferring Arduino Code & Commands To a Processing Interface???

6 months ago

PROCESSING CODE: (Very long, sorry!)

// ************************Code for "THE ROBOGNATHIC" Dental Articulator Windows-based touch screen platform.****************************
PFont f; // Declaring an object.
Counter cntrPair1; // Declaring counter to be denoted as cntrPair1.
Counter cntrPair2; // Declaring counter to be denoted as cntrPair2.
Counter cntrPair3; // Declaring counter to be denoted as cntrPair3.
Counter cntrPair4; // Declaring counter to be denoted as cntrPair4.
Counter cntrPair5; // Declaring counter to be denoted as cntrPair5.
Counter cntrPair6; // Declaring counter to be denoted as cntrPair6.
Counter cntrPair7; // Declaring counter to be denoted as cntrPair7.
void setup(){
size (900,550); // Setting up tablet screen size.
background(150); // Setting the background to grey.
stroke(0); // Setting the outline to black.
f = createFont ("Arial",16,false); // Referencing the font name and function; Arial, 16 pt., anti-aliasing off.
cntrPair1=new Counter( 55, 380 ); // Function of Pitch & Location.
cntrPair2=new Counter( width - 260, height-30 ); // Function of Elevation & Location.
cntrPair3=new Counter( 250, height-300 ); // Function of Yaw & Location.
cntrPair4=new Counter( 200, height-25 ); // Function of Forward/Reverse & Location..
cntrPair5=new Counter( width - 400, 251 ); // Function of Roll & Location.
cntrPair6=new Counter( width - 208, 251 ); // Function of X-Translation.
cntrPair7=new Counter(width - 450, 525); // Function of Potentiometer Speed.
}
void draw(){
background (0); // Black background.
// *Seperating Lines*
line(150,550,150,280); // Parallel Robot Y-Axis Line.
line(150,280,900,280); // Parallel Robot X-Axis Line.
line(450,470,450,280); // Forward/Reverse & Elevation Divider Line.
line(740,550,740,280); // Elevation Divider Line.
line(0,400,150,400); // Robot ZERO Divider Line.
line(770,0,770,280); // Robot HOME Divider Line.
line(740,415,900,415); // ZERO ALL DEVICES / HOME ALL DEVICES Divider Line.
line(250,60,650,60); // THE ROBOGNATHIC Underline.
line(350,470,550,470); // Speed Line TOP.
line(350,470,350,550); // Speed Line Left Side
line(550,470,550,550); // Speed Line Right Side.
//*******************************BUTTONS************************************
// *ROBOT ZERO Button*
fill(0,0,255); // Sets the blue button color.
rectMode(CORNERS); // Initiates rectangle mode.
rect(30,450,110,530); // States corner locations of rectangle.
// *POWER Button*
fill(220,0,0); // Sets the red button color.
rectMode(CORNERS); // Initiates rectangle mode.
rect(675,0,770,50); // States corner locations of rectangle.
// *Linear X-Slide ZERO Button*
fill(0,0,254); // Sets the blue button color.
rectMode(CORNERS); // Initiates rectangle mode.
rect(320,335,420,370); // States corner locations of rectangle.
// *Stepper Motor ZERO Button*
fill(0,0,253); // Sets the blue button color.
rectMode(CORNERS); // Initiates rectangle mode.
rect(620,335,720,370); // States corner locations of rectangle.
// *ZERO ALL DEVICES Button*
fill(0,0,252); // Sets the blue button color.
rectMode(CORNERS); // Initiates rectangle mode.
rect(760,300,880,400); // States corner locations of rectangle.
// *Linear X-Slide HOME Button*
fill(230,252,0); // Sets the yellow button color.
rectMode(CORNERS); // Initiates rectangle mode.
rect(190,335,280,370); // States corner locations of rectangle.
// *Stepper Motor HOME Button*
fill(230,253,0); // Sets the yellow button color.
rectMode(CORNERS); // Initiates rectangle mode.
rect(480,335,580,370); // States corner locations of rectangle.
// *ROBOT HOME Button*
fill(230,254,0); // Sets the yellow button color.
rectMode(CORNERS); // Initiates rectangle mode.
rect(795,100,875,180); // States corner locations of rectangle.
// *HOME ALL DEVICES Button*
fill(230,255,0); // Sets the yellow button color.
rectMode(CORNERS); // Initiates rectangle mode.
rect(760,430,880,530); // States corner locations of rectangle.
// *RETRACT Button*
fill(250,0,0); // Sets the yellow button color.
rectMode(CORNERS); // Initiates rectangle mode.
rect(795,240,875,270); // States corner locations of rectangle.
// *EXTEND Button*
fill(0,250,0); // Sets the yellow button color.
rectMode(CORNERS); // Initiates rectangle mode.
rect(795,200,875,230); // States corner locations of rectangle.
// *SPEED INCREASE Button*
fill(0,248,0); // Sets the GREEN button color.
rectMode(CORNERS); // Initiates rectangle mode.
rect(480,500,540,540); // States corner locations of rectangle.
// *SPEED DECREASE Button*
fill(248,0,0); // Sets the RED button color.
rectMode(CORNERS); // Initiates rectangle mode.
rect(360,500,420,540); // States corner locations of rectangle.
cntrPair7.display();
//************************ARROWS*************************
// *PITCH plus/minus arrows*
fill(0,255,0); // Setting the interior of the arrow to green.
beginShape(); // Shape of arrow begin.
vertex(30,150); // Point #1
vertex(20,150); // Point #2
vertex(55,110); // Point #3
vertex(90,150); // Point #4
vertex(80,150); // Point #5
vertex(80,190); // Point #6
vertex(30,190); // Point #7
vertex(30,150); // Point #1
endShape(); // Shape of arrow end.
line(10,220,100,220); // Arrow divider line.
fill(255,0,0); // Setting the interior of the arrow to red.
pushMatrix(); // Used for calling up translate and rotate.
translate(65,290); // Amount of space translatted up/down.
translate(75,150); // Centre of previous arrow.
rotate(PI); // Rotate arrow 180 degrees.
beginShape(); // Shape of arrow begin.
vertex(60,150); // Point #1
vertex(50,150); // Point #2
vertex(85,110); // Point #3
vertex(120,150); // Point #4
vertex(110,150); // Point #5
vertex(110,190); // Point #6
vertex(60,190); // Point #7
vertex(60,150); // Point #1
endShape(); // Shape of arrow end.
popMatrix(); // Used for closing the translate/rotate command.
cntrPair1.display(); // Displays the counter.
// *ELEVATION plus/minus arrows*
fill(254,0,0); // Setting the interior of the arrow to red.
pushMatrix(); // Used for calling up translate and rotate.
translate(780,590); // Amount of space translatted up/down.
rotate(PI); // Rotate arrow 180 degrees.
beginShape(); // Shape of arrow begin.
vertex(60,150); // Point #1
vertex(50,150); // Point #2
vertex(85,110); // Point #3
vertex(120,150); // Point #4
vertex(110,150); // Point #5
vertex(110,190); // Point #6
vertex(60,190); // Point #7
vertex(60,150); // Point #1
endShape(); // Shape of arrow end.
popMatrix(); // Used for closing the translate/rotate command.
line(640,395,640,485); // Arrow divider line.
fill(0,254,0); // Setting the interior of the arrow to green.
pushMatrix(); // Used for calling up translate and rotate.
translate(500,290); // Amount of space translatted up/down.
beginShape(); // Shape of arrow begin.
vertex(60,150); // Point #1
vertex(50,150); // Point #2
vertex(85,110); // Point #3
vertex(120,150); // Point #4
vertex(110,150); // Point #5
vertex(110,190); // Point #6
vertex(60,190); // Point #7
vertex(60,150); // Point #1
endShape(); // Shape of arrow end.
popMatrix(); // Used for closing the translate/rotate command.
cntrPair2.display(); // Displays the counter.
// *YAW plus/minus arrows*
fill(253,0,0); // Setting the interior of the arrow to green.
pushMatrix(); // Used for calling up translate and rotate.
translate(30,245); // Amount of space translatted up/down.
rotate(3*PI/2); // Rotate 270 degrees.
beginShape(); // Shape of arrow begin.
vertex(60,150); // Point #1
vertex(50,150); // Point #2
vertex(85,110); // Point #3
vertex(120,150); // Point #4
vertex(110,150); // Point #5
vertex(110,190); // Point #6
vertex(60,190); // Point #7
vertex(60,150); // Point #1
endShape(); // Shape of arrow end.
popMatrix();
line(250,120,250,210); // Arrow divider line.
fill(0,253,0); // Setting the interior of the arrow to red.
pushMatrix(); // Used for calling up translate and rotate.
translate(470,75); // Amount of space translatted up/down.
rotate(PI/2); // Rotate arrow 180 degrees.
beginShape(); // Shape of arrow begin.
vertex(60,150); // Point #1
vertex(50,150); // Point #2
vertex(85,110); // Point #3
vertex(120,150); // Point #4
vertex(110,150); // Point #5
vertex(110,190); // Point #6
vertex(60,190); // Point #7
vertex(60,150); // Point #1
endShape(); // Shape of arrow end.
popMatrix(); // Used for closing the translate/rotate command.
cntrPair3.display(); // Displays the counter.
// *FORWARD/REVERSE plus/minus arrows*
fill(252,0,0); // Setting the interior of the arrow to green.
pushMatrix(); // Used for calling up translate and rotate.
translate(45,520); // Amount of space translated up/down.
rotate(3*PI/2); // Rotate 270 degrees.
beginShape(); // Shape of arrow begin.
vertex(60,150); // Point #1
vertex(50,150); // Point #2
vertex(85,110); // Point #3
vertex(120,150); // Point #4
vertex(110,150); // Point #5
vertex(110,190); // Point #6
vertex(60,190); // Point #7
vertex(60,150); // Point #1
endShape(); // Shape of arrow end.
popMatrix(); // Used for closing the translate/rotate command.
line(265,390,265,490); // Arrow divider line.
fill(0,252,0); // Setting the interior of the arrow to red.
pushMatrix(); // Used for calling up translate and rotate.
translate(485,350); // Amount of space translatted up/down.
rotate(PI/2); // Rotate arrow 180 degrees.
beginShape(); // Shape of arrow begin.
vertex(60,150); // Point #1
vertex(50,150); // Point #2
vertex(85,110); // Point #3
vertex(120,150); // Point #4
vertex(110,150); // Point #5
vertex(110,190); // Point #6
vertex(60,190); // Point #7
vertex(60,150); // Point #1
endShape(); // Shape of arrow end.
popMatrix(); // Used for closing the translate/rotate command.
cntrPair4.display(); // Displays the counter.
// *ROLL plus/minus arrows*
fill(251,0,0); // Setting the interior of the arrow to RED.
pushMatrix(); // Used for calling up translate and rotate.
//translate(500,15); // Amount of space translated up/down.
translate(520,315); // Amount of space translatted up/down.
rotate(PI); // Rotate arrow 180 degrees.
beginShape(); // Shape of arrow begin.
vertex(60,150); // Point #1
vertex(50,150); // Point #2
vertex(85,110); // Point #3
vertex(120,150); // Point #4
vertex(110,150); // Point #5
vertex(110,190); // Point #6
vertex(60,190); // Point #7
vertex(60,150); // Point #1
endShape(); // Shape of arrow end.
popMatrix(); // Used for closing the translate/rotate command.
line(500,120,500,210); // Arrow divider line.
fill(0,251,0); // Setting the interior of the arrow to GREEN.
pushMatrix(); // Used for calling up translate and rotate.
translate(480,15); // Amount of space translated up/down.

tesan1

Re: Transferring Arduino Code & Commands To a Processing Interface???

6 months ago

PROCESSING PART 2

beginShape(); // Shape of arrow begin.
vertex(60,150); // Point #1
vertex(50,150); // Point #2
vertex(85,110); // Point #3
vertex(120,150); // Point #4
vertex(110,150); // Point #5
vertex(110,190); // Point #6
vertex(60,190); // Point #7
vertex(60,150); // Point #1
endShape(); // Shape of arrow end.
popMatrix(); // Used for closing the translate/rotate command.
cntrPair5.display(); // Displays the counter.
// *X-TRANSLATION plus/minus arrows*
fill(249,0,0); // Setting the interior of the arrow to RED.
pushMatrix(); // Used for calling up translate and rotate.
beginShape(); // Shape of arrow begin.
vertex(630,160); // Point #1
vertex(650,140); // Point #2
vertex(650,150); // Point #3
vertex(670,150); // Point #4
vertex(670,170); // Point #5
vertex(650,170); // Point #6
vertex(650,180); // Point #7
vertex(630,160); // Point #1
endShape(); // Shape of arrow end.
popMatrix();
line(690,120,690,210); // Arrow divider line.
fill(0,249,0); // Setting the interior of the arrow to GREEN.
pushMatrix(); // Used for calling up translate and rotate.
translate(-10,50); // Amount of space translated up/down.
beginShape(); // Shape of arrow begin.
vertex(720,100); // Point #1
vertex(740,100); // Point #2
vertex(740,90); // Point #3
vertex(760,110); // Point #4
vertex(740,130); // Point #5
vertex(740,120); // Point #6
vertex(720,120); // Point #7
vertex(720,100); // Point #1
endShape(); // Shape of arrow end.
popMatrix(); // Used for closing the translate/rotate command.
cntrPair6.display(); // Displays the counter.
// ************************Text Identifiers*********************************
// *Title TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,36); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("THE ROBOGNATHIC",width/2,50); // Displays text using 3 arguments; the text, x and y location.
// *Pitch TEXT*
textAlign(CENTER);
textFont(f,25); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("PITCH",55,80); // Displays text using 3 arguments; the text, x and y location.
// *Pitch DEG TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,25); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("DEG",110,380); // Displays text using 3 arguments; the text, x and y location.
// *POWER Button TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,20); // Uses text variable and size to specify font being used.
fill(0); // Specifies color of letters.
text("POWER",720,35); // Displays text using 3 arguments; the text, x and y location.
// *ROBOT ZERO Position Title TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,20); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("ROBOT ZERO",75,425); // Displays text using 3 arguments; the text, x and y location.
// *ROBOT ZERO Button TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,22); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("ZERO",70,500); // Displays text using 3 arguments; the text, x and y location.
// *ROBOT HOME Position Title TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,22); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("ROBOT",835,50); // Displays text using 3 arguments; the text, x and y location.
text("HOME",835,80); // Displays text using 3 arguments; the text, x and y location.
// *ROBOT HOME Button TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,22); // Uses text variable and size to specify font being used.
fill(0); // Specifies color of letters.
text("HOME",835,145); // Displays text using 3 arguments; the text, x and y location.
// *Yaw TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,25); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("YAW",255,110); // Displays text using 3 arguments; the text, x and y location.
// *Yaw DEG TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,25); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("DEG",320,250); // Displays text using 3 arguments; the text, x and y location.
// *Roll TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,25); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("ROLL",500,110); // Displays text using 3 arguments; the text, x and y location.
// *Roll DEG TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,25); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("DEG",570,250); // Displays text using 3 arguments; the text, x and y location.
// *Linear X-Slide ZERO Button TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,22); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("ZERO",370,360); // Displays text using 3 arguments; the text, x and y location.
// *Linear X-Slide HOME Button TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,22); // Uses text variable and size to specify font being used.
fill(0); // Specifies color of letters.
text("HOME",235,360); // Displays text using 3 arguments; the text, x and y location.
// *Forward/Reverse TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,25); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("FORWARD/REVERSE",310,310); // Displays text using 3 arguments; the text, x and y location.
// *FORWARD/REVERSE MM TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,25); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("MM",260,525); // Displays text using 3 arguments; the text, x and y location.
// *Stepper Motor ZERO Button TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,22); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("ZERO",670,360); // Displays text using 3 arguments; the text, x and y location.
// *Stepper Motor HOME Button TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,22); // Uses text variable and size to specify font being used.
fill(0); // Specifies color of letters.
text("HOME",530,360); // Displays text using 3 arguments; the text, x and y location.
// *Elevation TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,25); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("ELEVATION",600,310); // Displays text using 3 arguments; the text, x and y location.
// *Elevation MM TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,25); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("MM",700,520); // Displays text using 3 arguments; the text, x and y location.
// *ZERO ALL DEVICES Button TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,25); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("ZERO",820,330); // Displays text using 3 arguments; the text, x and y location.
text("ALL",820,360); // Displays text using 3 arguments; the text, x and y location.
text("DEVICES",820,390); // Displays text using 3 arguments; the text, x and y location.
// *HOME ALL DEVICES Button TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,25); // Uses text variable and size to specify font being used.
fill(0); // Specifies color of letters.
text("HOME",820,460); // Displays text using 3 arguments; the text, x and y location.
text("ALL",820,490); // Displays text using 3 arguments; the text, x and y location.
text("DEVICES",820,520); // Displays text using 3 arguments; the text, x and y location.
// *EXTEND Button TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,20); // Uses text variable and size to specify font being used.
fill(0); // Specifies color of letters.
text("EXTEND",835,225); // Displays text using 3 arguments; the text, x and y location.
// *RETRACT Button TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,17); // Uses text variable and size to specify font being used.
fill(0); // Specifies color of letters.
text("RETRACT",835,262); // Displays text using 3 arguments; the text, x and y location.
// *X-TRANSLATION Button TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,18); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("X-TRANSLATION",690,110); // Displays text using 3 arguments; the text, x and y location.
// *X-TRANSLATION MM TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,25); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("MM",740,250); // Displays text using 3 arguments; the text, x and y location.
// *POTENTIOMETER SPEED TEXT*
textAlign(CENTER); // Centres the text in the middle of the screen.
textFont(f,25); // Uses text variable and size to specify font being used.
fill(255); // Specifies color of letters.
text("SPEED",450,495); // Displays text using 3 arguments; the text, x and y location.
}
void mousePressed() {
//***PITCH***
// If mouse click occurs over PITCH.
println (get(mouseX, mouseY) ); // Print line the location of the mouse on-screen.
if (get(mouseX, mouseY) == color (255, 0, 0) ) { // If it is within a color range of red.
println("red"); // Print line red.
cntrPair1.value--; // Then decrement number on-screen by one.
delay(150); // Delay of 200 milliseconds between allowable clicks.
}
else if (get(mouseX, mouseY) == color (0, 255, 0) ) { // Else if it is within a color range of green.
println("green"); // Print line green.
cntrPair1.value++; // Then increment number on-screen by one.
delay(150); // Delay of 200 milliseconds between allowable clicks.
}
//***ELEVATION***
// If mouse click occurs over ELEVATION.
println (get(mouseX, mouseY) ); // Print line the location of the mouse on-screen.
if (get(mouseX, mouseY) == color (254, 0, 0) ) { // If it is within a color range of red.
println("red"); // Print line red.
cntrPair2.value--; // Then decrement number on-screen by one.
delay(150); // Delay of 200 milliseconds between allowable clicks.
}
else if (get(mouseX, mouseY) == color (0, 254, 0) ) { // Else if it is within a color range of green.
println("green"); // Print line green.
cntrPair2.value++; // Then increment number on-screen by one.
delay(150); // Delay of 200 milliseconds between allowable clicks.
}
//***YAW***
// If mouse click occurs over YAW.
println (get(mouseX, mouseY) ); // Print line the location of the mouse on-screen.
if (get(mouseX, mouseY) == color (253, 0, 0) ) { // If it is within a color range of red.
println("red"); // Print line red.
cntrPair3.value--; // Then decrement number on-screen by one.
delay(150); // Delay of 200 milliseconds between allowable clicks.
}
else if (get(mouseX, mouseY) == color (0, 253, 0) ) { // Else if it is within a color range of green.
println("green"); // Print line green.
cntrPair3.value++; // Then increment number on-screen by one.
delay(150); // Delay of 200 milliseconds between allowable clicks.
}
//***FORWARD/REVERSE***
// If mouse click occurs over FORWARD/REVERSE.
println (get(mouseX, mouseY) ); // Print line the location of the mouse on-screen.
if (get(mouseX, mouseY) == color (252, 0, 0) ) { // If it is within a color range of red.
println("red"); // Print line red.
cntrPair4.value--; // Then decrement number on-screen by one.
delay(150); // Delay of 200 milliseconds between allowable clicks.
}
else if (get(mouseX, mouseY) == color (0, 252, 0) ) { // Else if it is within a color range of green.
println("green"); // Print line green.
cntrPair4.value++; // Then increment number on-screen by one.
delay(150); // Delay of 200 milliseconds between allowable clicks.
}
//***ROLL***
// If mouse click occurs over ROLL.
println (get(mouseX, mouseY) ); // Print line the location of the mouse on-screen.
if (get(mouseX, mouseY) == color (251, 0, 0) ) { // If it is within a color range of red.
println("red"); // Print line red.
cntrPair5.value--; // Then decrement number on-screen by one.
delay(150); // Delay of 200 milliseconds between allowable clicks.
}
else if (get(mouseX, mouseY) == color (0, 251, 0) ) { // Else if it is within a color range of green.
println("green"); // Print line green.
cntrPair5.value++; // Then increment number on-screen by one.
delay(150); // Delay of 200 milliseconds between allowable clicks.
}
//***X-TRANSLATION***
// If mouse click occurs over TRANSLATION.
println (get(mouseX, mouseY) ); // Print line the location of the mouse on-screen.
if (get(mouseX, mouseY) == color (249, 0, 0) ) { // If it is within a color range of red.
println("red"); // Print line red.
cntrPair6.value--; // Then decrement number on-screen by one.
delay(150); // Delay of 200 milliseconds between allowable clicks.
}
else if (get(mouseX, mouseY) == color (0, 249, 0) ) { // Else if it is within a color range of green.
println("green"); // Print line green.
cntrPair6.value++; // Then increment number on-screen by one.
delay(150); // Delay of 200 milliseconds between allowable clicks.
}
//***POTENTIOMETER SPEED***
// If mouse click occurs over POTENTIOMETER SPEED.
println (get(mouseX, mouseY) ); // Print line the location of the mouse on-screen.
if (get(mouseX, mouseY) == color (248, 0, 0) ) { // If it is within a color range of red.
println("red"); // Print line red.
cntrPair7.value = cntrPair7.value + -50; // Then decrement number on-screen by one.
delay(1); // Delay of 10 milliseconds between allowable clicks.
}
else if (get(mouseX, mouseY) == color (0, 248, 0) ) { // Else if it is within a color range of green.
println("green"); // Print line green.
cntrPair7.value = cntrPair7.value + 50; // Then increment number on-screen by one.
delay(1); // Delay of 10 milliseconds between allowable clicks.
}
//***ZERO Buttons***
// If mouse click occurs over Robot HOME Button.
println (get(mouseX, mouseY) ); // Print line the location of the mouse on-screen.
if (get(mouseX, mouseY) == color (0, 0, 255) ) { // If it is within a color range of red.
println("ROBOT ZERO"); // Print line ROBOT ZERO.
cntrPair5.value = 0; // Then zero ROLL Counter.
cntrPair1.value = 0; // Then zero PITCH Counter.
cntrPair3.value = 0; // Then zero YAW Counter.
cntrPair6.value = 0; // Then zero X-TRANSLATION Counter.
delay(200); // Delay of 200 milliseconds between allowable clicks.
}
else if (get(mouseX, mouseY) == color (0, 0, 254) ) { // Else if it is within a color range of 254 Blue.
println("FORWARD REVERSE ZERO"); // Print line FORWARD REVERSE ZERO.
cntrPair4.value = 0; // Then zero FORWARD/REVERSE Counter.
delay(200); // Delay of 200 milliseconds between allowable clicks.
}
else if (get(mouseX, mouseY) == color (0, 0, 253) ) { // Else if it is within a color range of 253 Blue.
println("ELEVATION ZERO"); // Print line ELEVATION ZERO.
cntrPair2.value = 0; // Then zero ELEVATION Counter.
delay(200); // Delay of 200 milliseconds between allowable clicks.
}
else if (get(mouseX, mouseY) == color (0, 0, 252) ) { // Else if it is within a color range of 252 Blue.
println("ZERO ALL DEVICES"); // Print line ZERO ALL DEVICES.
cntrPair1.value = 0; // Then zero PITCH Counter.
cntrPair2.value = 0; // Then zero ELEVATION Counter.
cntrPair3.value = 0; // Then zero YAW Counter.
cntrPair4.value = 0; // Then zero FORWARD/REVERSE Counter.
cntrPair5.value = 0; // Then zero ROLL Counter.
cntrPair6.value = 0; // Then zero X-TRANSLATION Counter.
delay(200);
}
}
class Counter {
float x = 0;
float y = 0;
int value=0;
Counter( float x_, float y_) {
x=x_;
y=y_;
}
void display() {
stroke(255); // Creates outline on arrows.
textAlign(CENTER); // Aligns text centred in x-axis.
textSize(20); // Alters size of numbers.
fill(255); // Alters color of numbers displayed.
text (""+begin(value),x,y); // Moves location of number on-screen.
}
String begin(int a) { // Method & Class
String Buffer;
Buffer=nf(a, 1);
return(Buffer);
}
}

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