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More deck-chair shuffling, as well as a failed attempt to use a stepper as a lift driver without limit switches (and noisy af, as well).
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87 changes: 87 additions & 0 deletions
87
armthing/src/main/kotlin/crackers/kobots/app/arm/LiftStatus.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,87 @@ | ||
| /* | ||
| * Copyright 2022-2024 by E. A. Graham, Jr. | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express | ||
| * or implied. See the License for the specific language governing | ||
| * permissions and limitations under the License. | ||
| */ | ||
|
|
||
| package crackers.kobots.app.arm | ||
|
|
||
| import com.diozero.devices.oled.MonochromeSsdOled | ||
| import com.diozero.devices.oled.SH1106 | ||
| import com.diozero.devices.oled.SSD1306 | ||
| import com.diozero.devices.oled.SsdOledCommunicationChannel | ||
| import crackers.kobots.app.multiplexor | ||
| import crackers.kobots.graphics.toRadians | ||
| import crackers.kobots.graphics.widgets.VerticalPercentageIndicator | ||
| import java.awt.Font | ||
| import java.awt.Graphics2D | ||
| import java.awt.geom.AffineTransform | ||
| import java.awt.image.BufferedImage | ||
|
|
||
| /** | ||
| * Displays the lift status (0-100 percent) on a rotated 132x32 display. | ||
| */ | ||
| object LiftStatus { | ||
| private val DISPLAY_HEIGHT = MonochromeSsdOled.Height.SHORT.lines | ||
|
|
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| private val screen: SSD1306 by lazy { | ||
| val i2CDevice = multiplexor.getI2CDevice(2, SH1106.DEFAULT_I2C_ADDRESS) | ||
| val channel = SsdOledCommunicationChannel.I2cCommunicationChannel(i2CDevice) | ||
| SSD1306(channel, MonochromeSsdOled.Height.SHORT).apply { setContrast(0f) } | ||
| } | ||
| private var ready = false | ||
| private var screenOn = false | ||
|
|
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| // set up the vertical thingie and then rotate it to display | ||
| val rotatedGraphics: Graphics2D | ||
| val rotatedImage = | ||
| BufferedImage(MonochromeSsdOled.DEFAULT_WIDTH, DISPLAY_HEIGHT, BufferedImage.TYPE_BYTE_BINARY).also { | ||
| rotatedGraphics = (it.graphics as Graphics2D).apply { | ||
| val theRotation = AffineTransform().apply { | ||
| rotate(-90.toRadians()) | ||
| translate(-DISPLAY_HEIGHT.toDouble(), 0.0) | ||
| } | ||
| transform(theRotation) | ||
| } | ||
| } | ||
| val vpd = VerticalPercentageIndicator( | ||
| rotatedGraphics, | ||
| Font(Font.SANS_SERIF, Font.BOLD, 10), | ||
| MonochromeSsdOled.DEFAULT_WIDTH, | ||
| label = "Lift" | ||
| ) | ||
|
|
||
| fun update(percent: Int) { | ||
| if (!ready) { | ||
| vpd.drawStatic() | ||
| ready = true | ||
| } | ||
| if (!screenOn) { | ||
| screen.setDisplayOn(true) | ||
| screenOn = true | ||
| } | ||
| vpd.updateValue(percent) | ||
| screen.display(rotatedImage) | ||
| } | ||
|
|
||
| fun sleep() { | ||
| screenOn = false | ||
| screen.setDisplayOn(false) | ||
| screen.clear() | ||
| } | ||
|
|
||
| fun close() { | ||
| sleep() | ||
| screen.close() | ||
| } | ||
| } |
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