robotcmdgui.java

来自「tinyos最新版」· Java 代码 · 共 1,051 行 · 第 1/3 页

        navPanel.add(navigateButtonPanel);

        navPanel.add(navigationPanel1);

        jTabbedPane1.addTab("Navigation", navPanel);

        figure8Panel.setLayout(new javax.swing.BoxLayout(figure8Panel, javax.swing.BoxLayout.Y_AXIS));

        figure8Panel.setToolTipText("Calibrate and use Figure8");
        fig8CtlPanel.setLayout(new javax.swing.BoxLayout(fig8CtlPanel, javax.swing.BoxLayout.X_AXIS));

        fig8CtlPanel.setBorder(new javax.swing.border.EmptyBorder(new java.awt.Insets(10, 10, 10, 10)));
        startFig8Button.setText("Start Figure8");
        startFig8Button.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                startFig8ButtonActionPerformed(evt);
            }
        });

        fig8CtlPanel.add(startFig8Button);

        stopFig8Button.setText("Stop Figure8");
        stopFig8Button.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                stopFig8ButtonActionPerformed(evt);
            }
        });

        fig8CtlPanel.add(stopFig8Button);

        figure8Panel.add(fig8CtlPanel);

        fig8CalibPanel.setLayout(new javax.swing.BoxLayout(fig8CalibPanel, javax.swing.BoxLayout.X_AXIS));

        fig8CalibPanel.setBorder(new javax.swing.border.EmptyBorder(new java.awt.Insets(10, 10, 10, 10)));
        fig8CalibButtonPanel.setLayout(new java.awt.GridLayout(5, 2, 10, 10));

        fig8CalibButtonPanel.setBorder(new javax.swing.border.EmptyBorder(new java.awt.Insets(10, 10, 10, 10)));
        fig8SpeedButton.setText("Speed");
        fig8SpeedButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                fig8SpeedButtonActionPerformed(evt);
            }
        });

        fig8CalibButtonPanel.add(fig8SpeedButton);

        fig8SpeedField.setText("80");
        fig8CalibButtonPanel.add(fig8SpeedField);

        fig8Turn1Button.setText("Right");
        fig8Turn1Button.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                fig8Turn1ButtonActionPerformed(evt);
            }
        });

        fig8CalibButtonPanel.add(fig8Turn1Button);

        fig8Turn1Field.setText("3");
        fig8CalibButtonPanel.add(fig8Turn1Field);

        fig8Turn2Button.setText("Straight1");
        fig8Turn2Button.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                fig8Turn2ButtonActionPerformed(evt);
            }
        });

        fig8CalibButtonPanel.add(fig8Turn2Button);

        fig8Turn2Field.setText("13");
        fig8CalibButtonPanel.add(fig8Turn2Field);

        fig8Turn3Button.setText("Left");
        fig8Turn3Button.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                fig8Turn3ButtonActionPerformed(evt);
            }
        });

        fig8CalibButtonPanel.add(fig8Turn3Button);

        fig8Turn3Field.setText("16");
        fig8CalibButtonPanel.add(fig8Turn3Field);

        fig8Turn4Button.setText("Straight2");
        fig8Turn4Button.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                fig8Turn4ButtonActionPerformed(evt);
            }
        });

        fig8CalibButtonPanel.add(fig8Turn4Button);

        fig8Turn4Field.setText("28");
        fig8CalibButtonPanel.add(fig8Turn4Field);

        fig8CalibPanel.add(fig8CalibButtonPanel);

        jLabel1.setIcon(new javax.swing.ImageIcon("D:\\Photos\\From My Pictures\\Figure8-2.gif"));
        fig8CalibPanel.add(jLabel1);

        figure8Panel.add(fig8CalibPanel);

        jTabbedPane1.addTab("Figure8", figure8Panel);

        servoPanel.setLayout(new javax.swing.BoxLayout(servoPanel, javax.swing.BoxLayout.Y_AXIS));

        servoPanel.setToolTipText("Calibrate the Mini-Z Servo");
        straightPanel.setLayout(new java.awt.GridLayout(2, 2, 20, 5));

        straightPanel.setBorder(new javax.swing.border.EmptyBorder(new java.awt.Insets(20, 20, 20, 20)));
        getStraightButton.setText("Get Straight");
        getStraightButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                getStraightButtonActionPerformed(evt);
            }
        });

        straightPanel.add(getStraightButton);

        straightPanel.add(getStraightLabel);

        setStraightButton.setText("Set Straight");
        setStraightButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                setStraightButtonActionPerformed(evt);
            }
        });

        straightPanel.add(setStraightButton);

        straightPanel.add(setStraightField);

        servoPanel.add(straightPanel);

        kPanel.setLayout(new java.awt.GridLayout(3, 2, 20, 5));

        kPanel.setBorder(new javax.swing.border.EmptyBorder(new java.awt.Insets(10, 10, 10, 10)));
        getConstantsButton.setText("Get Kp and Ki Constants");
        getConstantsButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                getConstantsButtonActionPerformed(evt);
            }
        });

        kPanel.add(getConstantsButton);

        kPanel.add(getConstantsField);

        setKpButton.setText("Set Kp");
        setKpButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                setKpButtonActionPerformed(evt);
            }
        });

        kPanel.add(setKpButton);

        kPanel.add(setKpField);

        setKiButton.setText("Set Ki");
        setKiButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                setKiButtonActionPerformed(evt);
            }
        });

        kPanel.add(setKiButton);

        kPanel.add(setKiField);

        servoPanel.add(kPanel);

        speed2Panel.setLayout(new javax.swing.BoxLayout(speed2Panel, javax.swing.BoxLayout.Y_AXIS));

        turn2Slider.setMinorTickSpacing(5);
        turn2Slider.setPaintLabels(true);
        turn2Slider.setPaintTicks(true);
        turn2Slider.setMajorTickSpacing(10);
        turn2Slider.setMaximum(60);
        turn2Slider.setValue(30);
        turn2Slider.addKeyListener(new java.awt.event.KeyAdapter() {
            public void keyReleased(java.awt.event.KeyEvent evt) {
                turn2SliderKeyReleased(evt);
            }
        });

        turn2Slider.addMouseListener(new java.awt.event.MouseAdapter() {
            public void mouseReleased(java.awt.event.MouseEvent evt) {
                turn2SliderMouseReleased(evt);
            }
        });

        jPanel1.add(turn2Slider);

        straight2Button.setText("STRAIGHT");
        straight2Button.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                straight2ButtonActionPerformed(evt);
            }
        });

        jPanel1.add(straight2Button);

        speed2Panel.add(jPanel1);

        forward50Button.setText("FORWARD (50)");
        forward50Button.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                forward50ButtonActionPerformed(evt);
            }
        });

        jPanel2.add(forward50Button);

        reverse60Button.setText("REVERSE (60)");
        reverse60Button.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                reverse60ButtonActionPerformed(evt);
            }
        });

        jPanel2.add(reverse60Button);

        off2Button.setText("OFF");
        off2Button.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                off2ButtonActionPerformed(evt);
            }
        });

        jPanel2.add(off2Button);

        speed2Panel.add(jPanel2);

        servoPanel.add(speed2Panel);

        jTabbedPane1.addTab("Servo Calibration", servoPanel);

        otherPanel.setLayout(new java.awt.BorderLayout());

        micaLEDButton.setText("Toggle MICA LED");
        micaLEDButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                micaLEDButtonActionPerformed(evt);
            }
        });

        ledPanel.add(micaLEDButton);

        motorLEDButton.setText("Toggle MotorBoard LED");
        motorLEDButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                motorLEDButtonActionPerformed(evt);
            }
        });

        ledPanel.add(motorLEDButton);

        otherPanel.add(ledPanel, java.awt.BorderLayout.CENTER);

        startMotorTestButton.setText("Start Motor Test");
        startMotorTestButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                startMotorTestButtonActionPerformed(evt);
            }
        });

        motorTestPanel.add(startMotorTestButton);

        stopMotorTestButton.setText("Stop Motor Test");
        stopMotorTestButton.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                stopMotorTestButtonActionPerformed(evt);
            }
        });

        motorTestPanel.add(stopMotorTestButton);

        otherPanel.add(motorTestPanel, java.awt.BorderLayout.NORTH);

        jTabbedPane1.addTab("Other", otherPanel);

        topPanel.add(jTabbedPane1);

        jScrollPane1.setBorder(new javax.swing.border.EmptyBorder(new java.awt.Insets(30, 10, 10, 10)));
        jScrollPane1.setVerticalScrollBarPolicy(javax.swing.JScrollPane.VERTICAL_SCROLLBAR_ALWAYS);
        jScrollPane1.setBackground((java.awt.Color) javax.swing.UIManager.getDefaults().get("ScrollPane.background"));
        jScrollPane1.setPreferredSize(new java.awt.Dimension(300, 0));
        jScrollPane1.setMinimumSize(new java.awt.Dimension(250, 0));
        jScrollPane1.setAutoscrolls(true);
        msgArea.setPreferredSize(null);
        msgArea.setMinimumSize(null);
        jScrollPane1.setViewportView(msgArea);

        topPanel.add(jScrollPane1);

        getContentPane().add(topPanel, java.awt.BorderLayout.CENTER);

        pack();
    }//GEN-END:initComponents

    private void turnSliderStateChanged(javax.swing.event.ChangeEvent evt) {//GEN-FIRST:event_turnSliderStateChanged
        // Add your handling code here:
    }//GEN-LAST:event_turnSliderStateChanged

    private void speedSliderStateChanged(javax.swing.event.ChangeEvent evt) {//GEN-FIRST:event_speedSliderStateChanged
        // Add your handling code here:
    }//GEN-LAST:event_speedSliderStateChanged

    private void getConstantsButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_getConstantsButtonActionPerformed
        // Add your handling code here:
        byte data[] = {};
        sendMsg(RC.GET_KP, data);
        try {
            Thread.sleep(200);
	} catch(InterruptedException e){
	  e.printStackTrace();
	}
        sendMsg(RC.GET_KI, data);
    }//GEN-LAST:event_getConstantsButtonActionPerformed

    private void getStraightButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_getStraightButtonActionPerformed
        // Add your handling code here:
        byte data[] = {};
        sendMsg(RC.GET_STRAIGHT, data);
    }//GEN-LAST:event_getStraightButtonActionPerformed

    private void motorLEDButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_motorLEDButtonActionPerformed
        // Add your handling code here:
        byte data[] = {};
        sendMsg(RC.LED_TOGGLE, data);
    }//GEN-LAST:event_motorLEDButtonActionPerformed

    private void micaLEDButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_micaLEDButtonActionPerformed
        // Add your handling code here:
        byte data[] = {};
        sendMsg(RC.MICA_LED_TOGGLE, data);
    }//GEN-LAST:event_micaLEDButtonActionPerformed

    private void stopMotorTestButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_stopMotorTestButtonActionPerformed
        // Add your handling code here:
        byte data[] = {};
        sendMsg(RC.MOTOR_TEST_STOP, data);
    }//GEN-LAST:event_stopMotorTestButtonActionPerformed

    private void startMotorTestButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_startMotorTestButtonActionPerformed
        // Add your handling code here: