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Merge pull request #210 from PhilipRosedale/master

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Added invensense gyro level indicators
This commit is contained in:
birarda 2013-05-06 17:47:38 -07:00
commit 133e95f116
1 changed files with 53 additions and 17 deletions
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40
interface/src/SerialInterface.cpp
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@ -150,8 +150,11 @@ void SerialInterface::renderLevels(int width, int height) {
int i;
int disp_x = 10;
const int GAP = 16;
char val[10];
for(i = 0; i < NUM_CHANNELS; i++) {
char val[40];
if (!USING_INVENSENSE_MPU9150) {
for(i = 0; i < NUM_CHANNELS; i++)
{
// Actual value
glLineWidth(2.0);
glColor4f(1, 1, 1, 1);
@ -174,6 +177,39 @@ void SerialInterface::renderLevels(int width, int height) {
disp_x += GAP;
}
} else {
const int LEVEL_CORNER_X = 10;
const int LEVEL_CORNER_Y = 200;
// Draw the text values
sprintf(val, "Yaw %d", _lastYaw);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y, 0.10, 0, 1.0, 1, val, 0, 1, 0);
sprintf(val, "Pitch %d", _lastPitch);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 15, 0.10, 0, 1.0, 1, val, 0, 1, 0);
sprintf(val, "Roll %d", _lastRoll);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 30, 0.10, 0, 1.0, 1, val, 0, 1, 0);
// Draw the levels as horizontal lines
const int LEVEL_CENTER = 150;
glLineWidth(2.0);
glColor4f(1, 1, 1, 1);
glBegin(GL_LINES);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 3);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastYaw, LEVEL_CORNER_Y - 3);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 12);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastPitch, LEVEL_CORNER_Y + 12);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 27);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastRoll, LEVEL_CORNER_Y + 27);
glEnd();
// Draw green vertical centerline
glColor4f(0, 1, 0, 0.5);
glBegin(GL_LINES);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 6);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 30);
glEnd();
}
// Display Serial latency block
if (LED) {
glColor3f(1,0,0);