Merge pull request #45 from seth10/dev

Touchscreen revert and various minor improvements

CONTRIBUTING.md

@@ -22,11 +22,51 @@ This document will introduce you to the repository's structure and how the PiSto
 - A remote control is available, which is particularly useful on a mobile device. There is a joystick to move your robot (using motors B and C). There are also sliders to set the LED colors.
 - Log files are also accessible from the web interface
 
+
+## Coordinate systems
+
+| ​ | ​ | ​ |
+| --- | :---: | --- |
+| x=320 <br> y=0 |  | x=0 <br> y=0 |
+| | TS <br> (readings from touchscreen X/Y registers) | |
+| x=320 <br> y=240 |  | x=0 <br> y=240 |
+
+| ​ | ​ | ​ |
+| --- | :---: | --- |
+| x=0 <br> y=320 |  | x=0 <br> y=0 |
+| | Screen <br> (drawing to TFT) | |
+| x=240 <br> y=320 |  | x=240 <br> y=0 |
+
+| ​ | ​ | ​ |
+| --- | :---: | --- |
+| x=0 <br> y=0 |  | x=320 <br> y=0 |
+| | Rotation 3 <br> (right-side-up) | |
+| x=0 <br> y=240 |  | x=320 <br> y=240 |
+
+| ​ | ​ | ​ |
+| --- | :---: | --- |
+| x=320 <br> y=240 |  | x=0 <br> y=240 |
+| | Rotation 1 <br> (up-side-down) | |
+| x=320 <br> y=0 |  | x=0 <br> y=0 |
+
+| ​ | ​ | ​ |
+| --- | :---: | --- |
+| x=0 <br> y=320 |  | x=0 <br> y=0 |
+| | Rotation 0 <br> (Bank A up) | |
+| x=240 <br> y=320 |  | x=240 <br> y=0 |
+
+| ​ | ​ | ​ |
+| --- | :---: | --- |
+| x=240 <br> y=0 |  | x=240 <br> y=320 |
+| | Rotation 2 <br> (Bank B up) | |
+| x=0 <br> y=0 |  | x=0 <br> y=320 |
+
+
 ## Repository files
 
 ### setup
 #### Suggestions
-- When developing, hard link the source files from `/home/pi/PiStorms/...` to their destinations from `setup.sh` ([script](https://gist.github.com/seth10/e41a091ef56d0044474e82f3541755e4))
+- When developing, hard link the source files from `/home/pi/PiStorms/...` to their destinations from `setup.sh`. You can wget this [script](https://gist.githubusercontent.com/seth10/e41a091ef56d0044474e82f3541755e4/raw/PiStorms_Development.sh) to `/home/pi/PiStorms/.git/hooks/post-checkout`.
 ```bash
 b=`grep homefolder /usr/local/mindsensors/conf/msdev.cfg | cut -d"=" -f2 | cut -c 2-`
 for f in 'MSDriver.py' 'MSBrowser.py' 'psm_shutdown' 'swarmserver' 'pistorms-diag.sh'; do sudo ln -f $b/sys/$f /usr/local/bin/$f; done

programs/00-About_Me.py

@@ -76,7 +76,7 @@ def get_ip_address(ifname):
     except:
         psm.screen.termPrintAt(7," wlan0 :     not present")
 
-    if( psm.isKeyPressed() == True or psm.screen.checkButton(0,0,320,320)):
+    if( psm.isKeyPressed() == True or psm.screen.isTouched()):
         psm.screen.termPrintln("")
         psm.screen.termPrintln("Exiting to menu")
         exit = True

programs/30-DataVisualization/02-Polar.py

@@ -0,0 +1,66 @@
+#!/usr/bin/env python
+#
+# Copyright (c) 2017 mindsensors.com
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License version 2 as
+# published by the Free Software Foundation.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.    See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+#
+#mindsensors.com invests time and resources providing this open source code,
+#please support mindsensors.com  by purchasing products from mindsensors.com!
+#Learn more product option visit us @  http://www.mindsensors.com/
+#
+# History:
+# Date      Author          Comments
+# 06/15/17  Seth Tenembaum  Initial development
+#
+
+# This program demonstrates using a polar graph
+# to show the AbsoluteIMU's compass heading.
+
+from PiStorms import PiStorms
+psm = PiStorms()
+psm.screen.termPrintln("Please wait a moment")
+psm.screen.termPrintln("as matplotlib loads...")
+psm.screen.termPrintln("")
+psm.screen.termPrintln("Press and hold GO briefly")
+psm.screen.termPrintln("to stop the program running.")
+
+import matplotlib
+matplotlib.use("AGG")
+import matplotlib.pyplot as plt
+import numpy as np
+import tempfile
+from mindsensors import ABSIMU
+
+plt.figure(figsize=(4,3), dpi=80)
+plt.title('AbsoluteIMU Compass Heading')
+
+data = np.empty(0)
+sub = plt.subplot(projection='polar')
+sub.set_theta_direction(-1)
+sub.set_rticks([]) # hide ticks
+tau = 2*np.pi
+
+imu = ABSIMU()
+psm.BAS1.activateCustomSensorI2C()
+image = tempfile.NamedTemporaryFile()
+
+while not psm.isKeyPressed():
+    h = imu.get_heading()
+    data = np.append(data, \
+            np.interp(h, [0,360], [0,tau]))
+    r = np.arange(len(data))
+    plt.plot(data, r, color="blue")
+    plt.savefig(image.name, format="png")
+    psm.screen.fillBmp(0,0, 320,240, image.name)
+

programs/45-Utils/05-BatteryVolt.py

@@ -53,7 +53,7 @@
         psm.led(1,255,0,0)
         psm.led(2,255,0,0)
         lastled = 3
-    if(psm.screen.checkButton(0,0,320,320)):
+    if(psm.screen.isTouched()):
         psm.screen.termPrintln("")
         psm.screen.termPrintln("Exiting to menu")
         psm.led(1,0,0,0)

programs/50-CameraDemos/00-TakeSelfie.py

@@ -53,7 +53,7 @@
 		time.sleep(1)
 		psm.screen.termPrintAt(9, "Touch the screen to exit")
 
-	if (psm.screen.checkButton(0,0,320,320)):
+	if (psm.screen.isTouched()):
 			psm.screen.clearScreen()
 			psm.screen.termPrintAt(9,"Exiting to menu")
 			time.sleep(0.5)

programs/50-CameraDemos/03-CensorFaces.py

@@ -76,7 +76,7 @@
 		elif (len(faces)) == 1:
 			psm.screen.termPrintAt(8, " Found {0} face!".format(len(faces)))
 
-	if (psm.screen.checkButton(0,0,320,320)):
+	if (psm.screen.isTouched()):
 			psm.screen.clearScreen()
 			psm.screen.termPrintAt(9,"Exiting to menu")
 			time.sleep(0.5)

programs/50-CameraDemos/03-IsolateFaces.py

@@ -86,7 +86,7 @@
 		elif (len(faces)) == 1:
 			psm.screen.termPrintAt(8, " Found {0} face!".format(len(faces)))
 
-	if (psm.screen.checkButton(0,0,320,320)):
+	if (psm.screen.isTouched()):
 			psm.screen.clearScreen()
 			psm.screen.termPrintAt(9,"Exiting to menu")
 			time.sleep(0.5)

programs/50-MotorDemos/04-Motor-ShowPos.py

@@ -61,7 +61,7 @@
     #
     # check if screen touched.
     #
-    if(psm.screen.checkButton(0,0,320,320)):
+    if(psm.screen.isTouched()):
         # if scren was touched,
         psm.BAM1.resetPos()
         time.sleep(.001)

programs/50-SensorDemos/01-EV3-InfraredSensor.py

@@ -89,7 +89,7 @@
         psm.screen.termPrintln("Exiting to menu")
         doExit = True
     change = 0
-    if(psm.screen.checkButton(0,0,320,320)): #Change mode if screen is tapped
+    if(psm.screen.isTouched()): #Change mode if screen is tapped
         count = count + 1
         if ( count > 2):
             count = 0

programs/50-SensorDemos/04-EV3-ColorSensor.py

@@ -75,7 +75,7 @@
     #
     # check if screen touched.
     #
-    if(psm.screen.checkButton(0,0,320,320)):
+    if(psm.screen.isTouched()):
         # if screen was touched,
         # reset BAS1 touch count
         count = count + 1

programs/50-SensorDemos/04-EV3-TouchSensor.py

@@ -73,7 +73,7 @@
     #
     # check if screen touched.
     #
-    if(psm.screen.checkButton(0,0,320,320)):
+    if(psm.screen.isTouched()):
         # if scren was touched,
         # reset BAS1 touch count
         psm.BAS1.resetTouchesEV3()

programs/50-SensorDemos/04-NXT-LightSensor.py

@@ -71,7 +71,7 @@
     #
     # check if screen touched.
     #
-    if(psm.screen.checkButton(0,0,320,320)):
+    if(psm.screen.isTouched()):
         # if scren was touched,
         if ( reflectiveMode == False):
             reflectiveMode = True

programs/50-SensorDemos/04-NXT-TouchSensor.py

@@ -73,7 +73,7 @@
     #
     # check if screen touched.
     #
-    if(psm.screen.checkButton(0,0,320,320)):
+    if(psm.screen.isTouched()):
         # if scren was touched,
         # reset BAS1 touch count
         psm.BAS1.resetTouchesNXT()

programs/50-SensorDemos/40-EV3ColorSensor.py

@@ -78,7 +78,7 @@
         psm.screen.termPrintln("Exiting to menu")
         doExit = True
     change = 0
-    if(psm.screen.checkButton(0,0,320,320)): #Change mode if screen is tapped
+    if(psm.screen.isTouched()): #Change mode if screen is tapped
         count = count + 1
         if ( count > 2):
             count = 0

programs/50-SensorDemos/40-EV3Gyro.py

@@ -69,7 +69,7 @@
         psm.screen.termPrintln("Exiting to menu")
         doExit = True
     change = 0
-    if(psm.screen.checkButton(0,0,320,320)): #Change mode if screen is tapped
+    if(psm.screen.isTouched()): #Change mode if screen is tapped
         count = count + 1
         if ( count > 1):
             count = 0

programs/50-SensorDemos/40-EV3InfraredSensor.py

@@ -87,7 +87,7 @@
         psm.screen.termPrintln("Exiting to menu")
         doExit = True
     change = 0
-    if(psm.screen.checkButton(0,0,320,320)): #Change mode if screen is tapped
+    if(psm.screen.isTouched()): #Change mode if screen is tapped
         count = count + 1
         if ( count > 2):
             count = 0

programs/50-SensorDemos/40-EV3Ultrasonic.py

@@ -79,7 +79,7 @@
         psm.screen.termPrintln("Exiting to menu")
         doExit = True
     change = 0
-    if(psm.screen.checkButton(0,0,320,320)): #Change mode if screen is tapped
+    if(psm.screen.isTouched()): #Change mode if screen is tapped
         count = count + 1
         if ( count > 2):
             count = 0

programs/50-SensorDemos/40-NXTLightSensor.py

@@ -74,7 +74,7 @@
         psm.screen.termPrintln("Exiting to menu")
         doExit = True
     change = 0
-    if(psm.screen.checkButton(0,0,320,320)): #Change mode if screen is tapped
+    if(psm.screen.isTouched()): #Change mode if screen is tapped
         count = count + 1
         if ( count > 1):
             count = 0

programs/50-SensorDemos/40-TouchSensor.py

@@ -73,7 +73,7 @@
         psm.screen.termPrintAt(4, msg2)
 
 
-    elif(psm.screen.checkButton(0,0,320,320)):
+    elif(psm.screen.isTouched()):
         #
         # check if screen touched.
         #

programs/60-Games/04-GoButton.py

@@ -45,7 +45,7 @@
 
     psm.screen.termPrintAt(5, "GO Button is = " +str(psm.isKeyPressed()))
     psm.screen.termPrintAt(6, "Press Count = " +str(psm.getKeyPressCount()))
-    if (psm.screen.checkButton(0,0,320,320)):
+    if (psm.screen.isTouched()):
         psm.screen.termPrintln(" ")
         psm.screen.termPrintln("Exiting .....")
         exit = True

programs/60-Games/04-Paint.py

@@ -20,8 +20,7 @@
     if psm.isF4Pressed():
         color = (0, 0, 255)
 
-    tsx, tsy = psm.screen.getTouchscreenValues()
-    if (tsx, tsy) != (0, 0):
-        x = psm.screen.TS_To_ImageCoords_X(tsx,tsy)
-        y = psm.screen.TS_To_ImageCoords_Y(tsx,tsy)
+    if psm.screen.isTouched():
+        x = psm.screen.TS_To_ImageCoords_X(psm.screen.x, psm.screen.y)
+        y = psm.screen.TS_To_ImageCoords_Y(psm.screen.x, psm.screen.y)
         psm.screen.fillRect(x-1, y-1, 2, 2, fill=color)

programs/touch_sensor_tutorial.py

@@ -48,7 +48,7 @@
     numTouch = psm.BBS1.numTouchesEV3()
     psm.screen.termReplaceLastLine(str(touch) + "  " + str(numTouch))
 
-    if(psm.screen.checkButton(0,0,320,320)):
+    if(psm.screen.isTouched()):
         psm.screen.termPrintln("")
         psm.screen.termPrintln("Exiting to menu")
         doExit = True