Click on a thumbnail sketch to see the full size picture.

Intro

This page will explain how to interpret and use the robot and oper_interf windows.

The robot window

The default robot Window will look more or less like this. (The proportionality of the images and text will vary from computer to computer depending on its configuration and hardware.)

This window is fully configurable by you. The example that I provide here is designed to work with the default code and display minimal functionality. Customizing this window was covered in an earlier lesson, Customizing the Robot in Tcl.

• The toggle switch on the bottom can be used in your C code to decide if the robot is on the left or right side of the field in auto mode.
• The two red arrows will point up or down depending upon how their corresponding pwms are driven. These indicate the power being applied to the left and right side wheels.
• The numbers below the wheels report the actual pwm value.

The oper_interf window

The default robot Window will look more or less like this. (The proportionality of the images and text will vary from computer to computer depending on its configuration and hardware.)

This window is fully configurable by you. The example that I provide here is designed to work with the default code and display some functionality. Customizing this window was covered in an earlier lesson, Customizing the Operator Interfacel in Tcl.

• On the left side of the window are the red and green LEDs. These correspond to 8 of the LEDS on the actual Operator Interface. A future revision of this code will include all of the LEDs.
• Across the top of the window are two switches and a slider.
  • joy_aux31 is an auxiliary button on joystick port 3. You can wire your actual Operator Interface to use this or any of the other switches.
  • oi_swA is configured to control two bits of the oi_swA port. In your code you can use switches like this for anything you want.
  • The slider oi_analog03 represents a potentiometer wired to that port.
• On the bottom right are the two joysticks. Each includes a stick (controllable by clicking on or near the black spot in the middle). And each includes the four buttons that are on those joysticks. Note also that the values from the joystick are displayed in text. Until you click on the joystick, it will display ?. That is a bug in the code.