(*
* The contents of this file are subject to the Mozilla Public License
* Version 1.1 (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.mozilla.org/MPL/
*
* Software distributed under the License is distributed on an "AS IS"
* basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See the
* License for the specific language governing rights and limitations
* under the License.
*
* The Initial Developer of this code is Mark Overmars.
* Portions created by John Hansen are Copyright (C) 2009-2013 John Hansen.
* All Rights Reserved.
*
*)
unit Controller;
{$IFDEF FPC}
{$MODE Delphi}
{$ENDIF}
interface
uses
{$IFNDEF FPC}
Windows,
{$ELSE}
LResources,
{$ENDIF}
SysUtils, Classes, Graphics, Controls, Forms, Dialogs,
ComCtrls, StdCtrls, ExtCtrls, Buttons, rcx_constants;
type
TDirectForm = class(TForm)
grpMotors: TGroupBox;
Label1: TLabel;
Label2: TLabel;
Label3: TLabel;
grpTasks: TGroupBox;
TL0: TLabel;
TL1: TLabel;
TL2: TLabel;
TL3: TLabel;
TL4: TLabel;
TL5: TLabel;
TL6: TLabel;
TL7: TLabel;
TL8: TLabel;
TL9: TLabel;
StartAllBtn: TButton;
StopAllBtn: TButton;
SensorGroup: TGroupBox;
Label14: TLabel;
Label15: TLabel;
lblSensor2: TLabel;
SensorType0: TComboBox;
SensorMode0: TComboBox;
SensorType1: TComboBox;
SensorMode1: TComboBox;
SensorType2: TComboBox;
SensorMode2: TComboBox;
grpVariables: TGroupBox;
VariableBox: TComboBox;
OperatorBox: TComboBox;
ValueEdit: TEdit;
SetBtn: TButton;
ValueUpDown: TUpDown;
FwdABtn: TSpeedButton;
RevABtn: TSpeedButton;
OffABtn: TSpeedButton;
FloatABtn: TSpeedButton;
SpeedA: TTrackBar;
FwdBBtn: TSpeedButton;
RevBBtn: TSpeedButton;
OffBBtn: TSpeedButton;
FloatBBtn: TSpeedButton;
SpeedB: TTrackBar;
FwdCBtn: TSpeedButton;
RevCBtn: TSpeedButton;
OffCBtn: TSpeedButton;
FloatCBtn: TSpeedButton;
SpeedC: TTrackBar;
cboSource: TComboBox;
Label4: TLabel;
Label5: TLabel;
btnHelp: TButton;
RunTask0: TBitBtn;
StopTask0: TBitBtn;
StopTask1: TBitBtn;
RunTask1: TBitBtn;
StopTask2: TBitBtn;
RunTask2: TBitBtn;
StopTask3: TBitBtn;
RunTask3: TBitBtn;
StopTask4: TBitBtn;
RunTask4: TBitBtn;
StopTask5: TBitBtn;
RunTask5: TBitBtn;
StopTask6: TBitBtn;
RunTask6: TBitBtn;
StopTask7: TBitBtn;
RunTask7: TBitBtn;
StopTask8: TBitBtn;
RunTask8: TBitBtn;
StopTask9: TBitBtn;
RunTask9: TBitBtn;
lblSensor3: TLabel;
SensorType3: TComboBox;
SensorMode3: TComboBox;
lblMotorD: TLabel;
FwdDBtn: TSpeedButton;
RevDBtn: TSpeedButton;
OffDBtn: TSpeedButton;
FloatDBtn: TSpeedButton;
SpeedD: TTrackBar;
procedure SpeedChange(Sender: TObject);
procedure FormShow(Sender: TObject);
procedure RunTask0Click(Sender: TObject);
procedure StopTask0Click(Sender: TObject);
procedure StartAllBtnClick(Sender: TObject);
procedure StopAllBtnClick(Sender: TObject);
procedure FormKeyPress(Sender: TObject; var Key: Char);
procedure SensorTypeChange(Sender: TObject);
procedure SensorModeChange(Sender: TObject);
procedure SetBtnClick(Sender: TObject);
procedure FwdABtnClick(Sender: TObject);
procedure RevABtnClick(Sender: TObject);
procedure OffABtnClick(Sender: TObject);
procedure FloatABtnClick(Sender: TObject);
procedure ValueEditKeyPress(Sender: TObject; var Key: Char);
procedure ValueEditExit(Sender: TObject);
procedure FormCreate(Sender: TObject);
procedure btnHelpClick(Sender: TObject);
private
{ Private declarations }
procedure InitForm;
function GetMotorPower(tag: integer): Byte;
function GetMotorDirection(tag: integer): TMotorDirection;
function GetMotorState(tag: integer): TMotorState;
procedure UpdateModes(aTypeID: integer; aStrings: TStrings);
public
{ Public declarations }
end;
var
DirectForm: TDirectForm;
implementation
{$IFNDEF FPC}
{$R *.DFM}
{$ENDIF}
uses
brick_common, uSources, uLocalizedStrings, uGlobals, uEV3TypeData;
var
V_HEIGHT, V_MOTORS_TOP, V_VARS_TOP, V_TASKS_TOP, V_FUDGE,
V_SENS_H, V_SENS_DELTA : Integer;
const
{$IFDEF FPC}
{$IFDEF Darwin}
K_FUDGE = -40;
K_HEIGHT = 560+80; //498;
K_MOTORS_TOP = 146+40; //118;
K_VARS_TOP = 292+40; //234;
K_TASKS_TOP = 368+40; //310;
K_SENS_DELTA = 32;
K_SENS_H = 140+40;
{$ENDIF}
{$IFNDEF Darwin}
K_FUDGE = 4;
K_HEIGHT = 560; //498;
K_MOTORS_TOP = 146; //118;
K_VARS_TOP = 292; //234;
K_TASKS_TOP = 368; //310;
K_SENS_DELTA = 32;
K_SENS_H = 140;
{$ENDIF}
{$ELSE}
K_FUDGE = 4;
K_HEIGHT = 560; //498;
K_MOTORS_TOP = 146; //118;
K_VARS_TOP = 292; //234;
K_TASKS_TOP = 368; //310;
K_SENS_DELTA = 32;
K_SENS_H = 140;
{$ENDIF}
procedure TDirectForm.UpdateModes(aTypeID : integer; aStrings : TStrings);
begin
if IsEV3 then
begin
// load the associated combo box with the correct mode names
LoadTypeModes(aTypeID, aStrings);
end;
end;
{Dealing with the Sensors}
procedure TDirectForm.SensorTypeChange(Sender: TObject);
var
cbo : TComboBox;
typeID : integer;
begin
if Sender = nil then Exit;
if TComboBox(Sender).ItemIndex >= 0 then
begin
typeID := TComboBox(Sender).ItemIndex;
cbo := TComboBox(FindComponent('SensorMode' + IntToStr(TComboBox(Sender).Tag)));
if Assigned(cbo) then
begin
UpdateModes(typeID, cbo.Items);
cbo.ItemIndex := 0;
end;
BrickComm.SetSensorType(TComboBox(Sender).Tag, typeID);
SensorModeChange(cbo);
end;
end;
procedure TDirectForm.SensorModeChange(Sender: TObject);
begin
if Sender = nil then Exit;
if TComboBox(Sender).ItemIndex >= 0 then
begin
BrickComm.SetSensorMode(TComboBox(Sender).Tag, TComboBox(Sender).ItemIndex, 0);
end;
end;
{Dealing with the Motors}
function GetMotorNum(tag : integer) : Byte;
begin
case tag of
0 : result := 1;
1 : result := 2;
2 : result := 4;
else
result := 8; // D
end;
end;
function TDirectForm.GetMotorPower(tag : integer) : Byte;
begin
case tag of
0 : result := SpeedA.Position;
1 : result := SpeedB.Position;
2 : result := SpeedC.Position;
3 : result := SpeedD.Position;
else
result := 0;
end;
end;
function TDirectForm.GetMotorDirection(tag : integer) : TMotorDirection;
begin
Result := mdForward;
case tag of
0 : if RevABtn.Down then Result := mdReverse;
1 : if RevBBtn.Down then Result := mdReverse;
2 : if RevCBtn.Down then Result := mdReverse;
3 : if RevDBtn.Down then Result := mdReverse;
end;
end;
function TDirectForm.GetMotorState(tag : integer) : TMotorState;
begin
Result := msFloat;
case tag of
0 :
if FwdABtn.Down or RevABtn.Down then
Result := msOn
else if OffABtn.Down then
Result := msOff;
1 :
if FwdBBtn.Down or RevBBtn.Down then
Result := msOn
else if OffBBtn.Down then
Result := msOff;
2 :
if FwdCBtn.Down or RevCBtn.Down then
Result := msOn
else if OffCBtn.Down then
Result := msOff;
3 :
if FwdDBtn.Down or RevDBtn.Down then
Result := msOn
else if OffDBtn.Down then
Result := msOff;
end;
end;
procedure TDirectForm.FwdABtnClick(Sender: TObject);
var
n, tag : integer;
pwr : byte;
begin
if Sender = nil then Exit;
tag := TComponent(Sender).Tag;
n := GetMotorNum(tag);
pwr := GetMotorPower(tag);
BrickComm.ControlMotors(n, pwr, mdForward, msOn);
// BrickComm.SetFwd(n);
// BrickComm.MotorsOn(n);
end;
procedure TDirectForm.RevABtnClick(Sender: TObject);
var
n, tag : integer;
pwr : byte;
begin
if Sender = nil then Exit;
tag := TComponent(Sender).Tag;
n := GetMotorNum(tag);
pwr := GetMotorPower(tag);
BrickComm.ControlMotors(n, pwr, mdReverse, msOn);
// BrickComm.SetRwd(n);
// BrickComm.MotorsOn(n);
end;
procedure TDirectForm.OffABtnClick(Sender: TObject);
var
n, tag : integer;
begin
if Sender = nil then Exit;
tag := TComponent(Sender).Tag;
n := GetMotorNum(tag);
BrickComm.ControlMotors(n, 0, mdForward, msOff);
// BrickComm.MotorsOff(n);
end;
procedure TDirectForm.FloatABtnClick(Sender: TObject);
var
n, tag : integer;
begin
if Sender = nil then Exit;
tag := TComponent(Sender).Tag;
n := GetMotorNum(tag);
BrickComm.ControlMotors(n, 0, mdForward, msFloat);
// BrickComm.MotorsFloat(n);
end;
procedure TDirectForm.SpeedChange(Sender: TObject);
var
n, tag : integer;
pwr : byte;
dir : TMotorDirection;
state : TMotorState;
begin
if Sender = nil then Exit;
tag := TComponent(Sender).Tag;
n := GetMotorNum(tag);
pwr := GetMotorPower(tag);
dir := GetMotorDirection(tag);
state := GetMotorState(tag);
BrickComm.ControlMotors(n, pwr, dir, state);
// BrickComm.SetMotorPower(n, kRCX_ConstantType, pwr);
end;
{Dealing with the Variables}
procedure TDirectForm.SetBtnClick(Sender: TObject);
var
vnumb,
val : integer;
stype : byte;
begin
stype := cboSource.ItemIndex;
if IsScout and not ((stype = 0) or (stype = 2)) then
begin
stype := 2;
cboSource.ItemIndex := stype;
MessageDlg(sScoutSourceError, mtError, [mbOK], 0);
Exit;
end;
// get the source type from the selected item.
vnumb := VariableBox.ItemIndex;
val := ValueUpDown.Position;
case OperatorBox.ItemIndex of
0: BrickComm.SetVar(vnumb,stype,val);
1: BrickComm.SumVar(vnumb,stype,val);
2: BrickComm.SubVar(vnumb,stype,val);
3: BrickComm.MulVar(vnumb,stype,val);
4: BrickComm.DivVar(vnumb,stype,val);
5: BrickComm.AndVar(vnumb,stype,val);
6: BrickComm.OrVar(vnumb,stype,val);
7: BrickComm.AbsVar(vnumb,stype,val);
8: BrickComm.SgnVar(vnumb,stype,val);
end;
end;
{Dealing with the Tasks}
procedure TDirectForm.RunTask0Click(Sender: TObject);
begin
BrickComm.StartTask(TSpeedButton(Sender).Tag);
end;
procedure TDirectForm.StopTask0Click(Sender: TObject);
begin
BrickComm.StopTask(TSpeedButton(Sender).Tag);
end;
procedure TDirectForm.StartAllBtnClick(Sender: TObject);
var
i:integer;
c : TCursor;
begin
if Screen.Cursor = crHourGlass then Exit;
c := Screen.Cursor;
try
Screen.Cursor := crHourGlass;
if IsRCX then
begin
for i := 0 to 9 do BrickComm.StartTask(i);
end else if IsScout then
begin
for i := 0 to 5 do BrickComm.StartTask(i);
end else if IsSpybotic then
begin
for i := 8 to 15 do BrickComm.StartTask(i);
end else begin // cybermaster
for i := 0 to 3 do BrickComm.StartTask(i);
end;
finally
Screen.Cursor := c;
end;
end;
procedure TDirectForm.StopAllBtnClick(Sender: TObject);
begin
BrickComm.StopAllTasks();
end;
procedure TDirectForm.FormKeyPress(Sender: TObject; var Key: Char);
begin
// if IsRCX then
// begin
// if (Key >='0') and (Key <='9') then
// BrickComm.StartTask(Ord(Key)-Ord('0'));
// end else begin
// if (Key >='0') and (Key <='3') then
// BrickComm.StartTask(Ord(Key)-Ord('0'));
// end;
end;
{Handling the Window}
procedure TDirectForm.FormShow(Sender: TObject);
var
c : TCursor;
begin
c := Screen.Cursor;
try
Screen.Cursor := crHourGlass;
InitForm;
finally
Screen.Cursor := c;
end;
end;
procedure TDirectForm.ValueEditKeyPress(Sender: TObject; var Key: Char);
begin
if not (Key in [#8, #16, '-', '0'..'9']) then
Key := #0;
end;
procedure TDirectForm.ValueEditExit(Sender: TObject);
var
val : integer;
begin
// ensure value is within range
val := StrToInt(ValueEdit.Text);
if val < ValueUpDown.Min then
ValueEdit.Text := IntToStr(ValueUpDown.Min)
else if val > ValueUpDown.Max then
ValueEdit.Text := IntToStr(ValueUpDown.Max);
end;
procedure TDirectForm.InitForm;
var
ttt, h, i, delta : integer;
bVisible : boolean;
tmpSL : TStrings;
C : TComponent;
WS : WatchSources;
const
SPY_MODES : array[0..4] of Integer = (0, 1, -1, -1, 2);
begin
tmpSL := TStringList.Create;
try
// load the source combobox
WS := BrickWatchSources[LocalBrickType];
for i := low(WS) to high(WS) do
begin
if WS[i].Has then
cboSource.Items.AddObject(WS[i].Name, TObject(i));
end;
{Adapt to RCX type}
for i:= 0 to 9 do
begin
bVisible := IsRCX or
(IsScout and (i in [0..5])) or
(IsSpybotic and (i in [0..7]));
C := FindComponent('RunTask'+IntToStr(i));
TSpeedButton(C).Visible := bVisible;
if IsSpybotic then
C.Tag := i + 8
else
C.Tag := i;
C := FindComponent('StopTask'+IntToStr(i));
if IsSpybotic then
C.Tag := i + 8
else
C.Tag := i;
TSpeedButton(C).Visible := bVisible;
C := FindComponent('TL'+IntToStr(i));
TLabel(C).Visible := bVisible;
if IsSpybotic then
TLabel(C).Caption := IntToStr(i+8)
else
TLabel(C).Caption := IntToStr(i);
end;
Height := V_HEIGHT;
SensorGroup.Visible := True;
grpVariables.Visible := True;
grpTasks.Visible := True;
grpMotors.Top := V_MOTORS_TOP;
grpVariables.Top := V_VARS_TOP;
grpTasks.Top := V_TASKS_TOP;
SensorType2.Visible := not IsSpybotic;
SensorMode2.Visible := not IsSpybotic;
lblSensor2.Visible := not IsSpybotic;
SensorType3.Visible := IsNXT or IsEV3;
SensorMode3.Visible := IsNXT or IsEV3;
lblSensor3.Visible := IsNXT or IsEV3;
lblMotorD.Visible := IsEV3;
FwdDBtn.Visible := IsEV3;
RevDBtn.Visible := IsEV3;
OffDBtn.Visible := IsEV3;
FloatDBtn.Visible := IsEV3;
SpeedD.Visible := IsEV3;
if IsRCX then
begin
SensorGroup.Height := V_SENS_H - V_SENS_DELTA;
grpMotors.Top := V_MOTORS_TOP - V_SENS_DELTA - V_FUDGE;
grpVariables.Top := V_VARS_TOP - V_SENS_DELTA - V_FUDGE;
grpTasks.Top := V_TASKS_TOP - V_SENS_DELTA - V_FUDGE;
Height := V_HEIGHT - V_SENS_DELTA - V_FUDGE;
SensorType0.Enabled := true;
SensorType1.Enabled := true;
SensorType2.Enabled := true;
tmpSL.Clear;
tmpSL.Append(sRaw);
tmpSL.Append(sBoolean);
tmpSL.Append(sTransCount);
tmpSL.Append(sPeriodCount);
tmpSL.Append(sPercent);
tmpSL.Append(sCelsius);
tmpSL.Append(sFahrenheit);
tmpSL.Append(sAngle);
SensorMode0.Items.Assign(tmpSL);
SensorMode1.Items.Assign(tmpSL);
SensorMode2.Items.Assign(tmpSL);
tmpSL.Clear;
tmpSL.Append(sNone);
tmpSL.Append(sSwitch);
tmpSL.Append(sTemperature);
tmpSL.Append(sLight);
tmpSL.Append(sAngle);
SensorType0.Items.Assign(tmpSL);
SensorType1.Items.Assign(tmpSL);
SensorType2.Items.Assign(tmpSL);
end
else if IsScout then begin
// scout
SensorGroup.Visible := False;
grpMotors.Top := V_MOTORS_TOP - SensorGroup.Height - V_FUDGE;
grpVariables.Top := V_VARS_TOP - SensorGroup.Height - V_FUDGE;
grpTasks.Top := V_TASKS_TOP - SensorGroup.Height - V_FUDGE;
Height := V_HEIGHT - SensorGroup.Height - V_FUDGE;
end
else if IsNXT then begin
Height := V_HEIGHT - grpVariables.Height - grpTasks.Height - V_FUDGE;
SensorGroup.Height := V_SENS_H;
grpVariables.Visible := False;
grpTasks.Visible := False;
SensorGroup.Visible := True;
SensorType0.Enabled := true;
SensorType1.Enabled := true;
SensorType2.Enabled := true;
SensorType3.Enabled := true;
tmpSL.Clear;
tmpSL.Append(sRaw);
tmpSL.Append(sBoolean);
tmpSL.Append(sTransCount);
tmpSL.Append(sPeriodCount);
tmpSL.Append(sPercent);
tmpSL.Append(sCelsius);
tmpSL.Append(sFahrenheit);
tmpSL.Append(sAngle);
SensorMode0.Items.Assign(tmpSL);
SensorMode1.Items.Assign(tmpSL);
SensorMode2.Items.Assign(tmpSL);
SensorMode3.Items.Assign(tmpSL);
tmpSL.Clear;
tmpSL.Append(sNone);
tmpSL.Append(sSwitch);
tmpSL.Append(sTemperature);
tmpSL.Append(sLight);
tmpSL.Append(sAngle);
tmpSL.Append(sLightActiv);
tmpSL.Append(sLightInact);
tmpSL.Append(sSoundDB);
tmpSL.Append(sSoundDBA);
tmpSL.Append(sCustom);
tmpSL.Append(sLowspeed);
tmpSL.Append(sLowspeed9v);
tmpSL.Append(sHighspeed);
tmpSL.Append(sColorFull);
tmpSL.Append(sColorRed);
tmpSL.Append(sColorGreen);
tmpSL.Append(sColorBlue);
tmpSL.Append(sColorNone);
SensorType0.Items.Assign(tmpSL);
SensorType1.Items.Assign(tmpSL);
SensorType2.Items.Assign(tmpSL);
SensorType3.Items.Assign(tmpSL);
end
else if IsEV3 then begin
Height := V_HEIGHT - grpVariables.Height - grpTasks.Height - V_FUDGE;
SensorGroup.Height := V_SENS_H;
grpVariables.Visible := False;
grpTasks.Visible := False;
SensorGroup.Visible := True;
SensorType0.Enabled := true;
SensorType1.Enabled := true;
SensorType2.Enabled := true;
SensorType3.Enabled := true;
// blech
// sensor types
LoadTypeNames(tmpSL);
SensorType0.Items.Assign(tmpSL);
SensorType1.Items.Assign(tmpSL);
SensorType2.Items.Assign(tmpSL);
SensorType3.Items.Assign(tmpSL);
// EV3 mode names depend on the type
tmpSL.Clear;
tmpSL.Append('0');
tmpSL.Append('1');
tmpSL.Append('2');
tmpSL.Append('3');
tmpSL.Append('4');
tmpSL.Append('5');
tmpSL.Append('6');
tmpSL.Append('7');
SensorMode0.Items.Assign(tmpSL);
SensorMode1.Items.Assign(tmpSL);
SensorMode2.Items.Assign(tmpSL);
SensorMode3.Items.Assign(tmpSL);
end else begin
// cybermaster or spybot (sensor mode only)
delta := V_SENS_DELTA;
if IsSpybotic then
delta := delta * 2;
SensorGroup.Height := V_SENS_H - delta;
grpMotors.Top := V_MOTORS_TOP - delta - V_FUDGE;
grpVariables.Top := V_VARS_TOP - delta - V_FUDGE;
grpTasks.Top := V_TASKS_TOP - delta - V_FUDGE;
Height := V_HEIGHT - delta - V_FUDGE;
SensorGroup.Visible := True;
SensorType0.Enabled := false;
SensorType1.Enabled := false;
SensorType2.Enabled := false;
tmpSL.Clear;
if IsSpybotic then
begin
tmpSL.Append(sRaw);
tmpSL.Append(sBoolean);
tmpSL.Append(sPercent);
end
else
begin
tmpSL.Append(sRaw);
tmpSL.Append(sBoolean);
tmpSL.Append(sTransCount);
tmpSL.Append(sPeriodCount);
tmpSL.Append(sPercent);
end;
SensorMode0.Items.Assign(tmpSL);
SensorMode1.Items.Assign(tmpSL);
SensorMode2.Items.Assign(tmpSL);
tmpSL.Clear;
SensorType0.Items.Assign(tmpSL);
SensorType1.Items.Assign(tmpSL);
SensorType2.Items.Assign(tmpSL);
end;
finally
tmpSL.Free;
end;
// variables
if grpVariables.Visible then
begin
h := 31;
if IsScout then
h := 9;
VariableBox.Items.Clear;
for i := 0 to h do
VariableBox.Items.Add(Format('Var %2d',[i]));
VariableBox.ItemIndex := 0;
OperatorBox.ItemIndex := 0;
cboSource.ItemIndex := 2;
end;
try
{Set the motor items}
ttt := BrickComm.GetOutputStatus(0);
FwdABtn.Down := (ttt div 128 = 1) and ((ttt mod 16) div 8 = 1);
RevABtn.Down := (ttt div 128 = 1) and ((ttt mod 16) div 8 = 0);
OffABtn.Down := (ttt div 128 = 0) and ((ttt mod 128) div 64 = 1);
FloatABtn.Down := (ttt div 128 = 0) and ((ttt mod 128) div 64 = 0);
SpeedA.Position := ttt mod 8;
ttt := BrickComm.GetOutputStatus(1);
FwdBBtn.Down := (ttt div 128 = 1) and ((ttt mod 16) div 8 = 1);
RevBBtn.Down := (ttt div 128 = 1) and ((ttt mod 16) div 8 = 0);
OffBBtn.Down := (ttt div 128 = 0) and ((ttt mod 128) div 64 = 1);
FloatBBtn.Down := (ttt div 128 = 0) and ((ttt mod 128) div 64 = 0);
SpeedB.Position := ttt mod 8;
ttt := BrickComm.GetOutputStatus(2);
FwdCBtn.Down := (ttt div 128 = 1) and ((ttt mod 16) div 8 = 1);
RevCBtn.Down := (ttt div 128 = 1) and ((ttt mod 16) div 8 = 0);
OffCBtn.Down := (ttt div 128 = 0) and ((ttt mod 128) div 64 = 1);
FloatCBtn.Down := (ttt div 128 = 0) and ((ttt mod 128) div 64 = 0);
SpeedC.Position := ttt mod 8;
if IsEV3 then
begin
ttt := BrickComm.GetOutputStatus(3);
FwdDBtn.Down := (ttt div 128 = 1) and ((ttt mod 16) div 8 = 1);
RevDBtn.Down := (ttt div 128 = 1) and ((ttt mod 16) div 8 = 0);
OffDBtn.Down := (ttt div 128 = 0) and ((ttt mod 128) div 64 = 1);
FloatDBtn.Down := (ttt div 128 = 0) and ((ttt mod 128) div 64 = 0);
SpeedD.Position := ttt mod 8;
end;
if not IsScout then
begin
{ Set the sensor Items }
if IsRCX then
begin
SensorType0.ItemIndex := BrickComm.Poll(kRCX_InputTypeType,0);
SensorType1.ItemIndex := BrickComm.Poll(kRCX_InputTypeType,1);
SensorType2.ItemIndex := BrickComm.Poll(kRCX_InputTypeType,2);
end
else if IsNXT or IsEV3 then
begin
SensorType0.ItemIndex := BrickComm.Poll(kRCX_InputTypeType,0);
SensorType1.ItemIndex := BrickComm.Poll(kRCX_InputTypeType,1);
SensorType2.ItemIndex := BrickComm.Poll(kRCX_InputTypeType,2);
SensorType3.ItemIndex := BrickComm.Poll(kRCX_InputTypeType,3);
UpdateModes(SensorType0.ItemIndex, SensorMode0.Items);
UpdateModes(SensorType1.ItemIndex, SensorMode1.Items);
UpdateModes(SensorType2.ItemIndex, SensorMode2.Items);
UpdateModes(SensorType3.ItemIndex, SensorMode3.Items);
end;
ttt := BrickComm.Poll(kRCX_InputModeType,0);
if IsSpybotic then
SensorMode0.ItemIndex := SPY_MODES[ttt]
else
SensorMode0.ItemIndex := ttt div 32;
ttt := BrickComm.Poll(kRCX_InputModeType,1);
if IsSpybotic then
SensorMode1.ItemIndex := SPY_MODES[ttt]
else
SensorMode1.ItemIndex := ttt div 32;
if not IsSpybotic then
SensorMode2.ItemIndex := BrickComm.Poll(kRCX_InputModeType,2) div 32;
if IsNXT or IsEV3 then
SensorMode3.ItemIndex := BrickComm.Poll(kRCX_InputModeType,3) div 32;
end;
except
;
end;
end;
procedure TDirectForm.FormCreate(Sender: TObject);
var
scale_amount : double;
begin
scale_amount := Screen.PixelsPerInch / 96;
V_HEIGHT := Trunc(K_HEIGHT * scale_amount);
V_MOTORS_TOP := Trunc(K_MOTORS_TOP * scale_amount);
V_VARS_TOP := Trunc(K_VARS_TOP * scale_amount);
V_TASKS_TOP := Trunc(K_TASKS_TOP * scale_amount);
V_FUDGE := Trunc(K_FUDGE * scale_amount);
V_SENS_DELTA := Trunc(K_SENS_DELTA * scale_amount);
V_SENS_H := Trunc(K_SENS_H * scale_amount);
end;
procedure TDirectForm.btnHelpClick(Sender: TObject);
begin
Application.HelpContext(HelpContext);
end;
{$IFDEF FPC}
initialization
{$i Controller.lrs}
{$ENDIF}
end.
