package state; import java.io.*; import java.awt.*; import java.awt.event.*; import java.awt.geom.*; import javax.swing.*; import tools.*; class ElectricPanel extends JPanel { // All labels for table: // F = Front, B = Back, S = Steer, R = Right, L = Left, // T = Total, P = Power, all end in _l (for label) // command = commanded current to servo (amps) // monitored = monitored current (from amplifier, amps) // sense = sensed current (from hall effect sensor, amps) // power = power going to motors (watts) // speed = speed of the motor (rpm) JLabel FL_command_l, FL_monitor_l, FL_sense_l, FL_power_l, FL_speed_l; JLabel FR_command_l, FR_monitor_l, FR_sense_l, FR_power_l, FR_speed_l; JLabel BL_command_l, BL_monitor_l, BL_sense_l, BL_power_l, BL_speed_l; JLabel BR_command_l, BR_monitor_l, BR_sense_l, BR_power_l, BR_speed_l; JLabel SL_command_l, SL_monitor_l, SL_sense_l, SL_power_l, SL_speed_l; JLabel SR_command_l, SR_monitor_l, SR_sense_l, SR_power_l, SR_speed_l; JLabel T_command_l, T_monitor_l, T_sense_l, T_power_l, T_speed_l; JLabel P_one_l, P_two_l; // values in labels: same as labels but ending in _v int FL_command_v, FL_monitor_v, FL_sense_v, FL_power_v, FL_speed_v; int FR_command_v, FR_monitor_v, FR_sense_v, FR_power_v, FR_speed_v; int BL_command_v, BL_monitor_v, BL_sense_v, BL_power_v, BL_speed_v; int BR_command_v, BR_monitor_v, BR_sense_v, BR_power_v, BR_speed_v; int SL_command_v, SL_monitor_v, SL_sense_v, SL_power_v, SL_speed_v; int SR_command_v, SR_monitor_v, SR_sense_v, SR_power_v, SR_speed_v; int T_command_v, T_monitor_v, T_sense_v, T_power_v, T_speed_v; JLabel P_one_v, P_two_v; ElectricPanel() { // set up panel GridBagLayout gridbag = new GridBagLayout(); GridBagConstraints c = new GridBagConstraints(); setLayout(gridbag); c.anchor = GridBagConstraints.WEST; // Labels for top of table c.gridwidth = 1; c.gridheight = 3; c.gridx = 0; c.gridy = 0; add(Box.createRigidArea(new Dimension(90,60)), c); c.gridwidth = 3; c.gridheight = 1; c.gridx = 1; JLabel current = new JLabel("Currents"); current.setHorizontalAlignment(JLabel.CENTER); current.setPreferredSize(new Dimension(270,20)); current.setBorder(BorderFactory.createEtchedBorder( getBackground().darker(), getBackground().brighter())); add(current, c); c.gridwidth = 2; c.gridx = 4; JLabel motor = new JLabel("Motors"); motor.setHorizontalAlignment(JLabel.CENTER); motor.setPreferredSize(new Dimension(160,20)); motor.setBorder(BorderFactory.createEtchedBorder( getBackground().darker(), getBackground().brighter())); add(motor, c); c.gridwidth = 1; c.gridx = 1; c.gridy = 1; JLabel command = new JLabel("Commanded"); command.setHorizontalAlignment(JLabel.CENTER); command.setPreferredSize(new Dimension(100,20)); add(command, c); c.gridx = 2; JLabel monitor = new JLabel("Monitored"); monitor.setHorizontalAlignment(JLabel.CENTER); monitor.setPreferredSize(new Dimension(90,20)); add(monitor, c); c.gridx = 3; JLabel sense = new JLabel("Sensed"); sense.setHorizontalAlignment(JLabel.CENTER); sense.setPreferredSize(new Dimension(80,20)); add(sense, c); c.gridx = 4; JLabel power = new JLabel("Power"); power.setHorizontalAlignment(JLabel.CENTER); power.setPreferredSize(new Dimension(80,20)); add(power, c); c.gridx = 5; JLabel speed = new JLabel("Speed"); speed.setHorizontalAlignment(JLabel.CENTER); speed.setPreferredSize(new Dimension(80,20)); add(speed, c); c.gridx = 1; c.gridy = 2; JLabel command_a = new JLabel("(Amps)"); command_a.setHorizontalAlignment(JLabel.CENTER); command_a.setPreferredSize(new Dimension(100,20)); add(command_a, c); c.gridx = 2; JLabel monitor_a = new JLabel("(Amps)"); monitor_a.setHorizontalAlignment(JLabel.CENTER); monitor_a.setPreferredSize(new Dimension(90,20)); add(monitor_a, c); c.gridx = 3; JLabel sense_a = new JLabel("(Amps)"); sense_a.setHorizontalAlignment(JLabel.CENTER); sense_a.setPreferredSize(new Dimension(80,20)); add(sense_a, c); c.gridx = 4; JLabel power_w = new JLabel("(Watts)"); power_w.setHorizontalAlignment(JLabel.CENTER); power_w.setPreferredSize(new Dimension(80,20)); add(power_w, c); c.gridx = 5; JLabel speed_rpm = new JLabel("(RPM)"); speed_rpm.setHorizontalAlignment(JLabel.CENTER); speed_rpm.setPreferredSize(new Dimension(80,20)); add(speed_rpm, c); // Front Left Wheel values and label c.gridx = 0; c.gridy = 3; JLabel FLlabel = new JLabel("Front Left"); FLlabel.setHorizontalAlignment(JLabel.LEFT); FLlabel.setPreferredSize(new Dimension(90,20)); add(FLlabel, c); addLabel(FL_command_l, 1, 3, 100, c); addLabel(FL_monitor_l, 2, 3, 90, c); addLabel(FL_sense_l, 3, 3, 80, c); addLabel(FL_power_l, 4, 3, 80, c); addLabel(FL_speed_l, 5, 3, 80, c); // Front Right Wheel values and label c.gridx = 0; c.gridy = 4; JLabel FRlabel = new JLabel("Front Right"); FRlabel.setHorizontalAlignment(JLabel.LEFT); FRlabel.setPreferredSize(new Dimension(90,20)); add(FRlabel, c); addLabel(FR_command_l, 1, 4, 100, c); addLabel(FR_monitor_l, 2, 4, 90, c); addLabel(FR_sense_l, 3, 4, 80, c); addLabel(FR_power_l, 4, 4, 80, c); addLabel(FR_speed_l, 5, 4, 80, c); // Back Left Wheel values and label c.gridx = 0; c.gridy = 5; JLabel BLlabel = new JLabel("Back Left"); BLlabel.setHorizontalAlignment(JLabel.LEFT); BLlabel.setPreferredSize(new Dimension(90,20)); add(BLlabel, c); addLabel(BL_command_l, 1, 5, 100, c); addLabel(BL_monitor_l, 2, 5, 90, c); addLabel(BL_sense_l, 3, 5, 80, c); addLabel(BL_power_l, 4, 5, 80, c); addLabel(BL_speed_l, 5, 5, 80, c); // Back Right Wheel values and label c.gridx = 0; c.gridy = 6; JLabel BRlabel = new JLabel("Back Right"); BRlabel.setHorizontalAlignment(JLabel.LEFT); BRlabel.setPreferredSize(new Dimension(90,20)); add(BRlabel, c); addLabel(BR_command_l, 1, 6, 100, c); addLabel(BR_monitor_l, 2, 6, 90, c); addLabel(BR_sense_l, 3, 6, 80, c); addLabel(BR_power_l, 4, 6, 80, c); addLabel(BR_speed_l, 5, 6, 80, c); // Left Steering values and label c.gridx = 0; c.gridy = 7; JLabel SLlabel = new JLabel("Left Steer"); SLlabel.setHorizontalAlignment(JLabel.LEFT); SLlabel.setPreferredSize(new Dimension(90,20)); add(SLlabel, c); addLabel(SL_command_l, 1, 7, 100, c); addLabel(SL_monitor_l, 2, 7, 90, c); addLabel(SL_sense_l, 3, 7, 80, c); addLabel(SL_power_l, 4, 7, 80, c); addLabel(SL_speed_l, 5, 7, 80, c); // Right Steering values and label c.gridx = 0; c.gridy = 8; JLabel SRlabel = new JLabel("Right Steer"); SRlabel.setHorizontalAlignment(JLabel.LEFT); SRlabel.setPreferredSize(new Dimension(90,20)); add(SRlabel, c); addLabel(SR_command_l, 1, 8, 100, c); addLabel(SR_monitor_l, 2, 8, 90, c); addLabel(SR_sense_l, 3, 8, 80, c); addLabel(SR_power_l, 4, 8, 80, c); addLabel(SR_speed_l, 5, 8, 80, c); c.gridwidth = 6; c.gridx = 0; c.gridy = 9; add(Box.createVerticalStrut(10), c); // Total values and label c.gridy = 10; JLabel Tlabel = new JLabel("Totals"); Tlabel.setHorizontalAlignment(JLabel.LEFT); Tlabel.setPreferredSize(new Dimension(90,20)); add(Tlabel, c); addLabel(T_command_l, 1, 10, 100, c); addLabel(T_monitor_l, 2, 10, 90, c); addLabel(T_sense_l, 3, 10, 80, c); addLabel(T_power_l, 4, 10, 80, c); c.gridx = 5; add(Box.createRigidArea(new Dimension(80,20)), c); c.gridwidth = 6; c.gridx = 0; c.gridy = 11; add(Box.createVerticalStrut(25), c); c.gridwidth = 3; c.gridy = 12; JLabel psvLabel = new JLabel("Power Supply Voltages"); psvLabel.setHorizontalAlignment(JLabel.LEFT); psvLabel.setPreferredSize(new Dimension(280,20)); add(psvLabel, c); c.gridwidth = 6; c.gridx = 0; c.gridy = 13; add(Box.createVerticalStrut(5), c); c.gridwidth = 2; c.gridy = 14; JLabel P_1_label = new JLabel("Power Supply 1"); P_1_label.setHorizontalAlignment(JLabel.LEFT); P_1_label.setPreferredSize(new Dimension(190,20)); add(P_1_label, c); addLabel(P_one_l, 2, 14, 80, c); c.gridwidth = 2; c.gridx = 0; c.gridy = 15; JLabel P_2_label = new JLabel("Power Supply 2"); P_2_label.setHorizontalAlignment(JLabel.LEFT); P_2_label.setPreferredSize(new Dimension(190,20)); add(P_2_label, c); addLabel(P_two_l, 2, 15, 80, c); } private void addLabel(JLabel l, int x, int y, int w, GridBagConstraints c) { c.gridx = x; c.gridy = y; l = new JLabel("1000.000"); l.setHorizontalAlignment(JLabel.CENTER); l.setPreferredSize(new Dimension(w,20)); l.setBorder(BorderFactory.createLoweredBevelBorder()); add(l, c); } synchronized public void setCurrents(int c[], int m[], int s[]) { FL_command_v = c[3]; FL_monitor_v = m[3]; FL_sense_v = s[3]; FR_command_v = c[2]; FR_monitor_v = m[2]; FR_sense_v = s[2]; BL_command_v = c[1]; BL_monitor_v = m[1]; BL_sense_v = s[1]; BR_command_v = c[0]; BR_monitor_v = m[0]; BR_sense_v = s[0]; SL_command_v = c[5]; SL_monitor_v = m[5]; SL_sense_v = s[5]; SR_command_v = c[4]; SR_monitor_v = m[4]; SR_sense_v = s[4]; FL_command_l.setText(Double.toString((double)FL_command_v/1000.0)); FL_monitor_l.setText(Double.toString((double)FL_monitor_v/1000.0)); FL_sense_l.setText(Double.toString((double)FL_sense_v/1000.0)); FR_command_l.setText(Double.toString((double)FR_command_v/1000.0)); FR_monitor_l.setText(Double.toString((double)FR_monitor_v/1000.0)); FR_sense_l.setText(Double.toString((double)FR_sense_v/1000.0)); BL_command_l.setText(Double.toString((double)BL_command_v/1000.0)); BL_monitor_l.setText(Double.toString((double)BL_monitor_v/1000.0)); BL_sense_l.setText(Double.toString((double)BL_sense_v/1000.0)); BR_command_l.setText(Double.toString((double)BR_command_v/1000.0)); BR_monitor_l.setText(Double.toString((double)BR_monitor_v/1000.0)); BR_sense_l.setText(Double.toString((double)BR_sense_v/1000.0)); SL_command_l.setText(Double.toString((double)SL_command_v/1000.0)); SL_monitor_l.setText(Double.toString((double)SL_monitor_v/1000.0)); SL_sense_l.setText(Double.toString((double)SL_sense_v/1000.0)); SR_command_l.setText(Double.toString((double)SR_command_v/1000.0)); SR_monitor_l.setText(Double.toString((double)SR_monitor_v/1000.0)); SR_sense_l.setText(Double.toString((double)SR_sense_v/1000.0)); T_command_v = T_monitor_v = T_sense_v = 0; for(int x=0; x<6; x++) { T_command_v += c[x]; T_monitor_v += m[x]; T_sense_v += s[x]; } T_command_l.setText(Double.toString((double)T_command_v/1000.0)); T_monitor_l.setText(Double.toString((double)T_monitor_v/1000.0)); T_sense_l.setText(Double.toString((double)T_sense_v/1000.0)); } synchronized public void setMotors(int p[], int s[]) { FL_power_v = p[3]; FL_speed_v = s[3]; FR_power_v = p[2]; FR_speed_v = s[2]; BL_power_v = p[1]; BL_speed_v = s[1]; BR_power_v = p[0]; BR_speed_v = s[0]; SL_power_v = p[5]; SL_speed_v = s[5]; SR_power_v = p[4]; SR_speed_v = s[4]; FL_power_l.setText(Double.toString((double)FL_power_v/1000.0)); FL_speed_l.setText(Double.toString((double)FL_speed_v/1000.0)); FR_power_l.setText(Double.toString((double)FR_power_v/1000.0)); FR_speed_l.setText(Double.toString((double)FR_speed_v/1000.0)); BL_power_l.setText(Double.toString((double)BL_power_v/1000.0)); BL_speed_l.setText(Double.toString((double)BL_speed_v/1000.0)); BR_power_l.setText(Double.toString((double)BR_power_v/1000.0)); BR_speed_l.setText(Double.toString((double)BR_speed_v/1000.0)); SL_power_l.setText(Double.toString((double)SL_power_v/1000.0)); SL_speed_l.setText(Double.toString((double)SL_speed_v/1000.0)); SR_power_l.setText(Double.toString((double)SR_power_v/1000.0)); SR_speed_l.setText(Double.toString((double)SR_speed_v/1000.0)); T_power_v = T_speed_v = 0; for(int x=0; x<6; x++) { T_power_v += p[x]; T_speed_v += s[x]; } T_power_l.setText(Double.toString((double)T_power_v/1000.0)); T_speed_l.setText(Double.toString((double)T_speed_v/1000.0)); } }