Align examples.

Author: aentinger

examples/Platform_Tutorials/projects/p03-learning-mode/01_Braccio_learning_mode/01_Braccio_learning_mode.ino

@@ -13,9 +13,12 @@ enum states {
 
 int state = ZERO_POSITION;
 
-float values[10000];
+static int const MAX_SAMPLES = 6*1000*2; /* 20 seconds. */
+
+float values[MAX_SAMPLES];
 float* idx = values;
 float* final_idx = 0;
+int sample_cnt = 0;
 float homePos[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
 
 static lv_obj_t * counter;
@@ -25,10 +28,12 @@ static const char * btnm_map[] = { "RECORD", "\n", "REPLAY", "\n", "ZERO_POSITIO
 
 
 static void eventHandlerMenu(lv_event_t * e) {
+  Braccio.lvgl_lock();
   lv_event_code_t code = lv_event_get_code(e);
   lv_obj_t * obj = lv_event_get_target(e);
 
   if (code == LV_EVENT_KEY && lv_indev_get_key(lv_indev_get_act()) == LV_KEY_HOME) {
+    Braccio.lvgl_unlock();
     state = ZERO_POSITION;
     return;
   }
@@ -42,6 +47,7 @@ static void eventHandlerMenu(lv_event_t * e) {
     }
 
     idx = values;
+    sample_cnt = 0;
 
     switch (id) {
       case 0: // if the button pressed is the first one
@@ -90,9 +96,12 @@ static void eventHandlerMenu(lv_event_t * e) {
         break;
     }
   }
+  Braccio.lvgl_unlock();
 }
 
-void mainMenu() {
+void mainMenu()
+{
+  Braccio.lvgl_lock();
   static lv_style_t style_focus;
   lv_style_init(&style_focus);
   lv_style_set_outline_color(&style_focus, lv_color_hex(COLOR_ORANGE));
@@ -124,6 +133,7 @@ void mainMenu() {
   lv_obj_align(counter, LV_ALIGN_CENTER, 0, 80);
 
   lv_obj_add_event_cb(btnm, eventHandlerMenu, LV_EVENT_ALL, NULL);
+  Braccio.lvgl_unlock();
 
   Braccio.connectJoystickTo(btnm);
 }
@@ -141,25 +151,38 @@ void setup() {
 
 void loop() {
   if (state == RECORD) {
+
+    /* Check if we still have space for samples. */
+    if (sample_cnt >= MAX_SAMPLES) {
+      state = ZERO_POSITION;
+      Serial.println("ZERO_POSITION");
+      Braccio.lvgl_lock();
+      btnm_map[0] = "RECORD"; // reset the label of the first button back to "RECORD"
+      lv_btnmatrix_set_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_CHECKABLE);
+      Braccio.lvgl_unlock();
+    }
+    /* Capture those samples. */
     Braccio.positions(idx);
     idx += 6;
+    sample_cnt += 6;
   }
   if (state == REPLAY) {
     Braccio.moveTo(idx[0], idx[1], idx[2], idx[3], idx[4], idx[5]);
     idx += 6;
+    sample_cnt += 6;
     if (idx >= final_idx) {
       Serial.println("REPLAY done");
       state = ZERO_POSITION;
+      Braccio.lvgl_lock();
       btnm_map[2] = "REPLAY"; // reset the label of the first button back to "REPLAY"
       lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+      Braccio.lvgl_unlock();
     }
   }
-  if (idx - values >= sizeof(values)) {
-    Serial.println("ZERO_POSITION");
-    state = ZERO_POSITION;
-  }
   delay(100);
   if (state != ZERO_POSITION) {
-    lv_label_set_text_fmt(counter, "Counter: %d" , idx - values);
+    Braccio.lvgl_lock();
+    lv_label_set_text_fmt(counter, "Counter: %d" , (sample_cnt / 6));
+    Braccio.lvgl_unlock();
   }
 }