OLED

The top boards on microcontroller6.0 have an OLED screen. Everything displayed on the OLED is defined by a page that follows a certain structure. The pages are connected to each other like a tree structure. This page provides an overview of the driver and instructions on how to create new pages.

There are 3 major sections

Driver

The driver contains the code that keeps track of what page should be displayed and what should happen after a button press. Besides that it contains the definition of the warning/error pages.

Buttons

The pages on the OLED screen can be navigated by using the buttons on the top board. They can be used as follows:

When at the root of the tree, any button can be used to go to the main menu
When in a menu, use up and down to select the option you want, and OK the go to that page. Left and right can be used to go to a menu on the same level which shares the parent with the current page
When in a test page which is not a leaf node, press OK to go to the next page or any other button to end the test early.
When in a leaf node, press any button to go up a level.

struct page_struct

Each page has to follow a structure, which is as follows:

Name	type	max size	explanation
id	int		Used for routing to the correct function that runs a self-test or updates variables. Needs be unique
page_name	char array	15	Name of page, used for menu's and display
parent	page_struct pointer		Parent of the current page
children	array of page_struct pointers	9	Amount of children each page is allowed to have.
n_of_children	int		Keeps track of how many children the page actually has to prevent overflows
is_menu	bool		Indicates if page is a menu
is_test	enum test_type		Indicates if page is a test and what kind of test it is
has_variables	bool		Indicates if page has variables that needs to be updated while displaying the page
line0	char array	23	text that is displayed on line 0
line1	char array	23	text that is displayed on line 1
line2	char array	23	text that is displayed on line 2
line3	char array	23	text that is displayed on line 3

Enum test_type

Every page has a test_type, which can be either NOT_A_TEST, BLOCKING_TEST, NON_BLOCKING_TEST. The default is that a page is NOT_A_TEST. When the page is meant to run a page, one of the other options should be selected. If the test does not make use of the “control loop” (part of HAL_TIM_PeriodElapsedCallback) or any other functions called in the main loop, BLOCKING_TEST should be selected. If it does make use of these loops that are not directly called by the OLED, NON_BLOCKING_TEST should be selected.

Base pages

There are a few pages defined in the driver that display warnings, errors, and are used on bootup

boot_sreen display RTT logo
end_of_boot_screen Display useful info on startup such as robot ID and team color
MenuNoChildrenException A page has a menu but no children
MenuHasTooManyChildrenException Used to warn user that a menu has too many children. Used to prevent overflows
notInTestMode Used if robot is not and test mode and user tries to access a test

Update

The update function is called by the main loop of the top board, and takes the following steps

If a menu has too many children, display hasTooManyChildrenException
If no button is pressed, run the test or update the variables on the page if applicable. Return anyway
If a button is pressed, follow up on the actions as discussed before
Check if page is a test and if test mode is disabled, if both are true display the warning NotInTestMode
Either display the menuHasNoChildrenException if applicable or display the new page

Start/End of test

At the start of a test, calling start_of_test is recommended to display that the test has started. At the end of a test it is strongly to call end_of_test, as it brakes the wheels and for non-blocking tests it also should stop the robot from kicking and dribbling.

Limitations

Only limited options as input for a test. As the buttons are only used for navigation of the tree the input options are limited to 9 unless a big web of pages is created. All the input options thus need to be pre-programmed and cannot be dynamically selected

Pages

Pages can typically be categorized in one of four ways.

A menu
A self test
A variable page, which displays information which updates whilst running
A static page, which displays information which is set once

pages have default values, which can be set by pages_set_deafault_values(&page, parent). This sets the parent, and sets fields like is_menu to false. To make sure the edge between parent and child is set in both ways add_child_to_parent(&child) should be used.

Menus

In the menus folder you can some of the menu's present. For example the main_menu.c file. In this file the children of main menu (that are also a menu) are initialized, not the page itself. This is done to minimize the amount of pages needed. Some menus, especially those where a setting for a self test is selected, are initialized in the file of the self test.

Self test

Self tests have at least 2 functions.

init() or similair where the pages are initialized
run() where the test is executed, which is called from the selftest_selector

Reminder to use start_of_test() and end_of_test()

Variable page

Variable pages have at least 2 functions.

init() or similair where the pages are initialized
update() where the the values are updated, which is called from the variable_page_selector

Selector

To call the correct run() or update(), there is a selftest_selector and variable_page_selector respectively. They check the id of the current page and check which function should be called.