This Servo Sequencer connects to a serial port where AVR microcontroller is listening for servo inputs .
GUI has 6 scrollbar and a sequencer table where commands can be created/saved/loaded back and can be run to create a set of motion it has speech recognition used microsoft's speech synthesis bundle
GUI screenshot :
code looks something like this
' Nataraja Gadikota
' Serial servo controller program
'VB.NET2008
'controller for 6 servo motor's
'255 steps
Imports System
Imports System.ComponentModel
Imports System.Threading
Imports System.Windows.Forms
Imports System.Speech
Public Class Form1
Dim WithEvents reco As New Recognition.SpeechRecognizer
Dim sv(7) As Byte
Dim sd(7) As Byte
Dim str As String
Dim a As Integer
Dim delay As Integer
Dim lv As Integer
Dim numlistbox As Integer
Dim runflag As Integer
Dim dec As Integer
Dim newposflag As Integer
Dim tx As Integer
Dim synth As New Synthesis.SpeechSynthesizer
Dim w As IO.StreamWriter
Dim r As IO.StreamReader
Private Delegate Sub AddListBoxItemInvoker(ByVal item As Object)
Private Sub Form1_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load
Dim grammer1 As New Recognition.SrgsGrammar.SrgsDocument
Dim commandRule As New Recognition.SrgsGrammar.SrgsRule("color")
Dim commandList As New Recognition.SrgsGrammar.SrgsOneOf("left", "right", "stop", "up", "down", "home", "center")
synth.SpeakAsync("list of commands " + "left " + "right " + "stop " + "up " + "down " + "home " + "center ")
commandRule.Add(commandList)
grammer1.Rules.Add(commandRule)
grammer1.Root = commandRule
reco.LoadGrammar(New Recognition.Grammar(grammer1))
SerialPort1.PortName = "com1"
SerialPort1.BaudRate = 38400
SerialPort1.Parity = IO.Ports.Parity.None
SerialPort1.StopBits = IO.Ports.StopBits.One
SerialPort1.DataBits = 8
Button2.Text = "close com1 port"
Button1.Text = "open com1 port"
Button3.Text = "send data"
Button13.Text = "save data"
Button14.Text = "load data"
Button12.Text = "add seq"
Button15.Text = "clear"
TextBox8.Text = 0
TextBox9.Text = 0
VScrollBar7.Maximum = 50
VScrollBar1.Maximum = 264
VScrollBar1.Minimum = 1
VScrollBar2.Maximum = 264
VScrollBar2.Minimum = 1
VScrollBar3.Maximum = 264
VScrollBar3.Minimum = 1
VScrollBar4.Maximum = 264
VScrollBar4.Minimum = 1
VScrollBar5.Maximum = 264
VScrollBar5.Minimum = 1
VScrollBar6.Maximum = 264
VScrollBar6.Minimum = 1
VScrollBar7.Minimum = 8
VScrollBar7.Value = 8
VScrollBar6.Value = 127
VScrollBar5.Value = 127
VScrollBar4.Value = 127
VScrollBar3.Value = 127
VScrollBar2.Value = 127
VScrollBar1.Value = 127
Button4.Text = "center"
Button5.Text = "center"
Button6.Text = "center"
Button7.Text = "center"
Button8.Text = "center"
Button9.Text = "center"
Button10.Text = "All home"
Button11.Text = "RUN"
numlistbox = 0
a = 0
lv = 1
dec = 0
runflag = 0
Timer1.Interval = 5
Timer1.Enabled = True
End Sub
Private Sub Button2_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button2.Click
If SerialPort1.IsOpen = True Then SerialPort1.Close()
If SerialPort1.IsOpen = False Then MsgBox("com1 port closed sucessfully")
End Sub
Private Sub Button1_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button1.Click
If SerialPort1.IsOpen = False Then SerialPort1.Open()
If SerialPort1.IsOpen = True Then MsgBox("com1 port opened sucessfully")
End Sub
Private Sub SerialPort1_DataReceived(ByVal sender As Object, _
ByVal e As IO.Ports.SerialDataReceivedEventArgs) Handles SerialPort1.DataReceived
Dim Avalue As Integer
Avalue = SerialPort1.ReadByte
SerialPort1.Write(sv, 0, 7)
Me.AddListBoxItem(Avalue)
End Sub
Private Sub AddListBoxItem(ByVal item As Object)
If Me.TextBox1.InvokeRequired Then
Me.TextBox1.Invoke(New AddListBoxItemInvoker(AddressOf AddListBoxItem), item)
Else
'Me.TextBox10.Text = "received"
Me.TextBox1.Text = (item)
Me.newposflag = 1
End If
End Sub
Private Sub Button3_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button3.Click
SerialPort1.Write(sv, 0, 7)
End Sub
Private Sub VScrollBar1_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar1.ValueChanged
TextBox2.Text = VScrollBar1.Value
sv(0) = Val(VScrollBar1.Value)
End Sub
Private Sub VScrollBar2_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar2.ValueChanged
TextBox3.Text = VScrollBar2.Value
sv(1) = VScrollBar2.Value
End Sub
Private Sub VScrollBar3_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar3.ValueChanged
TextBox4.Text = VScrollBar3.Value
sv(2) = VScrollBar3.Value
End Sub
Private Sub VScrollBar4_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar4.ValueChanged
TextBox5.Text = VScrollBar4.Value
sv(3) = VScrollBar4.Value
End Sub
Private Sub VScrollBar5_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar5.ValueChanged
TextBox6.Text = VScrollBar5.Value
sv(4) = VScrollBar5.Value
End Sub
Private Sub VScrollBar6_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar6.ValueChanged
TextBox7.Text = VScrollBar6.Value
sv(5) = VScrollBar6.Value
End Sub
Private Sub VScrollBar7_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar7.ValueChanged
TextBox9.Text = VScrollBar7.Value
sv(6) = VScrollBar7.Value
End Sub
Private Sub Button4_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button4.Click
VScrollBar1.Value = 127
End Sub
Private Sub Button5_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button5.Click
VScrollBar2.Value = 127
End Sub
Private Sub Button6_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button6.Click
VScrollBar3.Value = 127
End Sub
Private Sub Button7_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button7.Click
VScrollBar4.Value = 127
End Sub
Private Sub Button8_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button8.Click
VScrollBar5.Value = 127
End Sub
Private Sub Button9_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button9.Click
VScrollBar6.Value = 127
End Sub
Private Sub Button10_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button10.Click
VScrollBar6.Value = 127
VScrollBar5.Value = 127
VScrollBar4.Value = 127
VScrollBar3.Value = 127
VScrollBar2.Value = 127
VScrollBar1.Value = 127
End Sub
Private Sub Button11_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button11.Click
'Dim synth1 As New Synthesis.SpeechSynthesizer
'synth1.SpeakAsync("left right center up down")
'MessageBox.Show("run clicked")
runflag = 1
a = 0
dec = 0
'MessageBox.Show(ListBox1.Items.Item(1))
End Sub
Private Sub SetColor(ByVal color As System.Drawing.Color)
Dim synth As New Synthesis.SpeechSynthesizer
synth.SpeakAsync("command executed" + color.ToString)
'Me.BackColor = color
End Sub
Private Sub reco_SpeechRecognized(ByVal sender As Object, ByVal e As System.Speech.Recognition.RecognitionEventArgs) Handles reco.SpeechRecognized
Select Case e.Result.Text
Case "left"
If VScrollBar1.Value > 21 Then
VScrollBar1.Value = VScrollBar1.Value - 20
Else
VScrollBar1.Value = 1
End If
synth.SpeakAsync("command executed" + " left ")
'SetColor(Color.left)
'SerialPort1.Write("red")
Case "right"
If VScrollBar1.Value < 230 Then
VScrollBar1.Value = VScrollBar1.Value + 20
Else
VScrollBar1.Value = 250
End If
synth.SpeakAsync("command executed" + " right ")
'SetColor(Color.right)
'SerialPort1.Write("green")
Case "fast"
If VScrollBar7.Value >= 6 Then
VScrollBar7.Value = VScrollBar7.Value - 1
Else
VScrollBar7.Value = 5
End If
synth.SpeakAsync("command executed" + " fast ")
'SetColor(Color.fast)
'SerialPort1.Write("blue")
Case "slow"
If VScrollBar7.Value <= 15 Then
VScrollBar7.Value = VScrollBar7.Value + 1
Else
VScrollBar7.Value = 16
End If
synth.SpeakAsync("command executed" + " slow ")
'SetColor(Color.slow)
'SerialPort1.Write("pink")
Case "center"
VScrollBar1.Value = 127
synth.SpeakAsync("command executed" + " center ")
'SetColor(Color.center)
'SerialPort1.Write("yellow")
Case "stop"
VScrollBar1.Value = VScrollBar1.Value
synth.SpeakAsync("command executed" + " stop ")
'SetColor(Color.stop)
Case "up"
VScrollBar1.Value = 1
synth.SpeakAsync("command executed" + " up ")
Case "down"
VScrollBar1.Value = 254
synth.SpeakAsync("command executed" + " down ")
End Select
End Sub
Private Sub TextBox9_TextChanged(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles TextBox9.TextChanged
End Sub
Private Sub Button12_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button12.Click
Dim str1 As String
str1 = TextBox2.Text + " " + TextBox3.Text + " " + TextBox4.Text + " " + TextBox5.Text + " " + TextBox6.Text + " " + TextBox7.Text + " " + TextBox9.Text
ListBox1.Items.Add(str1)
numlistbox = numlistbox + 1
'MessageBox.Show(numlistbox)
End Sub
Private Sub Timer1_Tick(ByVal sender As Object, ByVal e As System.EventArgs) Handles Timer1.Tick
Dim cnt As Integer
Me.VScrollBar6.Value = sv(5)
Me.VScrollBar5.Value = sv(4)
Me.VScrollBar4.Value = sv(3)
Me.VScrollBar3.Value = sv(2)
Me.VScrollBar2.Value = sv(1)
Me.VScrollBar1.Value = sv(0)
tx = Val(TextBox8.Text)
TextBox10.Text = tx
If newposflag = 1 Then
If ((runflag = 1) And (numlistbox > a)) Then
If lv = 1 Then
Me.str = ListBox1.Items.Item(a)
cnt = 0
For Each j As Short In Me.str.Split(" ")
sd(cnt) = Val(j)
cnt = cnt + 1
Next
delay = sd(6)
TextBox11.Text = delay
lv = 0
Else
If dec = 0 Then
For cnt = 0 To 5 Step 1
If ((tx <> 0) And (sv(cnt) <> sd(cnt))) Then
If (sd(cnt) > sv(cnt) And (sv(cnt) + tx < sd(cnt))) Then
sv(cnt) = sv(cnt) + tx
ElseIf (sd(cnt) < sv(cnt) And (sv(cnt) > sd(cnt) + tx)) Then
sv(cnt) = sv(cnt) - tx
Else
sv(cnt) = sd(cnt)
End If
Else
sv(cnt) = sd(cnt)
End If
Next cnt
For cnt = 0 To 5 Step 1
If (sv(cnt) = sd(cnt)) Then
If cnt = 5 Then
dec = 1
End If
Else
Exit For
End If
Next cnt
End If
If dec = 1 Then
If delay = 0 Then
a = a + 1
lv = 1
dec = 0
Else
delay = delay - 1
End If
End If
End If
Else
runflag = 0
End If
newposflag = 0
End If
End Sub
Private Sub Button13_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button13.Click
'save to file
Dim userMsg As String
userMsg = Microsoft.VisualBasic.InputBox("enter the file name with path ", "save file As", "C:\VBtest\")
Dim li As Integer
w = New IO.StreamWriter(userMsg)
For li = 0 To ListBox1.Items.Count - 1
w.WriteLine(ListBox1.Items.Item(li))
Next
w.Close()
End Sub
Private Sub Button14_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button14.Click
'load to listbox
Dim testMsg As Integer
Dim userMsg As String
testMsg = MsgBox("to u want to append data ", vbYesNoCancel + vbExclamation, "append or clear")
If testMsg <> 6 Then
ListBox1.Items.Clear()
End If
userMsg = Microsoft.VisualBasic.InputBox("enter the file name with path ", "load from ", "C:\VBtest\")
r = New IO.StreamReader(userMsg)
While (r.Peek() > -1)
ListBox1.Items.Add(r.ReadLine)
End While
r.Close()
End Sub
Private Sub Button15_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button15.Click
'clear list box
ListBox1.Items.Clear()
End Sub
End Class
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