UI

How to use mikLib UI

important

To disable Brain UI and make mikLib upload wirelessly faster, go to makefile and set FAST_COMPILE = 1.

If you want to swap to a screen write code below. Available screens are auton_scr, console_scr, graph_scr, config_scr, motors_scr and pneumatic_scr

// Swaps to console screen
UI_select_scr(console_scr->get_console_screen());

Auton Screen

Controller UI

The auton screen appears on the controller at the start of the program.

Button	Action
Dpad	Move Cursor
A	Select
B	Back
X	Close Selector
Y	Calibrate Auto. Double press to run auto

important

If you have a micro SD card inside the brain configured to FAT32 the last selected auton will save on program restart

There are 5 toggles to select which determine what auto to run as well as a variation toggle that cycles 1-4.

[Red/Blue] [Left/Right] [Qual/Elim] [Off/SAWP] [Off/Skills] [1]

With each auton set up in this format

std::string blue_left_winpoint(bool calibrate, auto_variation var, bool get_name) {
    if (get_name) return "blue left winpoint";

    // Mirror autos here

    if (calibrate) {
        chassis.set_coordinates(0, 0, 0);
        return "";
    }    

    chassis.drive_to_point(24, 24);
    
    return "";
}

[Desc] Will display the name of the auton blue left winpoint.
[Calib] Will set the robots coordinates
[Run] Will have the robot drive to 24, 24

important

The calibrate section allows you can run motions to align the robot, so in a competition you would place the robot down aligned with the field tiles, press calibrate to lock its position. Then position it where you actually want it. After that you can plug into field controller and wait for auton to run.

note

If you run auton through UI it can be cancelled anytime with back button

Mirroring

In order to properly mirror autons and distance reset, the VEX coordinate system needs to be used. Planning autos on path.jerryio is the easiest way to get the correct points

This auto is a red right winpoint.

std::string red_right_winpoint(bool calibrate, auto_variation var, bool get_name) {
    if (get_name) return "red right winpoint";

    if (calibrate) {
        chassis.set_coordinates(-59.08, -58.58, 0);
        return "";
    }

    chassis.drive_to_point(-24.15, -47.17);
    chassis.drive_to_point(-46.78, -24.19);
    return "";
}

To mirror it across the field to blue, we need to mirror the x and y pos.

std::string blue_right_winpoint(bool calibrate, auto_variation var, bool get_name) {
    if (get_name) return "blue right winpoint";

    // Mirror across field, applies to all drive motions
    chassis.mirror_all_auton_x_pos();
    chassis.mirror_all_auton_y_pos();

    if (calibrate) {
        // Call red right winpoint mirrored
        red_right_winpoint(calibrate, var, get_name);
        return "";
    }

    red_right_winpoint(calibrate, var, get_name);
    return "";
}

Mirroring x or y pos also handles mirroring angles and converting left swing to right swing

note

Mirroring stays on until the program restarts or you call chassis.disable_mirroring(). This only matters when testing multiple autos in one session. Switching to a non-mirrored auto without a restart will still run mirrored.

Variations

Auton variations allow you do run different autos with the same toggles, with 4 available per selection one, two, three, and four.

std::string blw_var2(bool calibrate, auto_variation var, bool get_name) {
    if (get_name) return "blw var 2";

    if (calibrate) {
        chassis.set_coordinates(10, 10, 0);
        return "";
    }    

    chassis.turn_to_point(12, 12);
    
    return "";
}

// Base auto, call variations from here
std::string blue_left_winpoint(bool calibrate, auto_variation var, bool get_name) {
    if (var == one) { } // If [1] run this auto
    if (var == two) return blw_var2(calibrate, var, get_name); // if [2] run btw var2

    if (get_name) return "blue left winpoint";


    if (calibrate) {
        chassis.set_coordinates(0, 0, 0);
        return "";
    }    

    chassis.drive_to_point(24, 24);
    
    return "";
}

[Blue] [Left] [Qual] [1] runs chassis.drive_to_point(24, 24);
[Blue] [Left] [Qual] [2] runs chassis.turn_to_point(12, 12);

Extra modifiers

There are 3 extra buttons at the bottom of the controller screen

[Off/Cap] When auton is ran it will timeout after 15 seconds. 60 seconds for skills run
[RCal] Recalibrates the inertial sensor
[Off/Odom] Displays odom coords while auto is running

Brain UI

The 2nd tab of the home screen holds the auton selector on the Brain. It works the exact same as controller selector, with some of the functionality on the config tab.

Console Screen

The console screen is the 4th tab on the homepage, and can be accessed by scrolling to the right. It allows text to be displayed and updated asynchronously. Config buttons that need to display text will use this screen. Clicking on any text will hover it light gray and remove it from the list.

important

Do not spam console_scr->add or the program will crash, use print or std::cout instead

Adding Text

Static Text

console_scr->add("Hello World!");

Updated Text

console_scr->add("Time: ", [](){ return Brain.Timer.time(msec); });

// Rounded to 2 decimal places, removes trailing zeros
console_scr->add("Angle: ", [](){ return to_string_float(chassis.get_absolute_heading(), 2); });

note

Any raw floats passed in by default will be rounded to 5 decimal places.

Config Screen

There are 3 columns of buttons on the config screen, Macro, Data and Test/Tune. You can scroll down on the config screen by pressing down for a second and while holding move finger down.

Macro Column

Button	Description
Run Auto	Run selected auto by the auton selector, runs a 3 second countdown before starting
Time Cap Auto	Limits max time allowed for ran auton to 15 seconds, or 60 seconds for auton skills
Driver Skills	Starts a practice driver skills run. Waits 3 seconds before starting and then puts a 60 second timer on controller. Controller vibrates at 30, 15 and 5 seconds
Auto Skills	Selects skills auton
Motor Menu	Goes to motors screen
Pneumatic Menu	Goes to pneumatic screen
Odom Offsets	Turns robot 10 times and computes odom offsets, displayed on console screen
Reset Offsets	Turns in place near field walls to find distance reset offsets. Place robot here
Wipe SD	Clears SD card. Wipes selected auto and saved tuning parameters

Data Column

Button	Description
Error Data	Displays any errors on console screen (disconnected devices) detected on startup. If errors are detected on startup the controller will buzz
Motor Temps	Displays motor temps on console screen. Around 80% is when the motors are overheated
Motor Wattage	How many watts each motor is pulling. Mainly used to determine friction within the drive or intake
Odom Data	Displays inertial angles and tracker/drivetrain positions. Heading is in degrees, positions in inches
Reset Data	Displays where the distance sensors think the robot is. Laid out in the format, odom x, y, and heading. Then each distance sensors `wall facing`, computed `x or y position` and `D: distance in inches`. Use this simulation for troubleshooting. For wall detection to work the robot needs to have its position set with `chassis.set_coordinates` before the button is pressed.
PID Data	Displays all constants changed during tune mode
Motor Torque	Displays how much torque each motor is applying
Motor Eff	Displays how efficient each motor is (output power / input power)
Motor Current	How many amps each motor is pulling, used usually to see if you have bad motor

Test/Tune

Button	Description
Tune Mode	Cycles between two tune modes, `relative` and `odom`. When the button is pressed it will run `test_constants()`. When set to relative it will not use odom points while in tuning mode and odom mode will.
Tune Drive	Enables tuning mode for drive
Tune Heading	Enables tuning mode for heading
Tune Turn	Enables tuning mode for turn
Tune Swing	Enables tuning mode for swing
Test Full	Run a mix of all relative or odom motions
Test Boomerng	Runs drive to pose
Test Chaining	Runs motion chained test full
Test Holonomic	Runs holonomic motions

Graph Screen

The graph screen is used when tune mode is selected on the config screen.

Setting up plotting

To plot on the graph first set up the bounds, and or title

int y_min = 0;
int y_max = 360;

int x_min = 0;
int x_max = 5000;

int x_step = 1; // How much to increase x by each tick
int tick_rate_ms = 1; // How long before graphing next data point

graph_scr->set_plot_bounds(y_min, y_max, x_min, x_max, x_step, tick_rate_ms);
graph_scr->set_title("Graphing Sin");

Then add in the data you want to plot

graph_scr->set_plot([](double x) { return 360 * sin(x * .01); }, {"sin", "#4a86e8"});

Now you can graph your function

graph_scr->graph();

note

To reset the graph and start re-graphing the function press the reset button in the bottom right corner

You can also plot multiple functions at the same time. Using the same bounds

graph_scr->set_title("Graphing Heading");
graph_scr->set_plot({
    [](double x) { return chassis.get_absolute_heading(); },
    [](double x) { return 100; }
}, {
    {"angle", "#2e8b59"},
    {"line", "#ff6e39"}
});

Motors Screen

The motors screen displays all mik::motors. It can be accessed on the config screen or by scrolling to the 5th tab on the homepage

If a motor is plugged in then its port will appear white.
To spin a motor backwards press the left arrow, with right arrow for forwards. Press arrow again stop the motor
The voltage at which the motor is spun at is determined which voltage is selected to the right

Motor on PORT1 is plugged in, with the rest unplugged

Motor on PORT1 is spinning forward at 6 volts

Pneumatic Screen

The pneumatic screen allows you to open and close all solenoids. It can be accessed by pressing on the Pneumatic Menu button on the config screen or by scrolling to the 6th tab on the homepage

You can also use buttons at the bottom to change what triport the pnematic screen activates. By default it will use Brain ports

Auton Screen​

Controller UI​

Mirroring​

Variations​

Extra modifiers​

Brain UI​

Console Screen​

Adding Text​

Static Text​

Updated Text​

Config Screen​

Macro Column​

Data Column​

Test/Tune​

Graph Screen​

Setting up plotting​

Motors Screen​

Pneumatic Screen​

Auton Screen

Controller UI

Mirroring

Variations

Extra modifiers

Brain UI

Console Screen

Adding Text

Static Text

Updated Text

Config Screen

Macro Column

Data Column

Test/Tune

Graph Screen

Setting up plotting

Motors Screen

Pneumatic Screen