Form1

M:\Mike (latest)\Stub Programs\Advanced Joystick - doneprinter\vidcap test.frm
File saved: 4/30/2006 2:24:06 PM
Generated: 4/30/2006 4:51:50 PM

Table of Contents
(Designer Object Definition)
Declarations
SendCommand
HandlePacket
pollme
GetBinary
Form_Activate
Form_Unload
Build_Combos
Form_Load
Lock_Buttons
Restore_Buttons
TrackCenter_BU_Click
DumpFrame_BU_Click
Joystick_BU_Click
button_auto_tracking_Click
command_middle_mass_on_servo_to_Click
command_middle_mass_off_Click
command_middle_mass_on_Click
button_disable_tracking_Click
ping_bu_Click
version_bu_Click
reset_bu_Click
Mean_Color_value_Click
menu_exit_Click
menu_joystick_Click
poll_mode_Click
Reg_Update_Click
Reset_regs_Click
Restore_window_size_Click
RGB_OFF_Click
RGB_ON_Click
Ser_In_Change
Set_window_Size_Click
set_servo_Click
Start_Tracking_Click
stop_loop_Click
YcrCb_off_Click
YcrCb_on_Click
menu_autotracking_Click
menu_crcboff_Click
menu_crcbon_Click
menu_dumpframe_Click
menu_enabletracking_Click
menu_firmversion_Click
menu_getmean_Click
menu_mmoff_Click
menu_mmon_Click
menu_mmonservo_Click
menu_ping_Click
menu_resboard_Click
menu_resetregs_Click
menu_restorewindow_Click
menu_rgboff_Click
menu_rgbon_Click
menu_line_Click
menu_setservopos_Click
menu_setwinsowsize_Click
menu_trackcenterobject_Click
menu_updatreregs_Click
menu_disabletracking_Click
Output_Change


VERSION 5.00  Table of Contents
Object = "{648A5603-2C6E-101B-82B6-000000000014}#1.1#0"; "MSCOMM32.OCX"
Object = "{3B7C8863-D78F-101B-B9B5-04021C009402}#1.2#0"; "Richtx32.ocx"
Begin VB.Form Form1 
   BorderStyle     =   1  'Fixed Single
   Caption         =   "Form1"
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   ClientLeft      =   -135
   ClientTop       =   1575
   ClientWidth     =   13170
   LinkTopic       =   "Form1"
   MaxButton       =   0   'False
   ScaleHeight     =   571
   ScaleMode       =   3  'Pixel
   ScaleWidth      =   878
   Begin VB.Frame Frame11 
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         Charset         =   0
         Weight          =   700
         Underline       =   0   'False
         Italic          =   0   'False
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      Height          =   1935
      Left            =   10080
      TabIndex        =   84
      Top             =   2880
      Width           =   3015
      Begin VB.PictureBox pic_hi 
         Height          =   1455
         Left            =   840
         ScaleHeight     =   1395
         ScaleWidth      =   1155
         TabIndex        =   85
         Top             =   360
         Width           =   1215
      End
   End
   Begin VB.Frame Frame10 
      Caption         =   "Servo Controls"
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         Charset         =   0
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         Underline       =   0   'False
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      EndProperty
      Height          =   855
      Left            =   7080
      TabIndex        =   76
      Top             =   7680
      Width           =   2895
      Begin VB.CommandButton set_servo 
         Caption         =   "Set"
         Height          =   255
         Left            =   720
         TabIndex        =   79
         Top             =   480
         Width           =   615
      End
      Begin VB.TextBox new_servo_pos 
         Height          =   285
         Left            =   120
         TabIndex        =   78
         Top             =   480
         Width           =   495
      End
      Begin VB.Label Servo_Pos 
         Caption         =   "N/A"
         Height          =   255
         Left            =   1920
         TabIndex        =   81
         Top             =   480
         Width           =   375
      End
      Begin VB.Label Label27 
         Caption         =   "Last Reported Pos"
         Height          =   255
         Left            =   1440
         TabIndex        =   80
         Top             =   240
         Width           =   1335
      End
      Begin VB.Label Label26 
         Caption         =   "Set Servo Pos"
         Height          =   255
         Left            =   120
         TabIndex        =   77
         Top             =   240
         Width           =   1095
      End
   End
   Begin VB.Frame Frame9 
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         Strikethrough   =   0   'False
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      Height          =   735
      Left            =   240
      TabIndex        =   74
      Top             =   7800
      Width           =   2895
      Begin VB.Label Label25 
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         Left            =   240
         TabIndex        =   75
         Top             =   360
         Width           =   2415
      End
   End
   Begin VB.CommandButton stop_loop 
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      Caption         =   "STOP LOOP"
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         Charset         =   0
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         Underline       =   0   'False
         Italic          =   0   'False
         Strikethrough   =   0   'False
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      Height          =   495
      Left            =   3360
      MaskColor       =   &H000000FF&
      Style           =   1  'Graphical
      TabIndex        =   72
      Top             =   7920
      Width           =   3495
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   Begin VB.Frame Frame5 
      Caption         =   "Program Status"
      BeginProperty Font 
         Name            =   "MS Sans Serif"
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         Charset         =   0
         Weight          =   700
         Underline       =   0   'False
         Italic          =   0   'False
         Strikethrough   =   0   'False
      EndProperty
      Height          =   2295
      Left            =   120
      TabIndex        =   36
      Top             =   5400
      Width           =   6735
      Begin VB.CommandButton Joystick_BU 
         BackColor       =   &H0000FFFF&
         Caption         =   "Launch Joystick"
         Height          =   375
         Left            =   4320
         Style           =   1  'Graphical
         TabIndex        =   82
         Top             =   1800
         Width           =   2055
      End
      Begin VB.Line Line3 
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         X1              =   3960
         X2              =   3960
         Y1              =   240
         Y2              =   2160
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         Y2              =   1080
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      Begin VB.Line Line1 
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         X2              =   2040
         Y1              =   240
         Y2              =   2160
      End
      Begin VB.Shape MM_Status 
         BorderColor     =   &H00000000&
         FillColor       =   &H000000FF&
         FillStyle       =   0  'Solid
         Height          =   495
         Left            =   3000
         Shape           =   3  'Circle
         Top             =   360
         Width           =   855
      End
      Begin VB.Shape tracking_Status 
         FillColor       =   &H000000FF&
         FillStyle       =   0  'Solid
         Height          =   495
         Left            =   1200
         Shape           =   3  'Circle
         Top             =   1320
         Width           =   855
      End
      Begin VB.Label Label22 
         Caption         =   "Tracking Status"
         Height          =   255
         Left            =   120
         TabIndex        =   65
         Top             =   1440
         Width           =   1215
      End
      Begin VB.Label Label1 
         Alignment       =   2  'Center
         Caption         =   "Program Messages (status)"
         Height          =   255
         Left            =   4080
         TabIndex        =   39
         Top             =   120
         Width           =   2415
      End
      Begin VB.Shape Command_Status 
         BorderColor     =   &H00000000&
         FillColor       =   &H000000FF&
         FillStyle       =   0  'Solid
         Height          =   495
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         Shape           =   3  'Circle
         Top             =   360
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      End
      Begin VB.Label Frame_Status 
         BorderStyle     =   1  'Fixed Single
         Height          =   1335
         Left            =   4080
         TabIndex        =   37
         Top             =   360
         Width           =   2415
      End
      Begin VB.Label Label4 
         Caption         =   "Program Status"
         Height          =   255
         Left            =   120
         TabIndex        =   38
         Top             =   480
         Width           =   1095
      End
      Begin VB.Label Label23 
         Caption         =   "MiddleMass Status"
         Height          =   375
         Left            =   2280
         TabIndex        =   70
         Top             =   360
         Width           =   975
      End
      Begin VB.Shape looping_status 
         BorderColor     =   &H00000000&
         FillColor       =   &H000000FF&
         FillStyle       =   0  'Solid
         Height          =   495
         Left            =   3000
         Shape           =   3  'Circle
         Top             =   1320
         Width           =   855
      End
      Begin VB.Label Label24 
         Caption         =   "Looping Input"
         Height          =   375
         Left            =   2400
         TabIndex        =   71
         Top             =   1320
         Width           =   855
      End
   End
   Begin VB.Frame Frame8 
      Caption         =   "Middle Mass (centroids)"
      BeginProperty Font 
         Name            =   "MS Sans Serif"
         Size            =   8.25
         Charset         =   0
         Weight          =   700
         Underline       =   0   'False
         Italic          =   0   'False
         Strikethrough   =   0   'False
      EndProperty
      Height          =   975
      Left            =   7080
      TabIndex        =   66
      Top             =   2400
      Width           =   2895
      Begin VB.CommandButton command_middle_mass_on_servo_to 
         Caption         =   "MM With Servo"
         Height          =   615
         Left            =   2040
         TabIndex        =   69
         Top             =   240
         Width           =   735
      End
      Begin VB.CommandButton command_middle_mass_on 
         Caption         =   "MM on"
         Height          =   615
         Left            =   1080
         TabIndex        =   68
         Top             =   240
         Width           =   735
      End
      Begin VB.CommandButton command_middle_mass_off 
         Caption         =   "MM off"
         Height          =   615
         Left            =   120
         TabIndex        =   67
         Top             =   240
         Width           =   735
      End
   End
   Begin VB.Frame Frame7 
      Caption         =   "Commands"
      BeginProperty Font 
         Name            =   "MS Sans Serif"
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         Charset         =   0
         Weight          =   700
         Underline       =   0   'False
         Italic          =   0   'False
         Strikethrough   =   0   'False
      EndProperty
      Height          =   2175
      Left            =   10080
      TabIndex        =   54
      Top             =   6360
      Width           =   3015
      Begin VB.CommandButton poll_mode 
         BackColor       =   &H0000C000&
         Caption         =   "Line Mode"
         Height          =   495
         Left            =   120
         Style           =   1  'Graphical
         TabIndex        =   83
         Top             =   240
         Width           =   1215
      End
      Begin VB.CommandButton TrackCenter_BU 
         BackColor       =   &H0000C000&
         Caption         =   "Track Center Object"
         Height          =   495
         Left            =   120
         Style           =   1  'Graphical
         TabIndex        =   73
         Top             =   840
         Width           =   1215
      End
      Begin VB.CommandButton Mean_Color_value 
         Caption         =   "Mean Color Value"
         Height          =   495
         Left            =   120
         TabIndex        =   59
         Top             =   1440
         Width           =   1215
      End
      Begin VB.CommandButton ping_bu 
         Caption         =   "Ping Camera"
         Height          =   375
         Left            =   1680
         TabIndex        =   58
         Top             =   720
         Width           =   1215
      End
      Begin VB.CommandButton DumpFrame_BU 
         Caption         =   "Dump Frame"
         Height          =   375
         Left            =   1680
         TabIndex        =   57
         Top             =   1680
         Width           =   1215
      End
      Begin VB.CommandButton reset_bu 
         Caption         =   "Reset Board"
         Height          =   375
         Left            =   1680
         TabIndex        =   56
         Top             =   240
         Width           =   1215
      End
      Begin VB.CommandButton version_bu 
         Caption         =   "Version"
         Height          =   375
         Left            =   1680
         TabIndex        =   55
         Top             =   1200
         Width           =   1215
      End
   End
   Begin VB.Frame Frame6 
      Caption         =   "Adjust Window Size"
      BeginProperty Font 
         Name            =   "MS Sans Serif"
         Size            =   8.25
         Charset         =   0
         Weight          =   700
         Underline       =   0   'False
         Italic          =   0   'False
         Strikethrough   =   0   'False
      EndProperty
      Height          =   1335
      Left            =   7080
      TabIndex        =   43
      Top             =   6240
      Width           =   2895
      Begin VB.CommandButton Restore_window_size 
         Caption         =   "Restore Window"
         Height          =   495
         Left            =   1560
         TabIndex        =   53
         Top             =   720
         Width           =   1215
      End
      Begin VB.CommandButton Set_window_Size 
         Caption         =   "Set Window"
         Height          =   375
         Left            =   1560
         TabIndex        =   52
         Top             =   240
         Width           =   1215
      End
      Begin VB.TextBox windowsize_y1 
         Height          =   375
         Left            =   1080
         TabIndex        =   47
         Text            =   "1"
         Top             =   360
         Width           =   375
      End
      Begin VB.TextBox windowsize_x2 
         Height          =   375
         Left            =   360
         TabIndex        =   46
         Text            =   "80"
         Top             =   840
         Width           =   375
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      Begin VB.TextBox windowsize_y2 
         Height          =   375
         Left            =   1080
         TabIndex        =   45
         Text            =   "143"
         Top             =   840
         Width           =   375
      End
      Begin VB.TextBox windowsize_x1 
         Height          =   375
         Left            =   360
         TabIndex        =   44
         Text            =   "1"
         Top             =   360
         Width           =   375
      End
      Begin VB.Label Label20 
         Caption         =   "Y2"
         Height          =   255
         Left            =   840
         TabIndex        =   51
         Top             =   960
         Width           =   255
      End
      Begin VB.Label Label18 
         Caption         =   "Y1"
         Height          =   255
         Left            =   840
         TabIndex        =   50
         Top             =   480
         Width           =   255
      End
      Begin VB.Label Label19 
         Caption         =   "X2"
         Height          =   255
         Left            =   120
         TabIndex        =   49
         Top             =   960
         Width           =   255
      End
      Begin VB.Label Label17 
         Caption         =   "X1"
         Height          =   255
         Left            =   120
         TabIndex        =   48
         Top             =   480
         Width           =   255
      End
   End
   Begin VB.Frame Frame4 
      Caption         =   "Serial Output"
      BeginProperty Font 
         Name            =   "MS Sans Serif"
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         Charset         =   0
         Weight          =   700
         Underline       =   0   'False
         Italic          =   0   'False
         Strikethrough   =   0   'False
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      Height          =   2535
      Left            =   120
      TabIndex        =   34
      Top             =   120
      Width           =   6735
      Begin RichTextLib.RichTextBox Output 
         Height          =   2175
         Left            =   120
         TabIndex        =   35
         Top             =   240
         Width           =   6495
         _ExtentX        =   11456
         _ExtentY        =   3836
         _Version        =   393217
         Enabled         =   -1  'True
         ScrollBars      =   2
         TextRTF         =   $"vidcap test.frx":0000
      End
   End
   Begin VB.Frame Frame3 
      Caption         =   "Serial Input"
      BeginProperty Font 
         Name            =   "MS Sans Serif"
         Size            =   8.25
         Charset         =   0
         Weight          =   700
         Underline       =   0   'False
         Italic          =   0   'False
         Strikethrough   =   0   'False
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      Height          =   2535
      Left            =   120
      TabIndex        =   32
      Top             =   2760
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         Height          =   2175
         Left            =   120
         TabIndex        =   33
         Top             =   240
         Width           =   6495
         _ExtentX        =   11456
         _ExtentY        =   3836
         _Version        =   393217
         Enabled         =   -1  'True
         ScrollBars      =   2
         TextRTF         =   $"vidcap test.frx":0082
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   End
   Begin VB.Frame Frame2 
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      BeginProperty Font 
         Name            =   "MS Sans Serif"
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         Charset         =   0
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      Height          =   2775
      Left            =   10080
      TabIndex        =   30
      Top             =   120
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      Begin VB.PictureBox PIC 
         Height          =   2415
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         ScaleHeight     =   147
         ScaleMode       =   0  'User
         ScaleWidth      =   165
         TabIndex        =   31
         Top             =   240
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   End
   Begin VB.Frame Frame1 
      Caption         =   "Color Modes"
      BeginProperty Font 
         Name            =   "MS Sans Serif"
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         Charset         =   0
         Weight          =   700
         Underline       =   0   'False
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      Height          =   1335
      Left            =   10080
      TabIndex        =   25
      Top             =   4920
      Width           =   3015
      Begin VB.OptionButton YcrCb_on 
         Caption         =   "YCrCb White Balance On"
         Height          =   255
         Left            =   360
         TabIndex        =   29
         Top             =   240
         Width           =   2295
      End
      Begin VB.OptionButton YcrCb_off 
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         Height          =   255
         Left            =   360
         TabIndex        =   28
         Top             =   480
         Width           =   2295
      End
      Begin VB.OptionButton RGB_ON 
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         Height          =   255
         Left            =   360
         TabIndex        =   27
         Top             =   720
         Width           =   2295
      End
      Begin VB.OptionButton RGB_OFF 
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         Height          =   255
         Left            =   360
         TabIndex        =   26
         Top             =   960
         Width           =   2295
      End
   End
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         Charset         =   0
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      TabIndex        =   5
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         Height          =   495
         Left            =   120
         TabIndex        =   64
         Top             =   1560
         Width           =   855
      End
      Begin VB.CommandButton button_disable_tracking 
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         Height          =   495
         Left            =   1080
         TabIndex        =   63
         Top             =   1560
         Width           =   855
      End
      Begin VB.CommandButton Start_Tracking 
         Caption         =   "Track Color"
         Height          =   495
         Left            =   2040
         TabIndex        =   17
         Top             =   1560
         Width           =   735
      End
      Begin VB.TextBox U_B 
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         Left            =   2160
         TabIndex        =   11
         Text            =   "0"
         Top             =   960
         Width           =   375
      End
      Begin VB.TextBox L_B 
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         Left            =   2160
         TabIndex        =   10
         Text            =   "0"
         Top             =   480
         Width           =   375
      End
      Begin VB.TextBox U_G 
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         Left            =   1680
         TabIndex        =   9
         Text            =   "0"
         Top             =   960
         Width           =   375
      End
      Begin VB.TextBox L_G 
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         Left            =   1680
         TabIndex        =   8
         Text            =   "0"
         Top             =   480
         Width           =   375
      End
      Begin VB.TextBox U_R 
         Height          =   375
         Left            =   1200
         TabIndex        =   7
         Text            =   "0"
         Top             =   960
         Width           =   375
      End
      Begin VB.TextBox L_R 
         Height          =   375
         Left            =   1200
         TabIndex        =   6
         Text            =   "0"
         Top             =   480
         Width           =   375
      End
      Begin VB.Label Label12 
         Caption         =   "Upper Bound"
         Height          =   255
         Left            =   120
         TabIndex        =   16
         Top             =   1080
         Width           =   1095
      End
      Begin VB.Label Label11 
         Caption         =   "Lower Bound"
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         Left            =   120
         TabIndex        =   15
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         Width           =   1095
      End
      Begin VB.Label Label10 
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         Left            =   2160
         TabIndex        =   14
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         Width           =   375
      End
      Begin VB.Label Label9 
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         Caption         =   "G"
         Height          =   255
         Left            =   1680
         TabIndex        =   13
         Top             =   240
         Width           =   375
      End
      Begin VB.Label Label8 
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         Caption         =   "R"
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         Left            =   1200
         TabIndex        =   12
         Top             =   240
         Width           =   375
      End
   End
   Begin MSCommLib.MSComm COM 
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      Top             =   7680
      _ExtentX        =   1005
      _ExtentY        =   1005
      _Version        =   393216
      DTREnable       =   0   'False
      BaudRate        =   115200
   End
   Begin VB.Frame Registers_Frame 
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      BeginProperty Font 
         Name            =   "MS Sans Serif"
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         Charset         =   0
         Weight          =   700
         Underline       =   0   'False
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         Strikethrough   =   0   'False
      EndProperty
      Height          =   2655
      Left            =   7080
      TabIndex        =   0
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      Width           =   2895
      Begin VB.ComboBox HM_Combo 
         Height          =   315
         Left            =   1200
         TabIndex        =   60
         Text            =   "0"
         Top             =   1680
         Width           =   975
      End
      Begin VB.ComboBox Combo_FPS 
         Height          =   315
         Left            =   1200
         TabIndex        =   41
         Text            =   "17"
         Top             =   1320
         Width           =   975
      End
      Begin VB.CommandButton Reset_regs 
         Caption         =   "Reset Registers"
         Height          =   495
         Left            =   1440
         TabIndex        =   24
         Top             =   2040
         Width           =   1215
      End
      Begin VB.ComboBox noise_combo 
         Height          =   315
         Left            =   1200
         TabIndex        =   23
         Text            =   "0"
         Top             =   960
         Width           =   975
      End
      Begin VB.ComboBox brightness_combo 
         Height          =   315
         Left            =   1200
         TabIndex        =   22
         Text            =   "0"
         Top             =   600
         Width           =   975
      End
      Begin VB.ComboBox contrast_combo 
         Height          =   315
         Left            =   1200
         TabIndex        =   21
         Text            =   "0"
         Top             =   240
         Width           =   975
      End
      Begin VB.CommandButton Reg_Update 
         Caption         =   "Update Registers"
         Height          =   495
         Left            =   120
         TabIndex        =   3
         Top             =   2040
         Width           =   1215
      End
      Begin VB.Label Label21 
         Caption         =   "HM Mode"
         Height          =   255
         Left            =   120
         TabIndex        =   62
         Top             =   1680
         Width           =   975
      End
      Begin VB.Label Label3 
         Caption         =   "0-off"
         Height          =   255
         Left            =   2280
         TabIndex        =   61
         Top             =   1680
         Width           =   495
      End
      Begin VB.Label Label16 
         Caption         =   "FPS"
         Height          =   255
         Left            =   2280
         TabIndex        =   42
         Top             =   1320
         Width           =   495
      End
      Begin VB.Label Label2 
         Caption         =   "Clock Speed"
         Height          =   255
         Left            =   120
         TabIndex        =   40
         Top             =   1320
         Width           =   975
      End
      Begin VB.Label Label15 
         Caption         =   "0-off"
         Height          =   255
         Left            =   2280
         TabIndex        =   20
         Top             =   960
         Width           =   495
      End
      Begin VB.Label Label14 
         Caption         =   "0 - 255"
         Height          =   255
         Left            =   2280
         TabIndex        =   19
         Top             =   600
         Width           =   495
      End
      Begin VB.Label Label13 
         Caption         =   "0 - 255"
         Height          =   255
         Left            =   2280
         TabIndex        =   18
         Top             =   240
         Width           =   495
      End
      Begin VB.Label Label7 
         Caption         =   "Noise Filter"
         Height          =   255
         Left            =   120
         TabIndex        =   4
         Top             =   960
         Width           =   975
      End
      Begin VB.Label Label6 
         Caption         =   "Brightness"
         Height          =   255
         Left            =   120
         TabIndex        =   2
         Top             =   600
         Width           =   735
      End
      Begin VB.Label Label5 
         Caption         =   "Contrast"
         Height          =   255
         Left            =   120
         TabIndex        =   1
         Top             =   240
         Width           =   735
      End
   End
   Begin VB.Menu menu_file 
      Caption         =   "File"
      Begin VB.Menu menu_joystick 
         Caption         =   "Lauch Joystick"
      End
      Begin VB.Menu menu_help 
         Caption         =   "Help"
      End
      Begin VB.Menu space 
         Caption         =   "-"
      End
      Begin VB.Menu menu_exit 
         Caption         =   "Exit"
      End
   End
   Begin VB.Menu menu_colortracker 
      Caption         =   "Color Tracker"
      Begin VB.Menu menu_autotracking 
         Caption         =   "Auto Tracking"
      End
      Begin VB.Menu menu_disabletracking 
         Caption         =   "Disable Tracking"
      End
      Begin VB.Menu menu_enabletracking 
         Caption         =   "Track Color"
      End
      Begin VB.Menu menu_userdefined_color 
         Caption         =   "User Definied Color"
      End
   End
   Begin VB.Menu mne_middlemass 
      Caption         =   "Middle Mass (Centroids)"
      Begin VB.Menu menu_mmon 
         Caption         =   "Middle Mass Mode ON"
      End
      Begin VB.Menu menu_mmoff 
         Caption         =   "Middle Mass Mode Off"
      End
      Begin VB.Menu menu_mmonservo 
         Caption         =   "Middel Mass Mode ON(with servo)"
      End
   End
   Begin VB.Menu menu_registers 
      Caption         =   "Registers"
      Begin VB.Menu menu_updatreregs 
         Caption         =   "Update Registers"
      End
      Begin VB.Menu menu_resetregs 
         Caption         =   "Reset Registers"
      End
   End
   Begin VB.Menu menu_capsize 
      Caption         =   "Cpature Size"
      Begin VB.Menu menu_setwinsowsize 
         Caption         =   "Set New Window Size"
      End
      Begin VB.Menu menu_restorewindow 
         Caption         =   "Restore Window Size"
      End
   End
   Begin VB.Menu menu_colormodes 
      Caption         =   "Color Modes"
      Begin VB.Menu menu_crcbon 
         Caption         =   "CrYCb White Balance On"
      End
      Begin VB.Menu menu_crcboff 
         Caption         =   "CrYCb White Balance Off"
      End
      Begin VB.Menu menu_rgbon 
         Caption         =   "RGB White Balance On"
      End
      Begin VB.Menu menu_rgboff 
         Caption         =   "RGB White Balance Off"
      End
   End
   Begin VB.Menu menu_gencommands 
      Caption         =   "Generic Commands"
      Begin VB.Menu menu_firmversion 
         Caption         =   "Get Firmware Version"
      End
      Begin VB.Menu menu_resboard 
         Caption         =   "Reset Board"
      End
      Begin VB.Menu menu_ping 
         Caption         =   "Ping Camera"
      End
      Begin VB.Menu menu_dumpframe 
         Caption         =   "Dump Frame"
      End
      Begin VB.Menu menu_line 
         Caption         =   "Line Mode Tracking"
      End
      Begin VB.Menu menu_getmean 
         Caption         =   "Get Mean Color Data"
      End
      Begin VB.Menu menu_trackcenterobject 
         Caption         =   "Track Centered Object"
      End
   End
   Begin VB.Menu menu_servocontrols 
      Caption         =   "Servo Controls"
      Begin VB.Menu menu_setservopos 
         Caption         =   "Set New Servo Pos"
      End
   End
End

Attribute VB_Name = "Form1"  Table of Contents
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
'************************************************************************
'*********************************************************
'******************************************
' Created By: Michael Konicki
'
'
' This program contains all the functions and abilities of the CMUCam.  It also has a seperate
' form that is launchable to control the airens robot if the user wanted to do so.
'
'
'******************************************
'*********************************************************
'************************************************************************
Option Explicit
Dim Stop_Looping As Boolean     'Used to Signify and end to data looping

Private Declare Sub Sleep Lib "kernel32" (ByVal dwMilliseconds As Long)



'************************************************************************
'*********************************************************
'******************************************
' CUSTOM FUNCTIONS (SENDCOMMAND)
'******************************************
'*********************************************************
'************************************************************************


Private Function SendCommand(cmd As String, sleeptime As Integer) As String  Table of Contents
'**********************************************
' Sends a command to the board then checks for
' the ack command
'**********************************************
Dim RcvBytes As String          'Stores bytes from the input buffer
Dim CheckBytes As String        'used to check for an ack meaning good command
Dim temp As String              'dump unused input buffer into here
Dim start_time As Integer
Dim cur_time As Integer

    
        
On Error GoTo err1
    
    
'Set the status flag to yellow
Command_Status.FillColor = RGB(255, 255, 0)
Frame_Status.Caption = "Talking with CMUcam..."
Me.Refresh
    
    
'Send data out on serial port and clear the input textbox
Ser_In.Text = Ser_In.Text & "-----------------------------" & vbCrLf
If cmd = "" Then
    Output.Text = Output.Text & "Sending Command: \r" & vbCrLf
Else
    Output.Text = Output.Text & "Sending Command: " & cmd & vbCrLf
End If
    
'Send the actual command to the CMUcam
COM.Output = cmd & Chr(13)
    
'Clean out the input buffer before getting new data
'COM.InBufferCount = 0
    
'Do loop to rip the data out of the com.input buffer if it is a DF
'the other commands are all smaller then 8 chars, no need to loop actually is slower
If cmd = "DF" Then
    Do
        DoEvents
        RcvBytes = RcvBytes & COM.Input
        Sleep (50)
    Loop Until COM.InBufferCount <= 0
Else
    Sleep (sleeptime)
    RcvBytes = COM.Input
End If
    
    
'Check for ack or nck or somethign else (which is bad)
CheckBytes = Left(RcvBytes, 3)
    
If CheckBytes = "ACK" Then                      'found an ack
    Command_Status.FillColor = RGB(0, 255, 0)
    'Display the command in the history
    If cmd = "" Then
        Ser_In.Text = Ser_In.Text & "ACK: \r" & cmd & vbCrLf
    Else
        Ser_In.Text = Ser_In.Text & "ACK: " & cmd & vbCrLf
    End If
    'Return the info
    SendCommand = RcvBytes
'Didnt get and ACK from CMUcam
Else                                            'got a nck (error)
    Command_Status.FillColor = RGB(255, 0, 0)
    'Display command in window
    If cmd = "" Then
        Ser_In.Text = Ser_In.Text & "NCK: \r" & cmd & vbCrLf
    Else
        Ser_In.Text = Ser_In.Text & "NCK: " & cmd & vbCrLf
    End If
    'Return -1 = error
    SendCommand = "-1"  'send error back to caller
End If

'Turn off error handeling and exit function before getting to the error
On Error GoTo 0
Exit Function
err1:
MsgBox "Fatal Error(1): Error Sending To CMUcam", vbCritical, "FATAL ERROR"
End Function



Private Sub HandlePacket(InputString As String)  Table of Contents
'******************************************
' One fucntion that handles all of the other
' packet processing features. And robot following
' for all the packet recieving functiosn
'******************************************
Dim ret As String
Dim mark As Integer
Dim WhatPacket As String
Dim Mx As String, My As String
Dim X1 As String, Y1 As String, X2 As String, Y2 As String
Dim PixCnt As String, ObjConf As String
Dim spos As String
'Need to be able to handle both C & M packets here,
'will send either or depending on the settings the use selected
WhatPacket = Left(InputString, 1)
    
If WhatPacket = "M" Then
    If Right(InputString, 1) = Chr(13) Then
        'Find the M and drop them
        mark = InStr(1, InputString, " ")
        InputString = Right(InputString, Len(InputString) - mark)
                
        'Get the MMx out
        mark = InStr(1, InputString, " ")
        Mx = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                
        'Get the MMy out
        mark = InStr(1, InputString, " ")
        My = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the x1 out
        mark = InStr(1, InputString, " ")
        X1 = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the y1 out
        mark = InStr(1, InputString, " ")
        Y1 = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                                    
        'Get the x2 out
        mark = InStr(1, InputString, " ")
        X2 = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the y2 out
        mark = InStr(1, InputString, " ")
        Y2 = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                                  
        'Get the pixcnt out
        mark = InStr(1, InputString, " ")
        PixCnt = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the Bdev out
        mark = InStr(1, InputString, "M")
        If mark = 0 Then
            mark = 1
        End If
        ObjConf = Mid(InputString, 1, mark - 1)
                    
        If ObjConf = "" Or ObjConf = " " Then
            ObjConf = InputString
        End If
                    
        Label25 = "M: " & Mx & My & X1 & Y1 & X2 & Y2 & PixCnt & ObjConf
                    
        'Clear the picture out
        PIC.Cls
                    
        'Draw the middle mass coordinates
        PIC.Circle (Mx, My), 5, RGB(0, 0, 255)
                    
        'Draw the box that shows where the object is
        PIC.Line (X1 * 2, Y1)-(X2 * 2, Y1), RGB(255, 0, 0)
        PIC.Line (X2 * 2, Y1)-(X2 * 2, Y2), RGB(255, 0, 0)
        PIC.Line (X2 * 2, Y2)-(X1 * 2, Y2), RGB(255, 0, 0)
        PIC.Line (X1 * 2, Y2)-(X1 * 2, Y1), RGB(255, 0, 0)
        Frame_Status.Caption = "Getting Packet Stream"
    End If
ElseIf WhatPacket = "C" Then
    If Right(InputString, 1) = Chr(13) Then
        'Find the M and drop them
        mark = InStr(1, InputString, " ")
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the x1 out
        mark = InStr(1, InputString, " ")
        X1 = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the y1 out
        mark = InStr(1, InputString, " ")
        Y1 = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                                    
        'Get the x2 out
        mark = InStr(1, InputString, " ")
        X2 = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the y2 out
        mark = InStr(1, InputString, " ")
        Y2 = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                                  
        'Get the pixcnt out
        mark = InStr(1, InputString, " ")
        PixCnt = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the Bdev out
        mark = InStr(1, InputString, "C")
        If mark = 0 Then
            mark = 1
        End If
        ObjConf = Mid(InputString, 1, mark - 1)
                    
        If ObjConf = "" Or ObjConf = " " Then
            ObjConf = InputString
        End If
                    
        Label25 = "C: " & X1 & Y1 & X2 & Y2 & PixCnt & ObjConf
                    
                    
        'Clear the picture out
        PIC.Cls
                    
        'Draw the box that shows where the object is
        PIC.Line (X1 * 2, Y1)-(X2 * 2, Y1), RGB(255, 0, 0)
        PIC.Line (X2 * 2, Y1)-(X2 * 2, Y2), RGB(255, 0, 0)
        PIC.Line (X2 * 2, Y2)-(X1 * 2, Y2), RGB(255, 0, 0)
        PIC.Line (X1 * 2, Y2)-(X1 * 2, Y1), RGB(255, 0, 0)
        Frame_Status.Caption = "Getting Packet Stream"
    End If
ElseIf WhatPacket = "N" Then
    If Right(InputString, 1) = Chr(13) Then
        'Find the N and drop them
        mark = InStr(1, InputString, " ")
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the spos out
        mark = InStr(1, InputString, " ")
        spos = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the MMx out
        mark = InStr(1, InputString, " ")
        Mx = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                
        'Get the MMy out
        mark = InStr(1, InputString, " ")
        My = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the x1 out
        mark = InStr(1, InputString, " ")
        X1 = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the y1 out
        mark = InStr(1, InputString, " ")
        Y1 = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                                    
        'Get the x2 out
        mark = InStr(1, InputString, " ")
        X2 = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the y2 out
        mark = InStr(1, InputString, " ")
        Y2 = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                                  
        'Get the pixcnt out
        mark = InStr(1, InputString, " ")
        PixCnt = Mid(InputString, 1, mark)
        InputString = Right(InputString, Len(InputString) - mark)
                    
        'Get the Bdev out
        mark = InStr(1, InputString, "N")
        If mark = 0 Then
            mark = 1
        End If
        ObjConf = Mid(InputString, 1, mark - 1)
                    
        If ObjConf = "" Or ObjConf = " " Then
            ObjConf = InputString
        End If
                    
        Label25 = "N: " & spos & X1 & Y1 & X2 & Y2 & PixCnt & ObjConf
                    
                    
        'Clear the picture out
        PIC.Cls
                    
        'Draw the box that shows where the object is
        PIC.Line (X1 * 2, Y1)-(X2 * 2, Y1), RGB(255, 0, 0)
        PIC.Line (X2 * 2, Y1)-(X2 * 2, Y2), RGB(255, 0, 0)
        PIC.Line (X2 * 2, Y2)-(X1 * 2, Y2), RGB(255, 0, 0)
        PIC.Line (X1 * 2, Y2)-(X1 * 2, Y1), RGB(255, 0, 0)
        
        Frame_Status.Caption = "Recieving Loop..." & vbCrLf & vbCrLf
        Frame_Status.Caption = Frame_Status.Caption & "Pixels in Box: " & PixCnt & vbCrLf & "Confidence: " & ObjConf & vbCrLf & vbCrLf
        Servo_Pos.Caption = spos
        Frame_Status.Caption = Frame_Status.Caption & vbCrLf & "Numbers Cap at 255"
    End If
Else
    'do nothign bad packet
    Frame_Status.Caption = "Unknown/Bad Packet"
End If
End Sub





Private Sub pollme()  Table of Contents
'*****************************************************
' Process all of the incoming linemode data. That is the
' binary representation of what the CMUCam is tracking
' This also displays it to the user and sends the packet
' that comes with the image to handlepacket
'*****************************************************
Dim ret As String
Dim str As String
Dim num As String
Dim s As String
Dim binstr As String
Dim temp As String
Dim i As Integer
Dim k As Integer
Dim start1 As Integer
Dim col As Long
Dim row As Long
Dim cnt As Long
Dim startpos As Integer
Dim packet As String
    
    

'Issue the command to get one packet out
COM.Output = "TW" & Chr(13)
Sleep (250)
    
'Read the packet in before processing
Do
    str = str & COM.Input
    Sleep (75)
Loop Until COM.InBufferCount >= 0
    
start1 = 0
col = 0
row = 0
cnt = 0
'PIC.Cls
PIC.ScaleMode = vbPixels
pic_hi.ScaleMode = vbPixels
    
startpos = InStr(1, str, "ACK")
If startpos = 0 Then
    Exit Sub
End If
    
For i = startpos To Len(str) - 1
    temp = Mid(str, i, 1)
    s = GetBinary(Asc(temp))
             
    If s = "10101010" Then
        start1 = start1 + 1
        If cnt = 1 Then
            GoTo done
        'ElseIf start1 > 1 Then
        ' GoTo badpacket
        End If
        cnt = 1
    Else
        If start1 = 0 Then
        'do nothing
        Else
            cnt = 0
            For k = 1 To 9 - 1
                temp = Mid(s, k, 1)
                If temp = 1 Then
                    pic_hi.PSet (col, row), RGB(0, 0, 255)
                    pic_hi.PSet (col, row + 1), RGB(0, 0, 255)
                Else
                    pic_hi.PSet (col, row), RGB(0, 0, 0)
                    pic_hi.PSet (col, row + 1), RGB(0, 0, 0)
                End If
                col = col + 1
                If col = 80 Then
                    col = 0
                    row = row + 2
                End If
            Next k
        End If
    End If
Next i
    
done:
'Should process the packet data here
If start1 = 3 Then
'do nothing good image
Else
    'hide it if we have a bad picture
    pic_hi.Cls
End If

packet = Mid(str, i + 1, Len(str) - i)
packet = packet & Chr(13)
HandlePacket (packet)
'Sleep (75)

End Sub




Function GetBinary(ByVal iInput As Integer) As String  Table of Contents
'***************************************************
' Returns the 8-bit binary representation
' of an integer iInput where 0 <= iInput <= 255
'***************************************************
Dim s As String, i As Integer

'Make sure we have good data coming in
If iInput < 0 Or iInput > 255 Then
    GetBinary = ""
    Exit Function
End If

s = ""
'BUild the binary string
For i = 1 To 8
    s = CStr(iInput Mod 2) & s
    iInput = iInput \ 2
Next


GetBinary = s

End Function








'************************************************************************
'*********************************************************
'******************************************
' FORM LOAD, UNLOAD, AND SETUP FUNCTIONS
'******************************************
'*********************************************************
'************************************************************************



Private Sub Form_Activate()  Table of Contents
'*********************************************
' Call ping to make sure the camera is up and
' running
'*********************************************
Sleep (100)             'sleep for a sec
Call ping_bu_Click     'call the reset command
Call RGB_ON_Click       'set the RGB white on mode to selected on the form
End Sub


Private Sub Form_Unload(Cancel As Integer)  Table of Contents
'Make sure there are no loops running
If Stop_Looping = False Then
    Cancel = MsgBox("Please Stop All Packet Streams Before Closing", vbCritical, "Error Closing")
    Exit Sub
End If
    
shutdown:
Me.BackColor = RGB(0, 0, 0) 'change background so user knows whats up
Unload Joystick             'unload the other form
COM.InBufferCount = 0       'clear the buffer
COM.PortOpen = False        'close the port
Sleep (2000)                'wait to make sure it died
Unload Me
End Sub



Private Function Build_Combos()  Table of Contents
'*****************************************
' Fill in some of the combo boxes
'*****************************************
Dim X As Integer
    
'Build the contrast box
For X = 0 To 255
    contrast_combo.AddItem str(X)
Next X
    
'Build the brightness box
For X = 0 To 255
    brightness_combo.AddItem str(X)
Next X
    
'Build the noise filter box
noise_combo.AddItem str(0)
noise_combo.AddItem str(1)
    
'Build the HM Mode box
HM_Combo.AddItem str(0)
HM_Combo.AddItem str(1)
    
'Build the FPS combo
Combo_FPS.AddItem str(17)
Combo_FPS.AddItem str(13)
Combo_FPS.AddItem str(11)
Combo_FPS.AddItem str(9)
Combo_FPS.AddItem str(8)
Combo_FPS.AddItem str(7)
Combo_FPS.AddItem str(6)
Combo_FPS.AddItem str(5)
Combo_FPS.AddItem str(4)
    
    
End Function



Private Sub Form_Load()  Table of Contents
    
On Error GoTo err1
    
stop_loop.Visible = False
COM.CommPort = 1           'our comport holding the CMUcam
COM.InBufferSize = 32764    'input buffer size
COM.PortOpen = True         'open the port for communication
    
'Set up joystick form
Joystick.Comm.CommPort = 3
Joystick.Comm.PortOpen = True
    
'build and fill all the combobox data for the registers
Call Build_Combos
Stop_Looping = True
    
Exit Sub
err1:
MsgBox "Couldn't Resolve Robot or CMU device, Terminating Program", vbCritical
Unload Me
    
End Sub




Private Sub Lock_Buttons()  Table of Contents
'************************************
' Locks all the buttons during
' looping input
'************************************
Start_Tracking.Enabled = False
button_auto_tracking.Enabled = False
button_disable_tracking.Enabled = False
command_middle_mass_off.Enabled = False
command_middle_mass_on.Enabled = False
command_middle_mass_on_servo_to.Enabled = False
DumpFrame_BU.Enabled = False
ping_bu.Enabled = False
version_bu.Enabled = False
reset_bu.Enabled = False
TrackCenter_BU.Enabled = False
Mean_Color_value.Enabled = False
Reg_Update.Enabled = False
Reset_regs.Enabled = False
Set_window_Size.Enabled = False
Restore_window_size.Enabled = False
poll_mode.Enabled = False
End Sub




Private Sub Restore_Buttons()  Table of Contents
'************************************
' Restore all input
'************************************
Start_Tracking.Enabled = True
button_auto_tracking.Enabled = True
button_disable_tracking.Enabled = True
command_middle_mass_off.Enabled = True
command_middle_mass_on.Enabled = True
command_middle_mass_on_servo_to.Enabled = True
DumpFrame_BU.Enabled = True
ping_bu.Enabled = True
version_bu.Enabled = True
reset_bu.Enabled = True
TrackCenter_BU.Enabled = True
Mean_Color_value.Enabled = True
Reg_Update.Enabled = True
Reset_regs.Enabled = True
Set_window_Size.Enabled = True
Restore_window_size.Enabled = True
poll_mode.Enabled = True
End Sub











'************************************************************************
'*********************************************************
'******************************************
' FORM CLICKS SECTION
'******************************************
'*********************************************************
'************************************************************************




Private Sub TrackCenter_BU_Click()  Table of Contents
'*****************************************
' track the object in the center of the
' cameras view
'*****************************************
Dim ret As String
Dim InputString As String
Dim mark As Integer
Dim WhatPacket As String
Dim Mx As String, My As String
Dim X1 As String, Y1 As String, X2 As String, Y2 As String
Dim PixCnt As String, ObjConf As String
Dim spos As String
    
    
ret = SendCommand("TW", 150)
    
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Init Object Tracking Mode"
    Exit Sub
Else
    Ser_In.Text = Ser_In.Text & "TC --> Object Tracking Mode Initialized" & vbCrLf
    tracking_Status.FillColor = RGB(0, 255, 0)
End If
    
'Init variables for the data loop
Stop_Looping = False
stop_loop.Visible = True
looping_status.FillColor = RGB(0, 255, 0)
Call Lock_Buttons
    
Do
    DoEvents    'without this bad things happen
    InputString = COM.Input
            
            
    'Need to be able to handle both C & M packets here,
    'will send either or depending on the settings the use selected
            
    WhatPacket = Left(InputString, 1)
            
    HandlePacket (InputString)
            
    Sleep (100)
        
Loop Until Stop_Looping = True
    
'Shutdown loop
Call Restore_Buttons            'Restore Buttons Upon Loop Termination
Call reset_bu_Click             'call board reset
stop_loop.Visible = False       'hide the stop loop
End Sub



Private Sub DumpFrame_BU_Click()  Table of Contents
'Send dumpframe command
Dim ret As String
Dim Left As Long
Dim col As Integer, row As Integer
Dim r As String, b As String, g As String
Dim started As Boolean
Dim Y As String
Dim Cr As String
Dim Cb As String
    
'Send the command to the camera
ret = SendCommand("DF", 6000)
    
On Error GoTo err1
    
'error check the results
If ret = "-1" Then
    Frame_Status.Caption = "Error Dumping Frame"
Else
    Command_Status.FillColor = RGB(255, 255, 0)
    Frame_Status.Caption = "Dumping Frame..."
    PIC.ScaleMode = vbPixels
    PIC.Cls
    pic_hi.Visible = False
                
    'set up our flags and coutners
    started = False
    Left = 1
    row = 0
    col = 0
    While Left < Len(ret)
        DoEvents
        'Check for new column
        If Asc(Mid(ret, Left, 1)) = 2 Then
            'Frame_Status.Caption = "New Col Found"
            col = col + 2
            Left = Left + 1
            row = 0
        'Check for new frame
        ElseIf Asc(Mid(ret, Left, 1)) = 1 Then
            'Frame_Status.Caption = "New Frame Found"
            row = 0
            started = True
            Left = Left + 1
            col = 0
        'Check for end of frame
        ElseIf Asc(Mid(ret, Left, 1)) = 3 Then
            'Frame_Status.Caption = "End of Frame Found"
            started = False
        Else
            'make sure we are in an image and then dump
            If started = True Then
                r = Mid(ret, Left, 1)
                g = Mid(ret, Left + 1, 1)
                b = Mid(ret, Left + 2, 1)
                PIC.PSet (col, row), RGB(Asc(r), Asc(g), Asc(b))
                'have to double each column
                PIC.PSet (col + 1, row), RGB(Asc(r), Asc(g), Asc(b))
                row = row + 1
                Left = Left + 3
            End If
        End If
        'if we havent started yet inc by 1 until we find the start
        If started = False Then
            Left = Left + 1
        End If
    Wend
    Command_Status.FillColor = RGB(0, 255, 0)
    Frame_Status.Caption = "Done Recieving Frames(" & col & ")"
End If
        
On Error GoTo 0
Exit Sub
    
err1:
Frame_Status.Caption = "Error Dumping Frame"
Command_Status.FillColor = RGB(255, 0, 0)
Ser_In.Text = Ser_In.Text & "Error Reading Image From Comport (try again)" & vbCrLf
End Sub


Private Sub Joystick_BU_Click()  Table of Contents
'**********************************
' Show the joystick form
'**********************************
Joystick.Show
End Sub



Private Sub button_auto_tracking_Click()  Table of Contents
'*****************************************
'Sets the cam into autotracking mode
'*****************************************
Dim ret As String
    
'send command
ret = SendCommand("L1 2", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set Auto Tracking Mode"
Else
    Ser_In.Text = Ser_In.Text & " --> Tracking Mode Set To (Auto)" & vbCrLf
    tracking_Status.FillColor = RGB(0, 0, 255)
End If
    
End Sub


Private Sub command_middle_mass_on_servo_to_Click()  Table of Contents
'*****************************************
'Sets the cam into MiddleMass mode off
'*****************************************
Dim ret As String
    
'send command
ret = SendCommand("MM 14", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set Middle Mass Mode To On with Servo Support"
Else
    Ser_In.Text = Ser_In.Text & " --> Middle Mass Mode Set To (Servo On)" & vbCrLf
    MM_Status.FillColor = RGB(0, 0, 255)
End If
End Sub



Private Sub command_middle_mass_off_Click()  Table of Contents
'*****************************************
'Sets the cam into MiddleMass mode off
'*****************************************
Dim ret As String
    
'send command
ret = SendCommand("MM 0", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set Middle Mass Mode To Off"
Else
    Ser_In.Text = Ser_In.Text & " --> Middle Mass Mode Set To (Off)" & vbCrLf
    MM_Status.FillColor = RGB(255, 0, 0)
End If
    
End Sub



Private Sub command_middle_mass_on_Click()  Table of Contents
'*****************************************
'Sets the cam into MiddleMass mode Normal (on)
'*****************************************
Dim ret As String
    
'send command
ret = SendCommand("MM 1", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set Middle Mass Mode To On"
Else
    Ser_In.Text = Ser_In.Text & " --> Middle Mass Mode Set To (on)" & vbCrLf
    MM_Status.FillColor = RGB(0, 255, 0)
End If
End Sub





Private Sub button_disable_tracking_Click()  Table of Contents
'*****************************************
'Sets the cams tracking to off
'*****************************************
Dim ret As String
    
'send command
ret = SendCommand("L1 0", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Disable Auto Tracking Mode"
Else
    Ser_In.Text = Ser_In.Text & " --> Tracking Mode Set To (Off)" & vbCrLf
    tracking_Status.FillColor = RGB(255, 0, 0)
End If
    
End Sub



Private Sub ping_bu_Click()  Table of Contents
'*****************************************
'Send default command, basically ping the
'camera. Nothing is reset and the camera
'simply responds with a ack or nck.
'*****************************************
Dim ret As String
    
'Send the blank command to check for status, used for ping
ret = SendCommand("", 50)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Could Not Find Camera"
    Ser_In.Text = Ser_In.Text & "CMUcam not found" & vbCrLf
ElseIf Not Right(ret, 1) = ":" Then
    Frame_Status.Caption = "Could Not Find Camera"
    Ser_In.Text = Ser_In.Text & "CMUcam not found" & vbCrLf
Else
    'Did get the command so parse it
    Frame_Status.Caption = "Found the CMUcam"
    Ser_In.Text = Ser_In.Text & "Ping Successful" & vbCrLf
End If
    
    
End Sub


Private Sub version_bu_Click()  Table of Contents
'*****************************************
'Get the firmware version of the CMUCam
'*****************************************
Dim ret As String
    
'send command
ret = SendCommand("GV", 100)
    
'Check for an error from the snedcommand and recievecommand
'also check for a : whcih indicates an end to the data
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Get Firmware Version"
    Ser_In.Text = Ser_In.Text & "Couldn't Get Firmware Version" & vbCrLf
ElseIf Not Right(ret, 1) = ":" Then
    Frame_Status.Caption = "Couldn't Get Firmware Version"
    Ser_In.Text = Ser_In.Text & "Couldn't Get Firmware Version" & vbCrLf
Else
    'Did get the command so parse it
    Frame_Status.Caption = "Got CMUcam Firmware"
    Ser_In.Text = Ser_In.Text & "Firmware: " & Mid(ret, 5, Len(ret) - 5) & vbCrLf
End If
End Sub


Private Sub reset_bu_Click()  Table of Contents
'*****************************************
' Sends the reset command. Resets all registers
' and settings currently in the CMUCam
'*****************************************
Dim ret As String
    
'send command
ret = SendCommand("RS", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Reset Camera"
    Ser_In.Text = Ser_In.Text & "Couldn't Reset Camera, Retrying" & vbCrLf
    Call reset_bu_Click
    Exit Sub
ElseIf Not Right(ret, 1) = ":" Then
    Frame_Status.Caption = "Couldn't Reset Camera"
    Ser_In.Text = Ser_In.Text & "Couldn't Reset Camera, Retrying" & vbCrLf
    Call reset_bu_Click
    Exit Sub
Else
    'Did get the command so parse it
    Frame_Status.Caption = "Camera Reset"
    Ser_In.Text = Ser_In.Text & Mid(ret, 6, Len(ret) - 6) & vbCrLf
    'reset status markers
    tracking_Status.FillColor = RGB(255, 0, 0)
    MM_Status.FillColor = RGB(255, 0, 0)
    looping_status.FillColor = RGB(255, 0, 0)
    Me.Refresh
End If
    
End Sub










Private Sub Mean_Color_value_Click()  Table of Contents
'******************************************
' Get and constant display the mean color value
' of the current image
'******************************************
Dim ret As String
Dim mark As Integer
Dim mark2 As Integer
Dim rmean As String
Dim gmean As String
Dim bmean As String
Dim rdev As String
Dim gdev As String
Dim bdev As String
    
'send command
ret = SendCommand("GM", 150)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Get Color Data"
    Ser_In.Text = Ser_In.Text & "Couldn't Get Color Data, Retrying" & vbCrLf
    Call Mean_Color_value_Click
    Exit Sub
Else
    'Did get the command so parse it
    Frame_Status.Caption = "Got Mean Color Data"
    Ser_In.Text = Ser_In.Text & "Got Mean Color Data, Data as Follows" & vbCrLf
            
    'Find the ACK & S and drop them
    mark = InStr(1, ret, " ")
    ret = Right(ret, Len(ret) - mark)
        
    'Get the Rmean out
    mark = InStr(1, ret, " ")
    rmean = Mid(ret, 1, mark)
    ret = Right(ret, Len(ret) - mark)
            
    'Get the Gmean out
    mark = InStr(1, ret, " ")
    gmean = Mid(ret, 1, mark)
    ret = Right(ret, Len(ret) - mark)
            
    'Get the Bmean out
    mark = InStr(1, ret, " ")
    bmean = Mid(ret, 1, mark)
    ret = Right(ret, Len(ret) - mark)
            
    'Get the Rdev out
    mark = InStr(1, ret, " ")
    rdev = Mid(ret, 1, mark)
    ret = Right(ret, Len(ret) - mark)
            
    'Get the Gdev out
    mark = InStr(1, ret, " ")
    gdev = Mid(ret, 1, mark)
    ret = Right(ret, Len(ret) - mark)
            
    'Get the Bdev out
    mark = InStr(1, ret, "S")
    If mark = 0 Then
        mark = 1
    End If
    bdev = Mid(ret, 1, mark - 1)
            
    If bdev = "" Or bdev = " " Then
        bdev = ret
    End If
    
            
    'display the info
    With Ser_In
        .Text = .Text & "     Rmean = " & rmean & vbCrLf
        .Text = .Text & "     Gmean = " & gmean & vbCrLf
        .Text = .Text & "     Bmean = " & bmean & vbCrLf
        .Text = .Text & "     Rdeviation = " & rdev & vbCrLf
        .Text = .Text & "     GDeviation = " & gdev & vbCrLf
        .Text = .Text & "     BDeviation = " & bdev & vbCrLf
    End With
End If
Call reset_bu_Click
    
End Sub




Private Sub menu_exit_Click()  Table of Contents
'************************************
' User wants to exit so call the
' unload function
'************************************
Unload Me
End Sub


Private Sub menu_joystick_Click()  Table of Contents
'************************************
' User wants to launch the joystcik so
' we do so
'************************************
Joystick.Show
End Sub





Private Sub poll_mode_Click()  Table of Contents
'******************************************
' Enable pollmode for the cmucam
'******************************************
Dim ret As String
    
'start pollmode
ret = SendCommand("PM 1", 50)
If ret = "-1" Then
    Exit Sub
End If
    
'Start linemode
ret = SendCommand("LM 1", 50)
If ret = "-1" Then
    Exit Sub
End If
    
Stop_Looping = False
PIC.Cls
pic_hi.Cls
pic_hi.Visible = True
    
stop_loop.Visible = True
While Stop_Looping = False
    DoEvents
    Call pollme
Wend
    
stop_loop.Visible = False
pic_hi.Visible = False
    
Call reset_bu_Click
End Sub






Private Sub Reg_Update_Click()  Table of Contents
'******************************************
' Update the brightness and contrast regs
'******************************************
Dim temp As String
Dim ret As String
Dim val As String
Dim bool As Boolean
    
'Flag to see if any of the reg updates fail
bool = True
    
'Send the brightness command
temp = brightness_combo.Text
ret = SendCommand("CR 6 " & temp, 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set Brightness"
    Ser_In.Text = Ser_In.Text & "Couldn't Set Brightness" & vbCrLf
    bool = False
ElseIf Not Right(ret, 1) = ":" Then
    Frame_Status.Caption = "Couldn't Set Brightness"
    Ser_In.Text = Ser_In.Text & "Couldn't Set Brightness" & vbCrLf
    bool = False
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> Brightness Register set to " & temp & vbCrLf
End If
    
    
'Send the Contrast Command
temp = contrast_combo.Text
ret = SendCommand("CR 5 " & temp, 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set Contrast"
    Ser_In.Text = Ser_In.Text & "Couldn't Set Contrast" & vbCrLf
    bool = False
ElseIf Not Right(ret, 1) = ":" Then
    Frame_Status.Caption = "Couldn't Set Contrast"
    Ser_In.Text = Ser_In.Text & "Couldn't Set Contrast" & vbCrLf
    bool = False
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> Contrast Register set to " & temp & vbCrLf
End If
    
    
'Send the Contrast Command
temp = noise_combo.Text
ret = SendCommand("NF " & temp, 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set Noise Filter"
    Ser_In.Text = Ser_In.Text & "Couldn't Set Noise Filter" & vbCrLf
    bool = False
ElseIf Not Right(ret, 1) = ":" Then
    Frame_Status.Caption = "Couldn't Set Noise Filter"
    Ser_In.Text = Ser_In.Text & "Couldn't Set Noise Filter" & vbCrLf
    bool = False
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> Noise Filter Set to " & temp & vbCrLf
End If
    
    
'Send the Contrast Command
temp = HM_Combo.Text
ret = SendCommand("HM " & temp, 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set HM Mode"
    Ser_In.Text = Ser_In.Text & "Couldn't Set HM Mode" & vbCrLf
    bool = False
ElseIf Not Right(ret, 1) = ":" Then
    Frame_Status.Caption = "Couldn't Set HM Mode"
    Ser_In.Text = Ser_In.Text & "Couldn't Set HM Mode" & vbCrLf
    bool = False
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> HM Mode Set To " & temp & vbCrLf
End If
    
    
'Send the FPS command
temp = Combo_FPS.Text
If temp = 17 Then
    val = 2
ElseIf temp = 13 Then
    val = 3
ElseIf temp = 11 Then
    val = 4
ElseIf temp = 9 Then
    val = 5
ElseIf temp = 8 Then
    val = 6
ElseIf temp = 7 Then
    val = 7
ElseIf temp = 6 Then
    val = 8
ElseIf temp = 5 Then
    val = 10
ElseIf temp = 4 Then
    val = 12
Else
    bool = False
End If
    
'send command
ret = SendCommand("CR 17 " & val, 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set Clock Speed (FPS)"
    Ser_In.Text = Ser_In.Text & "Couldn't Set Clock Speed (FPS)" & vbCrLf
    bool = False
ElseIf Not Right(ret, 1) = ":" Then
    Frame_Status.Caption = "Couldn't Set Clock Speed (FPS)"
    Ser_In.Text = Ser_In.Text & "Couldn't Set Clock Speed (FPS)" & vbCrLf
    bool = False
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> Clock Speed Set (FPS = " & temp & " )" & vbCrLf
End If
    
    
'Check to see if any of the updates failed and inform the user
If bool = False Then
    Frame_Status.Caption = "One or more reg updates failed"
Else
    Frame_Status.Caption = "Reg updates successful"
End If
End Sub


Private Sub Reset_regs_Click()  Table of Contents
'******************************************
' Reset all Regs to factory default
'******************************************
Dim ret As String
Dim flag As Boolean
    
flag = True
    
'send command
ret = SendCommand("CR", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Reset Registers"
    flag = False
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> Registers Reset" & vbCrLf
End If
    
'send command
ret = SendCommand("HM 0", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Reset Registers"
    flag = False
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> Registers Reset" & vbCrLf
End If
    
'send command
ret = SendCommand("NF 0", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Reset Registers"
    flag = False
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> Registers Reset" & vbCrLf
End If
    
If flag = False Then
    Frame_Status.Caption = "Reseting Registers Failed"
Else
    Frame_Status.Caption = "Registers Reset"
End If
    
End Sub


Private Sub Restore_window_size_Click()  Table of Contents
'******************************************
' Resets the window size to normal
'******************************************
Dim ret As String
    
'send command
ret = SendCommand("SW", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Reset Window Size"
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> Window Size Reset to Defualt (1,1,80,143)" & vbCrLf
    windowsize_x1.Text = 1
    windowsize_y1.Text = 1
    windowsize_x2 = 80
    windowsize_y2 = 143
End If
End Sub


Private Sub RGB_OFF_Click()  Table of Contents
'*********************************************
' User wants to set RGB White Balance off
'*********************************************
Dim ret As String
    
'send command
ret = SendCommand("CR 18 40", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set RGB White Balance Off Mode"
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> RGB White Off Mode Set" & vbCrLf
End If
End Sub


Private Sub RGB_ON_Click()  Table of Contents
'*********************************************
' User wants to set RGB White Balance on
'*********************************************
Dim ret As String
    
'send command
ret = SendCommand("CR 18 44", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set RGB White Balance On Mode"
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> RGB White On Mode Set" & vbCrLf
End If
End Sub


Private Sub Ser_In_Change()  Table of Contents
'************************************
' Advanced the Serial in text box
' down as more data is placed in it
' this way the user doesnt have to
' scroll manually
'************************************
Ser_In.SelStart = Len(Ser_In.Text)
End Sub






Private Sub Set_window_Size_Click()  Table of Contents
'*********************************************
' Set the window size to different dimensions
'*********************************************
Dim ret As String
    
'send command
ret = SendCommand("SW " & windowsize_x1.Text & " " & windowsize_y1.Text & " " & windowsize_x2.Text & " " & windowsize_y2.Text, 150)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Adjust Frame Size"
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " -->Frame Size Changed ( " & windowsize_x1.Text & " " & windowsize_y1.Text & " " & windowsize_x2.Text & " " & windowsize_y2.Text & ")" & vbCrLf
End If
End Sub



Private Sub set_servo_Click()  Table of Contents
'*********************************************
' Set the servo position to the desired location
'*********************************************
Dim ret As String
    
'send command
ret = SendCommand("S1 " & new_servo_pos.Text, 120)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set Servo Pos"
    Exit Sub
Else
    Ser_In.Text = Ser_In.Text & "S1 --> Set Servo Pos (" & new_servo_pos.Text & ")" & vbCrLf
    tracking_Status.FillColor = RGB(0, 255, 0)
End If
    
    
End Sub



Private Sub Start_Tracking_Click()  Table of Contents
'*****************************************
'Sets the cam into manual mode
'*****************************************
Dim ret As String
Dim InputString As String
Dim mark As Integer
Dim WhatPacket As String
Dim Mx As String, My As String
Dim X1 As String, Y1 As String, X2 As String, Y2 As String
Dim PixCnt As String, ObjConf As String
Dim spos As String
    
    
'Set the Tracking Light On
ret = SendCommand("L1 1", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set Tracking Mode"
    Exit Sub
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> Tracking Mode Set To (Manual)" & vbCrLf
    tracking_Status.FillColor = RGB(0, 255, 0)
End If
    
'Start Tracking that Color
ret = SendCommand("TC " & L_R & " " & L_G & " " & L_B & " " & U_R & " " & U_G & " " & U_B, 300)
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Init Tracking Mode"
    Exit Sub
Else
    Ser_In.Text = Ser_In.Text & "TC --> Tracking Mode Initialized" & vbCrLf
    tracking_Status.FillColor = RGB(0, 255, 0)
End If
    
'Init variables for the data loop
Stop_Looping = False
stop_loop.Visible = True
looping_status.FillColor = RGB(0, 255, 0)
Call Lock_Buttons
    
Do
    DoEvents    'without this bad things happen
    InputString = COM.Input
            
    HandlePacket (InputString)
            
    Sleep (300)
        
Loop Until Stop_Looping = True
    
'Shutdown loop
Call Restore_Buttons            'Restore Buttons Upon Loop Termination
Call reset_bu_Click             'call board reset
stop_loop.Visible = False       'hide the stop loop
    
'Shutdown loop
Call reset_bu_Click             'call board reset
stop_loop.Visible = False       'hide the stop loop
Frame_Status.Caption = "Idle..."
End Sub


Private Sub stop_loop_Click()  Table of Contents
'************************************
' Stop the current packet loop we are
' in
'************************************
Stop_Looping = True
End Sub


Private Sub YcrCb_off_Click()  Table of Contents
'*********************************************
' User wants to set YCrCb White Balance off
'*********************************************
Dim ret As String
    
'send command
ret = SendCommand("CR 18 32", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set YCrCb White Balance Off Mode"
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> YCrCb White Off Mode Set" & vbCrLf
End If
End Sub


Private Sub YcrCb_on_Click()  Table of Contents
'*********************************************
' User wants to set YCrCb White Balance On
'*********************************************
Dim ret As String
    
'send command
ret = SendCommand("CR 18 36", 100)
    
'check the result and inform user
If ret = "-1" Then
    Frame_Status.Caption = "Couldn't Set YCrCb White Balance On Mode"
Else
    Ser_In.Text = Ser_In.Text & Mid(ret, 5, Len(ret) - 5) & " --> YCrCb White On Mode Set" & vbCrLf
End If
    
End Sub















'************************************************************************
'*********************************************************
'******************************************
' Menu Bottums below here
'******************************************
'*********************************************************
'************************************************************************




Private Sub menu_autotracking_Click()  Table of Contents
Call button_auto_tracking_Click
End Sub


Private Sub menu_crcboff_Click()  Table of Contents
Call YcrCb_off_Click
End Sub


Private Sub menu_crcbon_Click()  Table of Contents
Call YcrCb_on_Click
End Sub


Private Sub menu_dumpframe_Click()  Table of Contents
Call DumpFrame_BU_Click
End Sub


Private Sub menu_enabletracking_Click()  Table of Contents
Call Start_Tracking_Click
End Sub


Private Sub menu_firmversion_Click()  Table of Contents
Call version_bu_Click
End Sub


Private Sub menu_getmean_Click()  Table of Contents
Call Mean_Color_value_Click
End Sub


Private Sub menu_mmoff_Click()  Table of Contents
Call command_middle_mass_off_Click
End Sub


Private Sub menu_mmon_Click()  Table of Contents
Call command_middle_mass_on_Click
End Sub


Private Sub menu_mmonservo_Click()  Table of Contents
Call command_middle_mass_on_servo_to_Click
End Sub


Private Sub menu_ping_Click()  Table of Contents
Call ping_bu_Click
End Sub


Private Sub menu_resboard_Click()  Table of Contents
Call reset_bu_Click
End Sub


Private Sub menu_resetregs_Click()  Table of Contents
Call Reset_regs_Click
End Sub


Private Sub menu_restorewindow_Click()  Table of Contents
Call Restore_window_size_Click
End Sub


Private Sub menu_rgboff_Click()  Table of Contents
Call RGB_OFF_Click
End Sub


Private Sub menu_rgbon_Click()  Table of Contents
Call RGB_ON_Click
End Sub


Private Sub menu_line_Click()  Table of Contents
Call poll_mode_Click
End Sub


Private Sub menu_setservopos_Click()  Table of Contents
Call set_servo_Click
End Sub


Private Sub menu_setwinsowsize_Click()  Table of Contents
Call Set_window_Size_Click
End Sub


Private Sub menu_trackcenterobject_Click()  Table of Contents
Call TrackCenter_BU_Click
End Sub


Private Sub menu_updatreregs_Click()  Table of Contents
Call Reg_Update_Click
End Sub


Private Sub menu_disabletracking_Click()  Table of Contents
Call button_disable_tracking_Click
End Sub


Private Sub Output_Change()  Table of Contents
Output.SelStart = Len(Output.Text)
End Sub