Inheritance: R2D2.BotToBaseDisp_
Beispiel #1
0
        static void Main(string[] args)
        {
            BotConnection botConn = null;
            while (true) {
                try {
                    var botToBase = new BotToBaseImpl();
                    botConn = new BotConnection(botToBase, "r2d2");
                    BaseToBotPrx bot = botConn.BotProxy;

                    while (true) {
                        Console.WriteLine("Choose a command:");
                        Console.WriteLine("  1. Play sound");
                        Console.WriteLine("  2. Move using XBox controller");
                        switch (Console.ReadKey(true).Key) {
                            case ConsoleKey.D1:
                                PlaySound(bot);
                                break;
                            case ConsoleKey.D2:
                                XboxControls(bot, botToBase);
                                break;
                        }
                    }

                } catch (Exception e) {
                    Console.Error.WriteLine(e.ToString());
                } finally {
                    if (botConn != null) { botConn.Dispose(); }
                }
            }
        }
Beispiel #2
0
        static void Main(string[] args)
        {
            BotConnection botConn = null;

            while (true)
            {
                try {
                    var botToBase = new BotToBaseImpl();
                    botConn = new BotConnection(botToBase, "r2d2");
                    BaseToBotPrx bot = botConn.BotProxy;

                    while (true)
                    {
                        Console.WriteLine("Choose a command:");
                        Console.WriteLine("  1. Play sound");
                        Console.WriteLine("  2. Move using XBox controller");
                        switch (Console.ReadKey(true).Key)
                        {
                        case ConsoleKey.D1:
                            PlaySound(bot);
                            break;

                        case ConsoleKey.D2:
                            XboxControls(bot, botToBase);
                            break;
                        }
                    }
                } catch (Exception e) {
                    Console.Error.WriteLine(e.ToString());
                } finally {
                    if (botConn != null)
                    {
                        botConn.Dispose();
                    }
                }
            }
        }
Beispiel #3
0
        static void XboxControls(BaseToBotPrx bot, BotToBaseImpl botToBase)
        {
            // Adjustable constants
            const int   commandFrequency = 20; // commands per second
            const float speedMul         = 60;
            const float headMul          = 2.0f;
            const int   moveSpeed        = 8;

            // Mutable state
            float          headAngle = 0;
            GamePadButtons buttons   = GamePad.GetState(PlayerIndex.One).Buttons;

            int prevLSpeed = 0;
            int prevRSpeed = 0;

            Console.WriteLine("Use the left and right thumbsticks to move the wheels");
            Console.WriteLine("Use the left and right triggers to rotate the head");

            while (true)
            {
                GamePadState state = GamePad.GetState(PlayerIndex.One);
                if (!state.IsConnected)
                {
                    Console.WriteLine("Gamepad not connected!");
                    bot.move(0, 0);
                    return;
                }

                // Calculate wheel speed
                int lSpeed, rSpeed;
                if (state.DPad.Up == ButtonState.Pressed)
                {
                    lSpeed = rSpeed = moveSpeed;
                }
                else if (state.DPad.Down == ButtonState.Pressed)
                {
                    lSpeed = rSpeed = -moveSpeed;
                }
                else if (state.DPad.Left == ButtonState.Pressed)
                {
                    bot.move(-moveSpeed, moveSpeed);
                    lSpeed = -moveSpeed;
                    rSpeed = moveSpeed;
                }
                else if (state.DPad.Right == ButtonState.Pressed)
                {
                    lSpeed = moveSpeed;
                    rSpeed = -moveSpeed;
                }
                else
                {
                    lSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Left.Y);
                    rSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Right.Y);
                }

                // Move; make sure we don't send the same speed repeatedly
                if (!(lSpeed == prevLSpeed && rSpeed == prevRSpeed))
                {
                    bot.move(lSpeed, rSpeed);
                }
                prevLSpeed = lSpeed;
                prevRSpeed = rSpeed;

                // Calculate head angle
                float headAngleDelta = state.Triggers.Left - state.Triggers.Right;
                if (headAngleDelta != 0)
                {
                    headAngle += headMul * headAngleDelta;
                    bot.rotateHead((int)headAngle);
                }

                // Play sound?
                if (state.Buttons.A == ButtonState.Pressed && state.Buttons.A != buttons.A)
                {
                    bot.playSound(Sound.CHEERFUL);
                }
                else if (state.Buttons.B == ButtonState.Pressed && state.Buttons.B != buttons.B)
                {
                    bot.playSound(Sound.EXCITED);
                }
                else if (state.Buttons.X == ButtonState.Pressed && state.Buttons.X != buttons.X)
                {
                    bot.playSound(Sound.LAUGHING);
                }
                else if (state.Buttons.Y == ButtonState.Pressed && state.Buttons.Y != buttons.Y)
                {
                    bot.playSound(Sound.SAD);
                }

                // Move flap?
                if (state.Buttons.RightShoulder == ButtonState.Pressed &&
                    state.Buttons.RightShoulder != buttons.RightShoulder)
                {
                    bot.setFlapState(FlapState.FLAPOPEN);
                }
                else if (state.Buttons.LeftShoulder == ButtonState.Pressed &&
                         state.Buttons.LeftShoulder != buttons.LeftShoulder)
                {
                    bot.setFlapState(FlapState.FLAPCLOSED);
                }

                buttons = state.Buttons;

                Thread.Sleep(1000 / commandFrequency);
            }
        }
Beispiel #4
0
        static void XboxControls(BaseToBotPrx bot, BotToBaseImpl botToBase)
        {
            // Adjustable constants
            const int commandFrequency = 20; // commands per second
            const float speedMul = 60;
            const float headMul = 2.0f;
            const int moveSpeed = 8;

            // Mutable state
            float headAngle = 0;
            GamePadButtons buttons = GamePad.GetState(PlayerIndex.One).Buttons;

            int prevLSpeed = 0;
            int prevRSpeed = 0;

            Console.WriteLine("Use the left and right thumbsticks to move the wheels");
            Console.WriteLine("Use the left and right triggers to rotate the head");

            while (true) {
                GamePadState state = GamePad.GetState(PlayerIndex.One);
                if (!state.IsConnected) {
                    Console.WriteLine("Gamepad not connected!");
                    bot.move(0, 0);
                    return;
                }

                // Calculate wheel speed
                int lSpeed, rSpeed;
                if (state.DPad.Up == ButtonState.Pressed) {
                    lSpeed = rSpeed = moveSpeed;
                } else if (state.DPad.Down == ButtonState.Pressed) {
                    lSpeed = rSpeed = -moveSpeed;
                } else if (state.DPad.Left == ButtonState.Pressed) {
                    bot.move(-moveSpeed, moveSpeed);
                    lSpeed = -moveSpeed;
                    rSpeed = moveSpeed;
                } else if (state.DPad.Right == ButtonState.Pressed) {
                    lSpeed = moveSpeed;
                    rSpeed = -moveSpeed;
                } else {
                    lSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Left.Y);
                    rSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Right.Y);
                }

                // Move; make sure we don't send the same speed repeatedly
                if (!(lSpeed == prevLSpeed && rSpeed == prevRSpeed)) {
                    bot.move(lSpeed, rSpeed);
                }
                prevLSpeed = lSpeed;
                prevRSpeed = rSpeed;

                // Calculate head angle
                float headAngleDelta = state.Triggers.Left - state.Triggers.Right;
                if (headAngleDelta != 0) {
                    headAngle += headMul * headAngleDelta;
                    bot.rotateHead((int) headAngle);
                }

                // Play sound?
                if (state.Buttons.A == ButtonState.Pressed && state.Buttons.A != buttons.A) {
                    bot.playSound(Sound.CHEERFUL);
                } else if (state.Buttons.B == ButtonState.Pressed && state.Buttons.B != buttons.B) {
                    bot.playSound(Sound.EXCITED);
                } else if (state.Buttons.X == ButtonState.Pressed && state.Buttons.X != buttons.X) {
                    bot.playSound(Sound.LAUGHING);
                } else if (state.Buttons.Y == ButtonState.Pressed && state.Buttons.Y != buttons.Y) {
                    bot.playSound(Sound.SAD);
                }

                // Move flap?
                if (state.Buttons.RightShoulder == ButtonState.Pressed
                        && state.Buttons.RightShoulder != buttons.RightShoulder) {
                    bot.setFlapState(FlapState.FLAPOPEN);
                } else if (state.Buttons.LeftShoulder == ButtonState.Pressed
                        && state.Buttons.LeftShoulder != buttons.LeftShoulder) {
                    bot.setFlapState(FlapState.FLAPCLOSED);
                }

                buttons = state.Buttons;

                Thread.Sleep(1000 / commandFrequency);
            }
        }