static ControllerUpdate parseUpdate(JoystickUpdate update, JoystickControlUpdate l, JoystickControlUpdate r, double direction)
{
JoystickButtons btn = (JoystickButtons)update.Offset;
switch (btn)
{
case JoystickButtons.X:
case JoystickButtons.A:
case JoystickButtons.B:
case JoystickButtons.Y:
case JoystickButtons.LB:
case JoystickButtons.RB:
case JoystickButtons.LT:
case JoystickButtons.RT:
case JoystickButtons.BACK:
case JoystickButtons.START:
case JoystickButtons.LJ:
case JoystickButtons.RJ:
return(new ButtonUpdate(btn, update.Value == 128));
//case JoystickButtons.POV: //Top, Bottom, Left, Right
// double val = update.Value / 100;
// val = ((val > 180.0) && (val < 360.0)) ? val - 360.0 : val;
// val = (update.Value == -1) ? -1 : val;
// data += " " + ((update.Value == 0) || (update.Value == 4500) || (update.Value == 31500) ? 1 : 0) + " "
// + ((update.Value == 18000) || (update.Value == 13500) || (update.Value == 22500) ? 1 : 0) + " "
// + ((update.Value == 27000) || (update.Value == 22500) || (update.Value == 31500) ? 1 : 0) + " "
// + ((update.Value == 9000) || (update.Value == 4500) || (update.Value == 13500) ? 1 : 0) + " " + (val).ToString();
// break;
case JoystickButtons.LX:
return(new JoystickControlUpdate(btn, deadband(((update.Value / 65535.0) - 0.5) * -2.0 * direction, 0.25), l.y));
case JoystickButtons.LY:
return(new JoystickControlUpdate(btn, l.x, deadband(((update.Value / 65535.0) - 0.5) * 2.0 * direction, 0.25)));
case JoystickButtons.RX:
return(new JoystickControlUpdate(btn, deadband(((update.Value / 65535.0) - 0.5) * -2.0 * direction, 0.25), r.y));
case JoystickButtons.RY:
return(new JoystickControlUpdate(btn, r.x, deadband(((update.Value / 65535.0) - 0.5) * 2.0 * direction, 0.25)));
default:
return(null);
}
}
static void Main(string[] args)
{
/** BLUETOOTH INIT **/
// Replace this COM port by the appropriate one on your computer
SerialPort arduino = new SerialPort("COM7");
//Open Arduino connection
while (!arduino.IsOpen)
{
Console.WriteLine("Attempting to connect to Arduino (COM 7)...");
try
{
arduino.Open();
} catch (Exception)
{
System.Threading.Thread.Sleep(1000);
}
}
Console.WriteLine("Connected to Arduino!");
/** CONTROLLER INIT **/
// Initialize DirectInput
var directInput = new DirectInput();
// Find a Joystick Guid
var joystickGuid = Guid.Empty;
foreach (var deviceInstance in directInput.GetDevices(DeviceType.Gamepad,
DeviceEnumerationFlags.AllDevices))
{
joystickGuid = deviceInstance.InstanceGuid;
}
// If Gamepad not found, look for a Joystick
if (joystickGuid == Guid.Empty)
{
foreach (var deviceInstance in directInput.GetDevices(DeviceType.Joystick,
DeviceEnumerationFlags.AllDevices))
{
joystickGuid = deviceInstance.InstanceGuid;
}
}
// If Joystick not found, throws an error
if (joystickGuid == Guid.Empty)
{
Console.WriteLine("No joystick/Gamepad found.");
Console.ReadKey();
Environment.Exit(1);
}
// Instantiate the joystick
var joystick = new Joystick(directInput, joystickGuid);
Console.WriteLine("Found Joystick/Gamepad with GUID: {0}", joystickGuid);
// Set BufferSize in order to use buffered data.
joystick.Properties.BufferSize = 128;
// Acquire the joystick
joystick.Acquire();
// Poll events from joystick
JoystickControlUpdate joyL = new JoystickControlUpdate();
JoystickControlUpdate joyR = new JoystickControlUpdate();
int direction = 1; //direction switch
bool lastYState = false;
/** EVENT LOOP **/
while (true)
{
try
{
//Poll joystick
joystick.Poll();
var updates = joystick.GetBufferedData();
//JoystickState state = joystick.GetCurrentState();
foreach (JoystickUpdate update in updates)
{
ControllerUpdate result = parseUpdate(update, joyL, joyR, direction);
if (result.updateType == ControllerUpdateType.BUTTON)
{
ButtonUpdate btnUpdate = (ButtonUpdate)result;
Console.WriteLine(btnUpdate.ToString());
//We have nothing to do with buttons right now
if ((btnUpdate.btn == JoystickButtons.Y) && (btnUpdate.pressed == true) && (lastYState == false))
{
direction = -direction;
}
if (btnUpdate.btn == JoystickButtons.Y)
{
lastYState = btnUpdate.pressed;
}
}
else if (result.updateType == ControllerUpdateType.JOYSTICK)
{
//TODO put everything below in here
JoystickControlUpdate joyUpdate = (JoystickControlUpdate)result;
//Flush if previous bin is not equal to previous bin
bool flush = false;
if (joyUpdate.getJoystick() == JoystickType.LEFT)
{
flush = (joyL.getBinX() != joyUpdate.getBinX()) || (joyL.getBinY() != joyUpdate.getBinY());
joyL = joyUpdate;
}
if (joyUpdate.getJoystick() == JoystickType.RIGHT)
{
flush = (joyR.getBinX() != joyUpdate.getBinX()) || (joyR.getBinY() != joyUpdate.getBinY());
joyR = joyUpdate;
}
try
{
Console.WriteLine(joyUpdate.ToBinnedString(direction));
if (flush)
{
arduino.WriteLine(joyUpdate.ToBinnedString(direction));
}
}
catch (Exception)
{
if (!arduino.IsOpen)
{
do
{
Console.WriteLine("Reconnecting to Arduino (COM 7)...");
try
{
arduino.Open();
}
catch (Exception)
{
System.Threading.Thread.Sleep(1000);
}
} while (!arduino.IsOpen);
Console.WriteLine("Connected to Arduino!");
}
else
{
Console.WriteLine("Unknown Bluetooth exception. Restart program.");
}
}
}
}
}
catch (Exception)
{
Console.WriteLine("Error reading from joystick.");
bool okay = false;
while (!okay)
{
try
{
joystick.Unacquire();
joystick.Acquire();
okay = true;
}
catch (Exception)
{
}
}
}
}
}
