/// <summary>
/// Updates the status of the robot's parts with the new Xbox controller commands received.
/// </summary>
/// <param name="xboxController">State of the Xbox controller.</param>
public void Update(GamepadState xboxController)
{
LeftDriveThrottle = Math.Max(-1.0f, Math.Min(1.0f, (xboxController.LeftStick.Clicked ? 1.0f : 0.5f) *
(0.5f * xboxController.LeftStick.Position.X + xboxController.LeftStick.Position.Y) +
0.1f * (0.5f * xboxController.RightStick.Position.X + xboxController.RightStick.Position.Y)));
RightDriveThrottle = Math.Max(-1.0f, Math.Min(1.0f, (xboxController.LeftStick.Clicked ? 1.0f : 0.5f) *
(-0.5f * xboxController.LeftStick.Position.X + xboxController.LeftStick.Position.Y) +
0.1f * (-0.5f * xboxController.RightStick.Position.X + xboxController.RightStick.Position.Y)));
armAngle = xboxController.LeftTrigger * 180.0f;
irisAngle = xboxController.RightTrigger * 180.0f;
isLedOn = (xboxController.A ^ isLedOn);
Led_State = Convert.ToByte(isLedOn);
}
/// <summary>
/// Initializes the BaseStation GUI.
/// Attempts to connect to the Python server. If successful, the GUI opens up for use.
/// </summary>
public BaseStationGUI()
{
InitializeComponent();
// IPModeWindow ipMode = new IPModeWindow();
robotConnection = new UdpClient(4444);
/* if (ipMode.ShowDialog() != DialogResult.OK) System.Environment.Exit(0);
else
{
if (ipMode.check == 1)
{
getIP = new GetRobotIP(robotConnection);
robotIP = getIP.GetIP();
robotConnection.Connect(IPAddress.Parse(robotIP), 4444);
}
else
{
robotIP = ipMode.IP;
robotConnection.Connect(IPAddress.Parse(robotIP), 4444);
}
}
string baseip = "";
host = Dns.GetHostEntry(Dns.GetHostName());
foreach (IPAddress ip in host.AddressList)
{
if (ip.AddressFamily.ToString() == "InterNetwork")
{
baseip = ip.ToString();
}
}
byte[] buff = Encoding.ASCII.GetBytes(baseip);
robotConnection.Send(buff, buff.Length);
sensorData = new SensorData(robotIP);
sensorData.SensorUpdate += SensorData_SensorDataUpdate; */
commands = new KeyCommand();
xboxController = new GamepadState(SlimDX.XInput.UserIndex.One);
xboxController.ControllerUpdate += xboxController_ControllerUpdate;
xcontroller = new MotorControl();
kcontroller = new MotorControl();
/* ffplay = new Process();
ffplay.StartInfo.Arguments = "http://192.168.2.29:8090/live.mpg";
ffplay.StartInfo.FileName = "ffplay.exe";
ffplay.Start(); */
this.Activate();
}